WO2021031406A1 - 自动工作***、自动行走设备及其控制方法 - Google Patents
自动工作***、自动行走设备及其控制方法 Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- the invention relates to the field of intelligent control, in particular to an automatic working system, an automatic walking device and a control method thereof.
- intelligent robots With the continuous advancement of computer technology and artificial intelligence technology, automatic walking equipment and automatic working systems of intelligent robots have slowly entered people's lives, such as intelligent sweeping robots and intelligent lawn mower robots.
- intelligent robots are small in size, and are integrated with sensing devices, driving devices, batteries, etc., without manual manipulation, and can travel and work in a prescribed area.
- the battery power when the battery power is insufficient, it can automatically return to the charging station, dock with the charging station and charge, and continue to travel and work after the charging is completed.
- the working area of the existing automatic working system is large lawn, and the boundary is mostly energized equipment buried under the ground, so that the intelligent lawn mowing robot can sense .
- the boundary is mostly energized equipment buried under the ground, so that the intelligent lawn mowing robot can sense .
- it is also necessary to set up a charging station so the construction of the entire automatic working system is relatively complicated. Especially for small lawns, such as less than 100 square meters, the lawn mower robot can mow a complete lawn in two hours. If the above-mentioned working system is also to be built for this type of lawn, the cost will be higher and also More troublesome.
- the present invention provides a control method of an autonomous walking device.
- the control method includes: acquiring real-time images taken by the autonomous walking device in the forward direction in real time; and judging the automatic walking based on the color layout in the real-time image Whether the device has reached or approached the boundary; when it is judged that it has reached or approached the boundary, the automatic traveling device stops traveling forward and rotates a preset angle before continuing to travel and work.
- the step of "determining whether the autonomous device has reached or approaching the boundary based on the color layout in the real-time image" includes: judging the range of the boundary based on the color layout in the real-time image; calculating the boundary area and real-time image The ratio between the total area of the image is R1; when R1 ⁇ T1, it is judged that the automatic traveling equipment has reached or approached the boundary.
- the step of "determining the range of the boundary based on the color layout in the real-time image” includes: detecting or acquiring the color of the boundary; converting the real-time image into HSV format or HSI format or LAB format; A collection of pixels representing the color of the border.
- the present invention provides a self-propelled equipment, which includes a main body, a walking module, and a power supply module;
- the self-propelled equipment includes: a camera device, the camera device is arranged on the front side of the main body, and used Acquire real-time images taken by the autonomous vehicle in the forward direction;
- the control device is connected to the camera device and used to determine whether the autonomous vehicle has reached or approached the boundary according to the color layout in the real-time image, and when it is judged to have reached or approached After the boundary, the automatic traveling device is controlled to stop moving forward and rotate a preset angle before continuing to move forward and work.
- the autonomous walking device further includes a calculation module
- the control module can also determine the range of the boundary according to the color layout in the real-time image
- the calculation module is connected with the control module to calculate the boundary in the real-time image
- control module includes a format conversion unit and a color detection unit
- the format conversion unit is used to convert the real-time image into HSV format or HSI format or LAB format
- the color detection unit can be used to detect or Obtain the color of the boundary, and obtain a collection of all pixels that present the color of the boundary in the real-time image.
- the step "after the automatic traveling equipment stops traveling forward and rotating a preset angle, then continues to travel and work” includes: the automatic traveling equipment suspends forward traveling; The evasion distance is moved in the opposite direction of the forward direction; the automatic traveling equipment rotates by a preset angle; the automatic traveling equipment continues to travel and work.
- the present invention provides an automatic working system, including: an automatic traveling device; a boundary, the enclosure is in a ring shape and is formed to limit the working area of the automatic traveling device, and the boundary is detachably arranged at On the ground; the color of the border is different from the ground color.
- the boundary includes boundary piles arranged at intervals and an enclosure connected between adjacent boundary piles, and the boundary piles extend upward from the ground and can be partially inserted under the ground or fully supported on the ground.
- the enclosure is made of flexible material.
- the self-propelled device of the present invention judges whether it has reached or is close to the boundary by shooting the color distribution on the real-time image in the forward direction, and the detection is more convenient.
