CN112799389B - Automatic walking area path planning method and automatic walking equipment - Google Patents
Automatic walking area path planning method and automatic walking equipment Download PDFInfo
- Publication number
- CN112799389B CN112799389B CN201911101063.5A CN201911101063A CN112799389B CN 112799389 B CN112799389 B CN 112799389B CN 201911101063 A CN201911101063 A CN 201911101063A CN 112799389 B CN112799389 B CN 112799389B
- Authority
- CN
- China
- Prior art keywords
- area
- positioning
- automatic walking
- walking
- equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000000007 visual effect Effects 0.000 claims abstract description 78
- 230000004044 response Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 18
- 238000003860 storage Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 7
- 230000003287 optical effect Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 7
- 238000004590 computer program Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 239000000835 fiber Substances 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000001902 propagating effect Effects 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005295 random walk Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Images
Classifications
-
- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- 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
-
- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/0253—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 extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present disclosure relates to an automatic walking area path planning method and an automatic walking device, applied to an automatic walking device, wherein the automatic walking area is defined by an area boundary, and the method comprises: acquiring visual reference data when a visual sensor establishes a map; determining a virtual boundary in the area boundary according to the visual reference data, wherein the virtual boundary divides the automatic walking area into an effective positioning area and a failure positioning area, and an area between the virtual boundary and the area boundary is the effective positioning area; and planning the walking path of the automatic walking equipment in different modes in the effective positioning area and the failure positioning area respectively. By utilizing the various embodiments of the disclosure, walking errors can be reduced under various visual positioning precision conditions, and further the working efficiency is improved.
Description
Technical Field
The disclosure relates to the field of automatic working systems, in particular to an automatic walking area path planning method and automatic walking equipment.
Background
With the development of scientific technology, intelligent automatic walking equipment is well known, and because the automatic walking equipment can execute preset related tasks based on an automatic preset program and does not need manual operation and intervention, the intelligent automatic walking equipment is widely applied to industrial application and household products. The intelligent automatic walking equipment greatly saves time of people and brings great convenience to industrial production and home life. The automatic walking equipment needs to plan a path, the automatic walking equipment walks according to the planned path, and the position of the equipment needs to be determined in real time in the walking process. The visual SLAM (simultaneous localization and mapping) positioning technology can determine the position of the device in real time by using a visual module of the device through visual feature points.
However, in the prior art, the visual features of the working scene of some automatic walking devices are single, for example, in a lawn area where the automatic lawn mower works, in an area far from the boundary of the lawn, few visual feature points can be extracted, which results in low accuracy of visual positioning and mapping. Furthermore, the automatic walking device cannot be accurately positioned when walking along a planned path, and walking errors (such as missed mowing or repeated mowing) occur, so that the working efficiency of the automatic walking device is low.
Disclosure of Invention
The invention provides an automatic walking area path planning method and automatic walking equipment, which are used for reducing walking errors under various visual positioning precision conditions and further improving the working efficiency.
According to an aspect of the present disclosure, there is provided an automatic walking area path planning method applied to an automatic walking device, the automatic walking area being defined by area boundaries, the method including:
acquiring visual reference data when a visual sensor establishes a map;
determining a virtual boundary in the area boundary according to the visual reference data, wherein the virtual boundary divides the automatic walking area into an effective positioning area and a failure positioning area, and an area between the virtual boundary and the area boundary is the effective positioning area;
and planning the walking path of the automatic walking equipment in different modes in the effective positioning area and the failure positioning area respectively.
In one possible implementation, the determining a virtual dividing line within the region boundary according to the visual reference data includes:
and according to the range of the automatic walking equipment capable of maintaining the positioning accuracy, contracting a preset distance from the region boundary inwards to determine and obtain the virtual boundary line.
In a possible implementation manner, the planning, in the effective location area and the failure location area, a walking path of the automatic walking device in different manners respectively includes:
planning a path of the automatic walking equipment in the effective positioning area based on the visual positioning of the automatic walking equipment;
and planning the automatic walking equipment to walk randomly in the failure positioning area, or planning the path of the automatic walking equipment based on visual positioning and/or satellite positioning.
