Outdoor automatic walking device based on family courtyard and system and method for controlling outdoor automatic walking device based on family courtyard

Abstract

The invention provides an outdoor automatic walking device based on a family courtyard. The outdoor automatic walking device comprises a shell and a walking module, and the walking module is installed on the shell. The outdoor automatic walking device further comprises an image collecting module and a main control module, the image collecting module is installed on the shell and used for continuously collecting images on the working surface when the automatic walking device walks on the working surface, and the main control module is installed in the shell, respectively connected with the walking module and the image collecting module, and used for continuously determining feature regions from the collected first images, recognizing the feature regions in the second images collected after the first images, and calculating and recording position change data and posture change data of the automatic walking device according to geometric deformation and displacement of the feature regions. The main control module is further used for calculating to obtain a walking track of the automatic walking device according to the recorded position change data and the recorded posture change data. The outdoor automatic walking device can be effectively controlled. The invention further provides a system and method for controlling the outdoor automatic walking device.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to an outdoor automatic walking device based on a family yard and its control system and method. Background technique [0002] With the continuous advancement of computer technology and artificial intelligence technology, outdoor mobile robots in home gardens similar to intelligent robots have begun to slowly enter people's lives. At present, many technology companies have developed fully automatic vacuum cleaners and have put them into the market. This kind of automatic vacuum cleaner is usually small in size and does not require manual control. After one setting, it does not need to invest in energy management. It liberates users from boring and time-consuming housework such as cleaning and lawn maintenance, so it is very popular. [0003] At present, there are the following methods to control the outdoor mobile robot in the home garden: 1) Encoder-based dead reckoning ...

AI Technical Summary

Problems solved by technology

[0003] At present, there are the following methods to control the outdoor mobile robot in the home garden: 1) Encoder-based dead reckoning method: the basic requirement of the scheme is that the wheels do not slip and the ground is flat, so that the reckoning can be performed according to the number of turns of the wheels , but for automatic lawn mowers, slipping and flatness cannot be fully guaranteed, which will make the accumulated error unacceptably large; 2) Absolute positioning based on multiple base stations: the basic solution is to set some kind of transmitter at the four corners of the area, such as Ultrasound, infrared, electromagnetic radio frequency, etc., are directly positioned by a principle similar to GPS, which has the advantages of high precision. For automatic lawn mowers, ultrasonic signals will be reflected by plants multiple times, infrared cannot pass through plants and are interfered by sunlight, electromagnetic waves, etc. The cost is extremely high; 3) Magnetic track positioning: it needs to lay dense underground magnetic tracks, which is basically not suitable for automatic lawn mowers

[0004] Therefore, there are various defects in the traditional control methods of outdoor mobile robots, which cannot effectively control the movement of outdoor mobile robots, and need to be improved.

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