- the boundary may not be buried in the ground, but set On the ground, easy to disassemble.
- Figure 1 is a schematic diagram of the structure of the automatic working system of the present invention
- Fig. 2 is a flow chart of the control method of the autonomous walking equipment in the present invention.
- the self-propelled equipment of the present invention may be an automatic lawn mower, or an automatic vacuum cleaner, etc., which automatically walks in the work area for mowing and vacuuming.
- the self-propelled equipment is a lawn mower as an example.
- the working area may be a lawn.
- the self-propelled equipment is not limited to lawn mowers and vacuum cleaners, but can also be other equipment, such as spraying equipment, snow removal equipment, monitoring equipment, etc., suitable for unattended equipment.
- the present invention provides a control method of an autonomous walking device, the control method includes:
- the autonomous vehicle stops traveling forward and rotates a preset angle before continuing to travel and work.
- the self-propelled equipment in the present invention does not sense the current on the boundary, but takes real-time images of the self-propelled equipment in the forward direction and analyzes the color distribution in the real-time images. , To determine whether it has reached or is close to the boundary. Therefore, in order to be able to capture a real-time image including the boundary, the boundary must be significantly different from the grass. Specifically, it will be described in detail later.
- the above-mentioned steps "after the autonomous vehicle stops traveling forward and rotates a preset angle, then continue to travel and work” includes: the autonomous vehicle stops traveling forward; the autonomous vehicle reverses the original forward direction Directional movement avoidance distance; the automatic traveling equipment rotates a preset angle; the automatic traveling equipment continues to travel and work.
- the self-propelled equipment can also directly stop traveling and rotate a preset angle.
- the above avoidance distance is determined by the walking speed of the automatic traveling equipment, the shooting angle, the size of the boundary, and so on.
- the autonomous walking device of the present invention judges the distance from the boundary through real-time images, so there is no need to bury the boundary in the ground, and the boundary can be set on the ground, so that the boundary is easier to build or disassemble.
- step of "judging whether the autonomous vehicle has reached or approached the boundary according to the color layout in the real-time image” includes:
- the boundary is set on the ground, if the ratio of the range of the boundary to the area in the real-time image is larger, it means that the autonomous vehicle is closer to the boundary.
- the threshold T1 is also determined based on the walking speed of the autonomous vehicle, the angle of shooting, the size of the boundary, and the like. In this embodiment, the boundary extends upward from the ground and the height exceeds the height of the autonomous vehicle, and the value of the threshold T1 is 100%.
- the range of the boundary is determined by the color layout, and the ratio R1 between the area of the boundary in the real-time image and the total area of the real-time image is used to determine that the autonomous vehicle has reached or approached the boundary.
- the separation line between the boundary and the ground can also be detected by the color layout, so as to determine the distance between the autonomous vehicle and the boundary by the position of the separation line in the real-time image. If the dividing line is closer to the bottom of the real-time image, the autonomous device is closer to the boundary; on the contrary, if the dividing line is closer to the top of the real-time image, the autonomous device is farther from the boundary.
- it can be performed by a method such as Hough transform straight line detection by the lower edge of the boundary having obvious linear characteristics.
- the step of "determining the boundary range according to the color layout in the real-time image” includes:
- the color of the border is usually different from the color of the lawn. Therefore, in the present invention, the range of the border in the real-time image is recognized by acquiring pixels of the color in the real-time image. Further, the real-time image can be converted into HSV format or HSI, LAB format, which is more conducive to color detection, and then extracted as pixels of that color on the photo. After obtaining the range of the boundary, as described above, the ratio R1 between the area of the boundary and the total area of the real-time image is calculated.
- detecting or acquiring the color of the boundary means that the color of the boundary can be detected through image recognition or the like, or the color of the boundary can be directly retrieved from the memory of the autonomous walking device.
- the color presenting the boundary can be multiple colors, for example, satisfying the uniformity of colors within a certain range of chromaticity or saturation within a certain range. Can be used as the color of the border.