In a possible implementation manner, the planning, in the effective location area and the failure location area, a walking path of the automatic walking device in different manners further includes:
and after the automatic walking equipment automatically walks and works in the effective positioning area or the ineffective positioning area for a preset time, or in response to a work area switching instruction sent by a user, planning the automatic walking equipment to walk and enter another area for automatic walking.
According to another aspect of the present disclosure, an automatic walking device is provided, which plans a walking path by using the above method, and the device includes:
an apparatus body;
a visual SLAM positioning module for determining the position of the automated walking device using visual data;
the satellite positioning module is used for determining the position of the automatic walking equipment by utilizing satellite positioning data;
a control module configured to control the device to walk along a planned path based on the location of the visual SLAM location module at the active location area.
In one possible implementation, the control module is further configured to control the device to walk randomly in the failed location area or to control the device to walk along a planned path based on the locations of the visual SLAM location module and the satellite location module.
In a possible implementation manner, the control module is further configured to control the automatic walking device to walk in the effective positioning area or the ineffective positioning area, and enter another area to perform automatic walking after a preset time elapses or in response to a command sent by a user to switch the working area.
In one possible implementation manner, the controlling the device to randomly walk in the failure location area includes:
and when the equipment walks to the virtual boundary, controlling the equipment to turn and then continue to walk randomly.
In one possible implementation, the controlling the device to walk according to the planned path includes:
and controlling the equipment to walk according to a preset I-shaped or spiral path.
In a possible implementation manner, a positioning inaccuracy area is arranged in the effective positioning area, and is adjacent to the failure positioning area, and correspondingly, when the equipment travels to the positioning inaccuracy area, the equipment is controlled to continue traveling along the current traveling direction, and after the distance exceeds the virtual boundary line by a preset distance, the equipment is controlled to turn to travel.
In one possible implementation, the control unit is further configured to:
and controlling the equipment to automatically return to a charging position based on the positioning of the visual SLAM positioning module and the satellite positioning module under the condition that the equipment needs to return to the charging position.
According to an improved embodiment of various aspects of the present disclosure, the automatic walking area may be divided into an effective positioning area and a failure positioning area by the virtual boundary according to the condition of the visual data, the path planning may be performed in the effective positioning area based on the visual positioning, and the path planning or the random walking may be performed in the failure positioning area in combination with other positioning methods. Therefore, the automatic walking equipment can avoid walking errors under various positioning precision conditions, and the walking working efficiency of the automatic walking equipment is improved.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic flow chart illustrating a method for planning a path of an automatic walking area according to an embodiment of the present disclosure.
Fig. 2 is a schematic diagram illustrating region division of an automatic walking region according to an embodiment of the present disclosure.
Fig. 3 shows a schematic path planning diagram of the automatic walking area according to an embodiment of the present disclosure.
Fig. 4 shows a schematic structural diagram of a module of an automatic walking device according to an embodiment of the present disclosure.
Fig. 5 is a schematic structural diagram of an automatic walking device 100 according to an embodiment of the present disclosure
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.
It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" in this document indicates that the former and latter related objects are in an "or" relationship.
"plurality" appearing in embodiments of the present disclosure means two or more. The descriptions of the first, second, etc. appearing in the embodiments of the present disclosure are for illustrative and descriptive purposes only, and are not for order, nor do they represent any special limitations on the number of embodiments of the present disclosure, and should not be construed as limiting the embodiments of the present disclosure in any way.
Fig. 1 is a schematic flow chart illustrating a method for planning a path of an automatic walking area according to an embodiment of the present disclosure. The method can be applied to automatic walking equipment which can be any automatic walking electronic equipment or intelligent equipment such as an automatic mower, a sweeping robot and the like. The corresponding automatic walking area can be any area such as a lawn and the like which can be suitable for the automatic walking equipment, and more specifically, the automatic walking area can be an area with enough characteristic points on the boundary of any area. The automatic walking area of the automatic walking device can be defined by area boundaries, and particularly, as shown in fig. 1, the method comprises the following steps:
s110: and acquiring visual reference data when the visual sensor establishes the map.
Wherein the vision sensor may comprise a vision SLAM device, VSLAM device for short.