- red pixels can be obtained in real-time images. And form the boundary of the range, and then calculate. If in the real-time image, the ratio between the area of the red range and the total area of the real-time image is R1 ⁇ T1, it means that the autonomous vehicle has reached or approached the boundary.
- the present invention also provides an automatic traveling equipment, which includes a main body, a traveling module, and a power supply module, and, in the present invention, the automatic traveling equipment further includes a camera device and a control device, and the camera device is arranged on the front side of the main body , And used to obtain real-time images taken by the aforementioned autonomous walking equipment in real-time in the forward direction.
- the control device can be connected to the camera device and used to determine whether the autonomous vehicle has reached or approached the boundary according to the color layout in the real-time image, and when it is determined that the autonomous vehicle has reached or approached the boundary, control the autonomous vehicle to stop moving forward And rotate the preset angle, then continue to move forward and work.
- this corresponds to the control method of the above-mentioned autonomous walking equipment, and will not be repeated here.
- the autonomous walking device further includes a calculation module, the control module can also determine the range of the boundary according to the color layout in the real-time image, and the calculation module is connected with the control module to calculate the boundary area and the real-time image.
- the ratio between the total area of the image is R1; and when R1 ⁇ T1, the control module judges that the autonomous walking equipment has reached or is close to the boundary.
- the control module includes a format conversion unit and a color detection unit, the format conversion unit is used to convert the real-time image into HSV format or HSI format or LAB format; the color detection unit can be used to detect or acquire the color of the boundary , And obtain the collection of all pixels that present the border color in the real-time image.
- the present invention also provides an automatic working system for automatic walking equipment, which includes:
- the boundary is enclosed in a ring shape and is formed to define the working area of the automatic walking equipment, the boundary is detachably set on the ground; the color of the boundary is different from the color of the ground.
- the boundary is detachably set on the ground, so the boundary can be dismantled after the construction is completed, so it can be reused, and for a small area of lawn, only the boundary needs to be built, and no arrangement is required Charging station, the construction efficiency of the automatic working system is higher.
- the self-propelled equipment can also walk and work freely in the working area enclosed by the boundary.
- the boundary is set on the ground and can be matched with the automatic traveling equipment, and when the automatic traveling equipment is approaching, the boundary is within the shooting range of the camera.
- the boundary includes boundary piles 1 arranged at intervals and an enclosure 2 connected between adjacent boundary piles 1.
- the boundary piles 1 extend upward from the ground and can be partially inserted under the ground or fully supported on the ground. Therefore, the boundary pile 1 can be fixed on the ground.
- the height of the enclosure 2 in the vertical direction is higher than that of the self-propelled device, which is more favorable for the self-propelled device to take pictures.
- the boundary pile 1 is designed to be higher than the enclosure 2.
- the boundary pile 1 is in the shape of a hard rod with a sharp lower end to be inserted into the ground to support the enclosure 2.
- the color of the boundary is different from the color of the ground, so that the camera of the self-propelled device can perform better recognition.
- the color of the border is red.
- the colors of the enclosure 2 and the boundary pile 1 are the same and both are red.
- the colors of the enclosure 2 and the boundary pile 1 may also be different.
- the enclosure 2 is made of flexible material, so as to facilitate crimping and folding.
- the enclosure 2 is made of a lightweight elastic material, which is convenient for saving space during storage, and also facilitates tightening when fixed on the boundary pile 1 so that the enclosure 2 can be effectively enclosed on the boundary pile 1.
- the present invention provides a method for controlling an autonomous vehicle, and can judge whether the autonomous vehicle reaches or is close to the boundary according to the color layout in the real-time captured real-time image, so that the boundary can be detachably set at On the ground, it is easier to build the automatic working system.
- the pixels presenting the color of the boundary in the real-time photo can be detected to obtain the size of the boundary. When the range of the boundary is larger, it can be judged that the autonomous walking device is closer to the boundary. , So that it is possible to control the steering of the automatic walking equipment immediately.
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Abstract
一种自动工作***、自动行走设备及其控制方法，控制方法包括：获取自动行走设备在前进方向上实时拍摄的实时图像；根据实时图像中颜色的布局判断自动行走设备是否已到达或靠近边界；当判断到达或靠近边界后，自动行走设备中止向前行进并旋转预设角度后，再继续行进并工作。自动行走设备通过拍摄前进方向上的实时图像上颜色的分布来判断是否到达或靠近边界。检测较为方便，边界也可不需要埋设在地下，而是设置于地面上，方便进行拆装。
Description
本发明涉及智能控制领域，特别是涉及一种自动工作***、自动行走设备及其控制方法。
随着计算机技术和人工智能技术的不断进步，智能机器人的自动行走设备、自动工作***已经慢慢进入人们的生活，例如智能扫地机器人、智能割草机器人等。通常的，此类智能机器人体积较小，且集成有传感装置、驱动装置、电池等，无需人工操控，并可在规定的区域内行进并工作。并且，在电池电量不够时，可自动返回充电站，与充电站对接并充电，充电完成后继续行进和工作。
针对现有的智能割草机器人来说，现有的自动工作***的工作区域均为较大的草坪，并且边界大多是为埋设在地面下的可通电设备，从而可使得智能割草机器人感应到。并且，除了要设置边界外，还需要设置充电站，因此整个自动工作***的搭建较为繁琐。特别是对于小型的、例如不到100平米的草坪，割草机器人可在两个小时内割完整个草坪，若对此类草坪也要搭建如上述所述的工作***，则成本较高，也较为麻烦。
因此，必须设计一种较为方便、适合小面积草坪使用的自动工作***、自动行走设备及其控制方法。
发明内容
为解决上述问题之一，本发明提供了一种自动行走设备的控制方法，所述控制方法包括：获取自动行走设备在前进方向上实时拍摄的实时图像；根据实时图像中颜色的布局判断自动行走设备是否已到达或靠近边界；当判断到达或靠近边界后，所述自动行走设备中止向前行进并旋转预设角度后，再继续行进并工作。
作为本发明的进一步改进，步骤“根据实时图像中颜色的布局判断自动行走设备是否已到达或靠近边界”包括：根据实时图像中颜色的布局判断边界的范围；计算实时图像中边界的面积与实时图像总面积之间的比值R1；当R1≥T1时，判断自动行走设备到达或靠近边界。
作为本发明的进一步改进，步骤“根据实时图像中颜色的布局判断边界的范围”包括：检测或获取边界的颜色；将实时图像转换为HSV格式或HSI格式或LAB格式；在实时图像中获取所有呈现边界的颜色的像素点的集合。
为解决上述问题之一，本发明提供了一种自动行走设备，其包括本体、行走模块、电源模块；所述自动行走设备包括：摄像装置，所述摄像装置设置于本体的前侧，并用以获取自动行走设备在前进方向上实时拍摄的实时图像；控制装置，与所述摄像装置相连接并用以根据实时图像中颜色的布局判断自动行走设备是否已到达或靠近边界，当判断为到达或靠近边界后，控制所述自动行走设备中止向前行进并旋转预设角度后，再继续前行并工作。
作为本发明的进一步改进，所述自动行走设备还包括计算模块，所述控制模块还可根据实时图像中颜色的布局判断边界的范围，所述计算模块与控制模块相连接以计算实时图像中边界的面积与实时图像总面积之间的比值R1；并当R1≥T1时，所述控制模块判断自动行走设备到达或靠近边界。
作为本发明的进一步改进，所述控制模块包括格式转换单元和颜色检测单元，所述格式转换单元用以将实时图像转换为HSV格式或HSI格式或LAB格式；所述颜色检测单元可用以检测或获取边界的颜色，并在实时图像中获取所有呈现边界的颜色的像素点的集合。
作为本发明的进一步改进，步骤“所述自动行走设备中止向前行进并旋转预设角度后，再继续行进并工作”包括：所述自动行走设备中止向前行进；所述自动行走设备沿原前进方向的反方向移动规避距离；所述自动行走设备旋转预设角度；所述自动行走设备继续行进并工作。