The visual reference data may include visual feature data such as a reference object originally existing or preset around the automatic walking area and the area boundary, and range data of the VSLAM device capable of maintaining the positioning accuracy. The visual reference data may be visual reference data acquired when a boundary contour of a map is established using the VSLAM.
S120: and determining a virtual boundary in the area boundary according to the visual reference data, wherein the virtual boundary divides the automatic walking area into an effective positioning area and a failure positioning area, and the area between the virtual boundary and the area boundary is the effective positioning area.
Wherein, in one embodiment of the present disclosure, the determining a virtual dividing line within the region boundary according to the visual reference data may include:
and according to the range of the automatic walking equipment capable of maintaining the positioning accuracy, contracting a preset distance from the region boundary inwards to determine and obtain the virtual boundary line.
The VSLAM positioning device adopted by automatic walking equipment such as a mower is influenced by optical system parameters (such as the number of pixel points of a CCD), lens parameters (focusing and the like), environmental parameters (such as whether a tall or fixed reference object exists or not, such as a telegraph pole) and the like, and the range of positioning accuracy can be correspondingly different.
For example, if the visual range of the VSLAM corresponding to the robotic lawnmower is within 15 meters of the area boundary, the virtual boundary line is obtained by shrinking 15 meters inward from the area boundary. Fig. 2 is a schematic diagram illustrating region division of an automatic walking region according to an embodiment of the present disclosure. As shown in fig. 2, the solid line shown in fig. 2 indicates the area boundary of the self-walking area, and the dotted line shown indicates the virtual boundary line. The virtual boundary line divides the self-walking area into an active positioning area (i.e., VSLAM active area) and a dead positioning area (i.e., VSLAM dead area).
More specifically, in an implementation scenario in which there are enough visual feature points (for example, not less than 3 feature points) at the boundary of the automatic walking area, before the device starts to work, a user can hold a handheld module with a monocular visual sensor or control an automatic walking device (for example, a mower) with a monocular visual sensor to walk along the boundary of the automatic walking area for one circle, and a boundary map is established, wherein the boundary map is established in the scenario that only the shape has no definite length and width. After the boundary map is created, the boundary is gradually explored towards the inside of the boundary, and when the area where the visual feature points are not enough to be mapped is explored, the area where the visual feature points are not enough to be mapped forms the virtual boundary, for example, the boundary of the area where the visual feature points are not enough to be mapped can be used as the virtual boundary.
In another implementation scenario with more area boundary visual feature points, the handheld module or the automatic walking device is provided with an inertial measurement unit IMU and an odometer in addition to the monocular visual sensor. Before the equipment starts to work, a user firstly holds the handheld module or the control equipment and walks for a circle along a boundary to establish a boundary map, and the boundary map established by utilizing the monocular vision sensor, the IMU and the odometer not only has the shape but also has the specific length and width. Therefore, in such a scenario, the virtual boundary line can be obtained by directly shrinking a predetermined distance inward after the boundary map is built.
In another implementation scenario with more area boundary visual feature points, the handheld module or the automatic walking device has a binocular vision sensor. Before the equipment starts to work, a user firstly holds the handheld module or the control equipment and walks for a circle along a boundary to establish a boundary map, and the boundary map established by using the binocular vision sensor not only has the shape but also has the specific length and width. Therefore, in such a scenario, the virtual boundary line can be obtained by directly shrinking a predetermined distance inward after the boundary map is built.
Of course, the above implementation scenarios and the manner of establishing the map and determining the virtual dividing line are all exemplary, and in the implementation scenarios with many boundary visual feature points in other areas, other manners may also be used to establish the boundary map and determine the virtual dividing line, as long as the determined virtual dividing line can divide the visual positioning failure area and the visual positioning effective area.
S130: and planning the walking path of the automatic walking equipment in different modes in the effective positioning area and the failure positioning area respectively.
In an embodiment of the present disclosure, the planning, in the effective location area and the ineffective location area, the walking path of the automatic walking apparatus in different manners may include:
in the effective positioning area, a path of the automatic walking device can be planned based on the visual positioning of the automatic walking device. Because the equipment can be accurately and instantly positioned by using the VSLAM in the effective positioning area, a specific path can be planned to ensure that the equipment automatically walks according to the path, and the path is accurately searched by the VSLAM positioning in the walking process. For example, the device can be planned to walk according to a common working path such as a spiral path, an I-shaped path and the like, or the walking path of the device can be directly set through a user terminal or the walking of the device can be directly controlled according to the positioning of the device.