为解决上述问题之一，本发明提供了一种自动工作***，包括：自动行走设备；边界，围设呈环状并形成用以限定自动行走设备的工作区域，所述边界 可拆卸的设置于地面上；所述边界的颜色与地面颜色不同。
作为本发明的进一步改进，所述边界包括间隔设置的边界桩及连接在相邻边界桩之间的围挡，所述边界桩自地面向上延伸且可部分***地面下或完全支撑于地面上。
作为本发明的进一步改进，所述围挡为柔性材料。
与现有技术相比，本发明中的自动行走设备通过拍摄前进方向上的实时图像上颜色的分布来判断是否到达或靠近边界，检测较为方便，该边界也可不需要埋设在地下，而是设置于地面上，方便进行拆装。
图1为本发明中自动工作***的结构示意图；
图2为本发明中自动行走设备的控制方法的流程图。
为了使本技术领域的人员更好地理解本发明中的技术方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
本发明的自动行走设备可以是自动割草机，或者自动吸尘器等，其自动行走于工作区域以进行割草、吸尘工作，本发明具体示例中，以自动行走设备为割草机为例做具体说明，相应的，所述工作区域可为草坪。当然，自动行走设备不限于割草机和吸尘器，也可以为其它设备，如喷洒设备、除雪设备、监视设备等等适合无人值守的设备。
如图1和图2所示，本发明提供了一种自动行走设备的控制方法，所述控制方法包括：
获取自动行走设备在前进方向上实时拍摄的实时图像；
根据实时图像中颜色的布局判断自动行走设备是否已到达或靠近边界；
当判断到达或靠近边界后，所述自动行走设备中止向前行进并旋转预设角度后，再继续行进并工作。
与现有的自动行走设备不同的是，本发明中的自动行走设备不是通过感应边界上的电流，而是通过拍摄自动行走设备在前进方向上的实时图像并对实时图像中的颜色分布进行分析，从而来判断是否到达或靠近边界。因此，为了能够拍摄到包括边界的实时图像，该边界必须与草地具有明显的不同，具体的，在后文中进行详细描述。
并且，上述步骤“所述自动行走设备中止向前行进并旋转预设角度后，再继续行进并工作”包括：所述自动行走设备中止向前行进；所述自动行走设备沿原前进方向的反方向移动规避距离；所述自动行走设备旋转预设角度；所述自动行走设备继续行进并工作。当然，所述自动行走设备也可直接中止行进并旋转预设角度。上述规避距离是由自动行走设备的行走速度、拍摄的角度、边界的大小等决定。
因此，本发明中的自动行走设备通过实时图像来判断和边界之间的距离，从而不需要在地面内埋设边界，边界可设置于地面上，从而边界也更加容易被搭建或拆装。
进一步的，步骤“根据实时图像中颜色的布局判断自动行走设备是否已到达或靠近边界”包括：
根据实时图像中颜色的布局判断边界的范围；
计算实时图像中边界的面积与实时图像总面积之间的比值R1；
当R1≥T1时，判断自动行走设备到达或靠近边界。
由于所述边界设置于地面上，因此，若边界的范围占实时图像中的面积的比值越大，则说明该自动行走设备越靠近边界。并且，该阈值T1也要根据该自动行走设备的行走速度、拍摄的角度、边界的大小等来决定。在本实施方式中，所述边界自地面向上延伸且高度超过了该自动行走设备的高度，该阈值T1的值为100％。
当然，在本发明的上述实施例中，通过颜色的布局来判断边界的范围，并通过实时图像中边界的面积与实时图像总面积之间的比值R1来判断自动行走设备已到达或靠近边界。当然，在另一实施例中，也可通过颜色的布局来检测边界与地面之间的分隔线，从而通过该分隔线在实时图像中的位置来判断自动行走设备与边界之间的距离。若该分隔线越靠近实时图像的下方，则该自动行走设备离边界越近；相反的，若该分隔线越靠近实时图像的上方，则该自动行走设备离边界越远。特别的，该另一实施例中，可通过边界下边缘具有明显的直线特征而通过Hough变换直线检测等方法来进行。
具体的，步骤“根据实时图像中颜色的布局判断边界的范围”包括：
检测或获取边界的颜色；
将实时图像转换为HSV格式或HSI格式或LAB格式；
在实时图像中获取所有呈现边界的颜色的像素点的集合。
为了可以和草坪进行明显的区分，边界的颜色通常与草坪的颜色不同，因此，本发明中通过在实时图像中获取该颜色的像素点来识别实时图像中边界的范围。进一步的，可将实时图像转换为HSV格式或HSI、LAB格式，使得更加有利于颜色的检测，然后在提取再在照片上提取为该颜色的像素点。获取边界的范围后，再如上述所述，对边界的面积与实时图像总面积之间的比值R1进行计算。
需要说明的是，“检测或获取边界的颜色”是指可以通过图像识别等对边界的颜色进行检测，也可以直接从该自动行走设备的存储器中调取边界的颜色。另外，“在实时图像中获取所有呈现边界的颜色的像素点的集合”中，呈现该边界的颜色可以为多种颜色，例如满足色度在一定范围内或饱和度在一定范围内的颜色均可以作为该边界的颜色。
例如，本发明的一实施例中，边界的颜色为红色，则红色与草坪具有明显的颜色区分，则具体的，本发明的上述控制方法中即可在实时图像中获取呈现红色的像素点，并形成边界的范围，再进行计算。若实时图像中，红色的范围的面积与实时图像总面积之间的比值R1≥T1，则即可说明该自动行走设备到达 或靠近边界。
本发明还提供了一种自动行走设备，其包括本体、行走模块、电源模块，并且，在本发明中，所述自动行走设备还包括有摄像装置和控制装置，摄像装置设置于本体的前侧，并且用以获取上述所述的自动行走设备在前进方向上实时拍摄的实时图像。而控制装置可与所述摄像装置相连接并用以根据实时图像中颜色的布局判断自动行走设备是否已到达或靠近边界，当判断为到达或靠近边界后，控制所述自动行走设备中止向前行进并旋转预设角度后，再继续前行并工作。当然，这与上述自动行走设备的控制方法相对应，在此不再赘述。
进一步的，所述自动行走设备还包括计算模块，所述控制模块还可根据实时图像中颜色的布局判断边界的范围，所述计算模块与控制模块相连接以计算实时图像中边界的面积与实时图像总面积之间的比值R1；并当R1≥T1时，所述控制模块判断自动行走设备到达或靠近边界。具体的，所述控制模块包括格式转换单元和颜色检测单元，所述格式转换单元用以将实时图像转换为HSV格式或HSI格式或LAB格式；所述颜色检测单元可用以检测或获取边界的颜色，并在实时图像中获取所有呈现边界的颜色的像素点的集合。另外，如图1所示，本发明还提供了一种自动行走设备的自动工作***，该自动工作***包括：
自动行走设备；
边界，围设呈环状并形成用以限定自动行走设备的工作区域，所述边界可拆卸的设置于地面上；所述边界的颜色与地面颜色不同。
所述边界可拆卸的设置于地面上，因此所述边界在搭建完后还可以进行拆除，因此可以重复利用，并且在对于小面积的草坪来说，仅需要搭建边界即可，且不需要布置充电站，该自动工作***的搭建效率更高。自动行走设备一样可以在边界所围设的工作区域内自由行走并工作。并且，该边界设置于地面上，可与自动行走设备相配合，并在自动行走设备接近的状态下，该边界在摄像装置的拍摄范围内。
进一步的，所述边界包括间隔设置的边界桩1及连接在相邻边界桩1之间的围挡2，所述边界桩1自地面向上延伸且可部分***地面下或完全支撑于地面 上。因此，所述边界桩1可固定于地面上。并且，如上述所述，所述围挡2在竖直方向上的高度高于所述自行走设备，从而更加有利于所述自行走设备进行拍摄。当然，所述边界桩1更高于所述围挡2设计。在本实施方式中，所述边界桩1为硬质棒状，且下端尖锐以***地面内，用以支撑围挡2。
当然，如上述所述，所述边界的颜色与地面颜色不同，从而可以使得自行走设备的拍摄装置进行更好的识别。具体的，该边界的颜色为红色。并且，在本实施方式中，所述围挡2和边界桩1的颜色为一致且均为红色，当然，所述围挡2和边界桩1之间也可以颜色不相同。
另外，所述围挡2为柔性材料，从而便于卷曲折叠。优选的，该围挡2采用轻质的弹性材料制成，便于收纳时节省空间，也有利于固定在边界桩1上时拉紧以使得该围挡2能够有效围设在边界桩1上。