In the failure location area, the automatic walking device can be planned to walk randomly or the path of the automatic walking device can be planned based on visual positioning and/or satellite positioning. In one aspect, the device may be programmed to walk randomly, and when the device reaches the virtual dividing line (e.g., the device sees a visual reference), the device may turn to walk so that the failure location area is not exceeded. On the other hand, because the visual positioning of the equipment is not accurate, the equipment can be combined with other positioning modes to assist the positioning, and a path is planned for the equipment on the basis. The other positioning modes can be satellite positioning technologies, such as GPS, Beidou and the like, and can also be any positioning modes such as optical sensor (laser and infrared lamp) positioning, ultrasonic sensor positioning, inertial navigation system and the like.
In a specific walking operation, in an embodiment of the present disclosure, the planning, in the effective location area and the ineffective location area, the walking path of the automatic walking device in different manners may further include:
the equipment can firstly walk in the effective positioning area for preset time and then walk in the other area, namely the failure positioning area.
Of course, in another embodiment of the present disclosure, the device may also work in the failure location area for a preset time before walking in the effective location area.
The preset time can be determined according to the actual conditions of the work items, for example, when the mower mows, the time enough for the mower to finish mowing the whole area can be set as the preset time.
Fig. 4 shows a schematic structural diagram of a module of an automatic walking device according to an embodiment of the present disclosure. The automatic walking device plans the walking path by using the method described in the above embodiment, specifically, as shown in fig. 4, the device may include:
an apparatus body 100.
A visual SLAM location module 200 may be used to determine the location of the automated walking device using visual data. The device body may be an automatic working device such as a mower, fig. 5 is a schematic structural diagram of an automatic walking device 100 according to an embodiment of the present disclosure, and as shown in fig. 5, a visual sensor 140 is disposed on the device 100, and the visual sensor may acquire visual data required by the visual SLAM positioning module 200.
A satellite positioning module 300 may be configured to determine a position of the self-propelled device using satellite positioning data.
A control module 800, which may be configured to control the device to follow a planned path based on the positioning of the visual SLAM positioning module at the active positioning area.
Wherein the controlling the device to walk along the planned path may include: and controlling the equipment to walk according to a preset I-shaped or spiral path. Of course, in other embodiments of the present disclosure, the control module 800 may control the automatic walking device to walk along a planned path based on the visual positioning of the automatic walking device. In the effective positioning area, the equipment can be accurately positioned in real time by using the VSLAM, so that a path is accurately searched by the VSLAM in the walking process, and the equipment is controlled to walk according to the planned path. For example, the device may be controlled to travel along a spiral, i-shaped, or other common working path, or the travel path of the device may be directly set through the user terminal, or a corresponding control instruction for controlling the device to travel may be directly sent according to the location of the device, and the control module 800 controls the device to travel according to the control instruction. Fig. 3 shows a schematic path planning diagram of the automatic walking area according to an embodiment of the present disclosure. As shown in fig. 3, the control module 800 may control the apparatus to follow a pre-planned spiral path as shown in fig. 3. Of course, the shape of the walking path shown in fig. 3 is only an example, and in other embodiments of the present disclosure, the walking path of the device may be set to any other regular or irregular shape, and in particular, the present disclosure does not limit this.
In one embodiment of the present disclosure, the control module 800 is further configured to control the device to walk randomly in the failed location area or to control the device to walk along a planned path based on the locations of the visual SLAM location module and the satellite location module.
In one aspect, the control module may control the device to randomly walk, and when the device reaches the virtual dividing line (e.g., the device sees a visual reference), the control module may control the device to turn to walk so as not to exceed the fail-over area. As shown in fig. 3, the random travel path of the device may be a dogleg. Of course, the path of the random walk shown in fig. 3 is also only exemplary, and in other embodiments of the present disclosure, the device may be controlled to randomly walk in any other manner, and it may be defined to turn to walk when the device reaches the virtual boundary line.