综上所述，本发明提供了一种自动行走设备的控制方法，并且可根据实时拍摄的实时图像中的颜色的布局对自动行走设备是否到达或靠近边界进行判断，从而该边界可拆卸设置在地面上，因此对该自动工作***的搭建更加容易。进一步的，本发明中可通过对实时照片中的呈现该边界的颜色的像素点进行检测，从而来获取边界的范围大小，当边界的范围越大时，则可判断自动行走设备距离边界更近，从而即可即时的可能控制自动行走设备转向。
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施方式中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施方式的具体说明，并非用以限制本发明的保护范围，凡未脱离本发明技艺精神所作的等效实施方式或变更均应包含在本发明的保护范围之内。
Claims (10)
- 一种自动行走设备的控制方法，其特征在于，所述控制方法包括：获取自动行走设备在前进方向上实时拍摄的实时图像；根据实时图像中颜色的布局判断自动行走设备是否已到达或靠近边界；当判断到达或靠近边界后，所述自动行走设备中止向前行进并旋转预设角度后，再继续行进并工作。
- 根据权利要求1所述的控制方法，其特征在于，步骤“根据实时图像中颜色的布局判断自动行走设备是否已到达或靠近边界”包括：根据实时图像中颜色的布局判断边界的范围；计算实时图像中边界的面积与实时图像总面积之间的比值R1；当R1≥T1时，判断自动行走设备到达或靠近边界。
- 根据权利要求2所述的控制方法，其特征在于，步骤“根据实时图像中颜色的布局判断边界的范围”包括：检测或获取边界的颜色；将实时图像转换为HSV格式或HSI格式或LAB格式；在实时图像中获取所有呈现边界的颜色的像素点的集合。
- 根据权利要求1所述的控制方法，其特征在于，步骤“所述自动行走设备中止向前行进并旋转预设角度后，再继续行进并工作”包括：所述自动行走设备中止向前行进；所述自动行走设备沿原前进方向的反方向移动规避距离；所述自动行走设备旋转预设角度；所述自动行走设备继续行进并工作。
- 一种自动行走设备，其包括本体、行走模块、电源模块；其特征在于，所述自动行走设备包括：摄像装置，所述摄像装置设置于本体的前侧，并用以获取自动行走设备在前进方向上实时拍摄的实时图像；控制装置，与所述摄像装置相连接并用以根据实时图像中颜色的布局判断自动 行走设备是否已到达或靠近边界，当判断为到达或靠近边界后，控制所述自动行走设备中止向前行进并旋转预设角度后，再继续前行并工作。
- 根据权利要求5所述的自动行走设备，其特征在于，所述自动行走设备还包括计算模块，所述控制模块还可根据实时图像中颜色的布局判断边界的范围，所述计算模块与控制模块相连接以计算实时图像中边界的面积与实时图像总面积之间的比值R1；并当R1≥T1时，所述控制模块判断自动行走设备到达或靠近边界。
- 根据权利要求6所述的自动行走设备，其特征在于，所述控制模块包括格式转换单元和颜色检测单元，所述格式转换单元用以将实时图像转换为HSV格式或HSI格式或LAB格式；所述颜色检测单元可用以检测或获取边界的颜色，并在实时图像中获取所有呈现边界的颜色的像素点的集合。
- 一种如权利要求5至7中所述的自动行走设备的自动工作***，其特征在于，包括：自动行走设备；边界，围设呈环状并形成用以限定自动行走设备的工作区域，所述边界可拆卸的设置于地面上；所述边界的颜色与地面颜色不同。
- 根据权利要求8所述的自动工作***，其特征在于，所述边界包括间隔设置的边界桩及连接在相邻边界桩之间的围挡，所述边界桩自地面向上延伸且可部分***地面下或完全支撑于地面上。
- 根据权利要求9所述的自动工作***，其特征在于，所述围挡为柔性材料。
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