On the other hand, because the visual positioning of the device is not accurate, in some embodiments of the present disclosure, the device may be controlled to walk according to a pre-planned path in combination with other positioning methods to assist positioning. For example, as shown in fig. 4, the apparatus may further include an optical positioning module 400 (for example, including optical sensors such as laser and infrared), an inertial measurement module IMU500, an ultrasonic positioning module 600, and the like, and correspondingly, the other positioning modes may be satellite positioning technologies such as GPS and beidou, and may also be any positioning modes such as optical sensor (laser and infrared lamp) positioning, ultrasonic sensor positioning, and inertial navigation system. Of course, in other embodiments of the present disclosure, the apparatus may include, but is not limited to, any one or more of the above modules, and may also include a positioning module corresponding to another positioning manner. Further, as shown in fig. 4, the device may further include, but is not limited to, a walking module 110, an operating module 120, an energy module 130, a wireless communication module 150, and the like.
In an embodiment of the present disclosure, the control module 800 may be further configured to control the automatic walking device to walk in the effective positioning area or the ineffective positioning area, and enter another area to perform automatic walking after a preset time elapses or in response to a command sent by a user to switch the working area.
Specifically, the equipment can be controlled to firstly walk in the effective positioning area for a preset time and then walk in another area, that is, the ineffective positioning area.
Of course, in another embodiment of the present disclosure, the device may be controlled to work in the failure location area for a preset time and then to walk in the effective location area.
The preset time can be determined according to the actual conditions of the work items, for example, when the mower mows, the time enough for the mower to finish mowing the whole area can be set as the preset time.
In an embodiment of the present disclosure, the effective positioning area may also have a positioning inaccuracy area (which may be referred to as a gray area) therein, which may be caused by a visual condition of the device itself, such as a different visual angle of a camera of the device. The location-inaccurate region may be determined by the virtual boundary line, such that the location-inaccurate region abuts against or covers a part of the virtual boundary line, adjacent to the failure location region, and accordingly, when the device travels to the location-inaccurate region, the device is controlled to continue traveling along the current traveling direction, and after the device exceeds the virtual boundary line by a preset distance (e.g., 2 meters), the device is controlled to turn to travel. Therefore, errors in visual positioning of the equipment caused by inaccurate positioning can be avoided, and working errors can be avoided, such as missed cutting of grass in the area by the mower.
In an embodiment of the present disclosure, a visual shadow region may also exist in the effective positioning region, and in the visual shadow region, the device may be controlled to walk according to a pre-planned path based on the positioning of the visual SLAM positioning module and the satellite positioning module.
In an embodiment of the present disclosure, the control unit 800 may be further configured to:
and controlling the equipment to automatically return to a charging position based on the positioning of the visual SLAM positioning module and the satellite positioning module under the condition that the equipment needs to return to the charging position. When the equipment finishes working, the equipment does not need to accurately walk according to a path at the moment because the equipment does not work any more, and only needs to smoothly return to charge, so that if the equipment passes through the positioning failure area in the return process, the equipment can be controlled to automatically return to a charging position based on positioning of a satellite positioning module or a combination of the visual SLAM positioning module and the satellite positioning module.
The present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry that can execute the computer-readable program instructions implements aspects of the present disclosure by utilizing the state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).
Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. An automatic walking area path planning method is applied to automatic walking equipment, and the automatic walking area is defined by area boundaries, and the method comprises the following steps:
acquiring visual reference data when a visual sensor establishes a map;
determining a virtual boundary within the area boundary according to the visual reference data, wherein the virtual boundary divides the automatic walking area into an effective positioning area and a failure positioning area, and an area between the virtual boundary and the area boundary is the effective positioning area;
planning the walking path of the automatic walking equipment in different modes in the effective positioning area and the failure positioning area respectively;
said determining a virtual dividing line within said region boundary from said visual reference data comprises:
and according to the range of the automatic walking equipment capable of maintaining the positioning accuracy, contracting a preset distance from the region boundary inwards to determine and obtain the virtual boundary line.
2. The method for planning the path of the automatic walking area according to claim 1, wherein the step of planning the walking path of the automatic walking device in different manners in the effective positioning area and the ineffective positioning area respectively comprises:
planning a path of the automatic walking equipment in the effective positioning area based on the visual positioning of the automatic walking equipment;
and planning the automatic walking equipment to walk randomly in the failure positioning area, or planning the path of the automatic walking equipment based on satellite positioning.
3. The method for planning the path of the automatic walking area according to claim 1 or 2, wherein the step of planning the walking path of the automatic walking device in different manners in the effective positioning area and the ineffective positioning area further comprises:
and after the automatic walking equipment automatically walks in the effective positioning area or the failure positioning area for preset time, or in response to a work area switching instruction sent by a user, planning the automatic walking equipment to walk into another area for automatic walking.
4. An automated walking device, characterized in that it plans a walking path using the method according to any one of claims 1 to 3, said device comprising:
an apparatus body;
a visual SLAM positioning module for determining the position of the automated walking device using visual data;
the satellite positioning module is used for determining the position of the automatic walking equipment by utilizing satellite positioning data;
a control module configured to control the device to walk along a planned path based on the location of the visual SLAM location module at the active location area.
5. The automated walking device of claim 4, wherein the control module is further configured to control the device to walk randomly in the failed location area or to follow a planned path based on the locations of the visual SLAM location module and the satellite location module.
6. The automatic walking device of claim 4 or 5, wherein the control module is further configured to control the automatic walking device to walk in the effective location area or the ineffective location area, and enter into another area for automatic walking after a preset time or in response to a command sent by a user to switch the work area.
7. The automated walking device of claim 5, wherein said controlling said device to walk randomly in said fail location area comprises:
and when the equipment walks to the virtual boundary, controlling the equipment to turn and then continue to walk randomly.
8. The automated walking device of claim 4, wherein said controlling said device to walk according to a planned path comprises:
and controlling the equipment to walk according to a preset I-shaped or spiral path.
9. The automatic walking device of claim 5 or 7, wherein said effective positioning area has a positioning inaccuracy area adjacent to said failure positioning area, and when said device walks to said positioning inaccuracy area, said device is controlled to continue walking along the current walking direction, and after exceeding said virtual boundary line by a preset distance, said device is controlled to turn to walk.
10. The automated walking device of claim 4, wherein said control unit is further configured to:
and controlling the equipment to automatically return to a charging position based on the positioning of the visual SLAM positioning module and the satellite positioning module under the condition that the equipment needs to return to the charging position.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911101063.5A CN112799389B (en) | 2019-11-12 | 2019-11-12 | Automatic walking area path planning method and automatic walking equipment |
| PCT/CN2020/117374 WO2021093469A1 (en) | 2019-11-12 | 2020-09-24 | Automatic walking area route planning method and automatic walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911101063.5A CN112799389B (en) | 2019-11-12 | 2019-11-12 | Automatic walking area path planning method and automatic walking equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112799389A CN112799389A (en) | 2021-05-14 |
| CN112799389B true CN112799389B (en) | 2022-05-13 |
Family
ID=75802969
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911101063.5A Active CN112799389B (en) | 2019-11-12 | 2019-11-12 | Automatic walking area path planning method and automatic walking equipment |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112799389B (en) |
| WO (1) | WO2021093469A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115053690A (en) * | 2022-07-01 | 2022-09-16 | 松灵机器人(深圳)有限公司 | Mowing method, mowing device, mowing robot and storage medium |
| CN115309167B (en) * | 2022-09-16 | 2023-08-01 | 未岚大陆(北京)科技有限公司 | Autonomous mobile apparatus, control method thereof, and computer-readable storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104111651A (en) * | 2013-04-22 | 2014-10-22 | 苏州宝时得电动工具有限公司 | Automatic walking equipment and method for automatic walking equipment to return to stop station |
| CN106709937A (en) * | 2016-12-21 | 2017-05-24 | 四川以太原力科技有限公司 | Method for controlling floor mopping robot |
| CN107981790A (en) * | 2017-12-04 | 2018-05-04 | 深圳市沃特沃德股份有限公司 | Room area division methods and sweeping robot |
| CN108247647A (en) * | 2018-01-24 | 2018-07-06 | 速感科技（北京）有限公司 | A kind of clean robot |
| CN108664015A (en) * | 2017-03-29 | 2018-10-16 | 北京米文动力科技有限公司 | A kind of planing method and equipment in robot ambulation path |
| CN109421067A (en) * | 2017-08-31 | 2019-03-05 | Neato机器人技术公司 | Robot virtual boundary |
| CN109984678A (en) * | 2017-12-29 | 2019-07-09 | 速感科技（北京）有限公司 | A kind of clean method of clean robot and clean robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10545504B2 (en) * | 2015-04-01 | 2020-01-28 | AI Incorporated | System and method for establishing virtual boundaries for robotic devices |
-
2019
- 2019-11-12 CN CN201911101063.5A patent/CN112799389B/en active Active
-
2020
- 2020-09-24 WO PCT/CN2020/117374 patent/WO2021093469A1/en active Application Filing
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104111651A (en) * | 2013-04-22 | 2014-10-22 | 苏州宝时得电动工具有限公司 | Automatic walking equipment and method for automatic walking equipment to return to stop station |
| CN106709937A (en) * | 2016-12-21 | 2017-05-24 | 四川以太原力科技有限公司 | Method for controlling floor mopping robot |
| CN108664015A (en) * | 2017-03-29 | 2018-10-16 | 北京米文动力科技有限公司 | A kind of planing method and equipment in robot ambulation path |
| CN109421067A (en) * | 2017-08-31 | 2019-03-05 | Neato机器人技术公司 | Robot virtual boundary |
| CN107981790A (en) * | 2017-12-04 | 2018-05-04 | 深圳市沃特沃德股份有限公司 | Room area division methods and sweeping robot |
| CN109984678A (en) * | 2017-12-29 | 2019-07-09 | 速感科技（北京）有限公司 | A kind of clean method of clean robot and clean robot |
| CN108247647A (en) * | 2018-01-24 | 2018-07-06 | 速感科技（北京）有限公司 | A kind of clean robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021093469A1 (en) | 2021-05-20 |
| CN112799389A (en) | 2021-05-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3660618B1 (en) | Map building and positioning of robot | |
| CN113296495B (en) | Path forming method and device of self-mobile equipment and automatic working system | |
| CN107328418B (en) | Nuclear radiation detection path autonomous planning method of mobile robot in strange indoor scene | |
| EP3974778B1 (en) | Method and apparatus for updating working map of mobile robot, and storage medium | |
| US20240086862A1 (en) | System, devices and methods for tele-operated robotics | |
| CN110146098B (en) | Robot map extension method and device, control equipment and storage medium | |
| US10611028B1 (en) | Map building and positioning of robot | |
| US20170181383A1 (en) | Pruning Robot System | |
| CN109588101B (en) | Control method for improving operation coverage rate of intelligent mower | |
| CN112799389B (en) | Automatic walking area path planning method and automatic walking equipment | |
| CN114756018A (en) | Mapping method and device, computer readable storage medium and self-moving equipment | |
| WO2023151548A1 (en) | Navigation method and apparatus, and program and computer-readable storage medium | |
| CN111609853A (en) | Three-dimensional map construction method, sweeping robot and electronic equipment | |
| CN111380515A (en) | Positioning method and device, storage medium and electronic device | |
| US20220279700A1 (en) | Method, apparatus, and computer program for defining geo-fencing data, and respective utility vehicle | |
| CN109669447B (en) | Automatic walking equipment and control method thereof | |
| CN115981305A (en) | Robot path planning and control method and device and robot | |
| WO2024055855A1 (en) | Autonomous mobile device and method for controlling the same, and computer readable storage medium | |
| CN112414410A (en) | Path generation method, device operation method and device control system | |
| EP4206849A1 (en) | Autonomous mobile device and method for controlling same | |
| CN113485372B (en) | Map searching method and device, storage medium and electronic device | |
| CN116360439A (en) | Control method and device for collaborative operation of multiple self-mobile devices and electronic device | |
| CN109901589B (en) | Mobile robot control method and device | |
| CN110244710B (en) | Automatic tracing method, device, storage medium and electronic equipment | |
| CN111443700A (en) | Robot and navigation control method and device thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |