Robot migration guiding beacon based on vision AI technology

Abstract

The utility model discloses a robot migration guide beacon based on a visual AI technology, which is used for pre-planning the travel path of a mowing robot, and comprises a carrier and a graphic area positioned on the carrier, the carrier provides entity features, and the entity features are used for the mowing robot to identify, confirm and lock a to-be-read target through the visual identification system; the graphic area provides motion features, and the motion features are expressed by graphs drawn in the graphic area and are scanned by the visual identification system and generate a next motion command of the mowing robot. The mowing robot solves the problem that an existing mowing robot needs long time to plan a path and adjust the direction during transition, so that the working efficiency is reduced.

Description

Technical Field

[0001] The present application relates to the field of robot motion technology, and in particular to a robot migration guidance beacon based on visual AI technology. Background Art

[0002] With the continuous advancement of science and technology, automation and intelligent technologies have been widely applied in various fields, especially in agriculture, horticulture, and urban landscaping management. As an automated device, lawn mower robots can effectively reduce labor costs and improve mowing efficiency and quality. However, existing lawn mower robots have certain limitations during the transition process. One of these limitations is that when moving from one area to another for mowing, existing lawn mower robots often require a long time to plan their path and adjust their direction, which reduces operational efficiency.

[0003] With reference to the patent disclosure text “A robot transfer guide beacon, transfer system and transfer” with application number “202411450625.8”, in order to solve the above-mentioned robot transfer problem, the applicant proposed a guide beacon. Now the applicant proposes further improvements to the guide beacon. Utility Model Content

[0004] The utility model discloses a robot migration guiding beacon based on visual AI technology, which solves the problem that the existing mowing robots need a long time to plan the path and adjust the direction when migrating, which reduces the working efficiency.

[0005] A robot migration guidance beacon based on visual AI technology, used to pre-plan the trajectory of a lawn mowing robot, the guidance beacon comprising a carrier and a graphic area located on the carrier;

[0006] The physical features are used by the visual recognition system of the mowing robot to identify, confirm, and lock the target to be read through the structure and color of the guidance beacon;

[0007] The graphic area provides motion features, which are expressed by graphics drawn in the graphic area, for the visual recognition system to scan and generate the next motion command of the lawn mowing robot.

[0008] This application provides a guidance beacon that uses its structure and color as physical features to help the mower robot identify the target to be read. It also uses a graphical representation of the motion characteristics to express the mower robot's next movement command. Users can use a combination of guidance beacons to plan the robot's trajectory when transitioning, thereby manually optimizing the robot's trajectory for more precise and time-saving transitions. This also ensures the robot's normal operation in environments without network coverage.

[0009] Several optional methods are also provided below, but they are not intended to be additional limitations on the above-mentioned overall solution. They are merely further supplements or optimizations. Under the premise that there are no technical or logical contradictions, each optional method can be combined separately for the above-mentioned overall solution, or multiple optional methods can be combined.

[0010] Optionally, the carrier includes a base and a boss, the base has a relative front and back, the boss is located on the front of the base, the back of the base is used to connect a fixed object, and the graphic area is located on the upper end surface of the boss.

[0011] Optionally, the entity feature includes a structural feature and a color feature; the structural feature is composed of the horizontal projection of the base being a square and the boss combination being arranged on the base.

[0012] Optionally, the physical feature further includes a color feature, and the color feature includes a first color feature and a second color feature, the first color feature is located on the base, and the second color feature is located on the boss.

[0013] Optionally, the second color feature covers the circumferential side wall of the boss.

[0014] Optionally, a portion of the upper end surface of the boss is the graphic area, and the remaining portion is the second color feature, and the second color feature extends along the circumference of the graphic area to the side wall of the boss.

[0015] Optionally, the graphic area adopts a sheet structure and is detachably connected to the upper end surface of the boss.

[0016] Optionally, an annular sleeve is connected to the periphery of the boss, the second color feature is arranged on the outer surface of the annular sleeve, the annular sleeve surrounds the side wall of the boss along the circumferential direction, and the upper end of the annular sleeve is connected to the graphic area, and the lower end of the annular sleeve is detachably connected to the base.

[0017] The beneficial effects of this application are as follows:

[0018] 1. In this application, several guidance beacons can be set up and used in combination to manually plan the trajectory of the mowing robot, improve the transition efficiency, and overcome the use environment without network coverage;

[0019] 2. In this application, the guide beacon is highlighted in the current environment through color characteristics, which enables the mowing robot to quickly read and identify the guide beacon;

[0020] 3. In this application, a boss is provided, which, on the one hand, makes it easier for the mowing robot to read the motion characteristics; on the other hand, the color characteristics are drawn on the side wall of the boss, making it easier to be identified, further improving the efficiency of the mowing robot in identifying the guide beacon. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a structural diagram of an embodiment of the present application;

[0022] Figure 2 This is an exploded view of an embodiment of the present application;

[0023] Figure 3 A cross-sectional view of an embodiment of the present application;

[0024] Figure 4 This is a schematic diagram of a partial structure of an embodiment of the present application.

[0025] The reference numerals in the figures are described as follows:

[0026] 1. Carrier; 11. Base; 111. Slot; 112. Snap-fit ​​hole; 113. Visual mark; 12. Boss; 121. First positioning portion; 122. Second positioning portion; 13. Ring-shaped kit; 131. Insertion portion; 132. Buckle; 133. Tightening portion; 2. Graphic area; 21. First fixing portion; 3. Color feature; 31. First color feature; 32. Second color feature. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0028] It should be noted that when a component is referred to as being "connected" to another component, it may be directly connected to the other component or there may be an intermediate component. When a component is referred to as being "disposed on" another component, it may be directly disposed on the other component or there may be an intermediate component.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0030] In one embodiment of the present application, a robot migration guidance beacon based on visual AI technology is disclosed, which is used to store motion instructions and is placed in a specific location for a lawn mowing robot to identify the motion instructions when passing by. It is usually used for advance planning of the trajectory of the lawn mowing robot.

[0031] The above-mentioned guidance beacon has physical features and motion features, wherein the physical features are used for the lawn mowing robot to identify and confirm the guidance beacon; the motion features are used to store motion instructions and guide the subsequent movement of the lawn mowing robot.

[0032] In one embodiment, the motion feature stores motion instructions in a graphic, and the lawn mowing robot can use a visual recognition system to read the motion instructions stored in the graphic.

[0033] Furthermore, the motion characteristics can be stored via a QR code. By using graphics, specifically using a QR code as a storage graphic, more complex instructions can be given to the mowing robot.

[0034] In one embodiment, the physical features may include the structural features and color features of the guide beacon itself, which are used for the visual recognition system of the mowing robot to lock and confirm by matching the structural features and color features.

[0035] Furthermore, in order to facilitate the visual recognition system of the lawn mowing robot to quickly lock the guide beacon, the above-mentioned color features can adopt relatively bright colors to contrast with the surrounding environment colors, highlighting the color features for quickly locking the guide beacon.

[0036] In one implementation of this embodiment, the color feature may be red. Since red light has a longer wavelength and stronger penetrating power, it helps to improve the visibility of the color feature even in foggy or dusty weather conditions.

[0037] In another implementation of this embodiment, the color feature may be blue, which is a relatively rare color in nature and can further reduce external interference.

[0038] In the above embodiment, the color feature is the information that the lawn mower robot preferentially captures and is used to preliminarily determine the suspected guide beacon; the structural feature is used as an auxiliary feature for the lawn mower robot to cross-match it with the color feature, eliminate external interference factors, and further confirm the guide beacon.

[0039] Furthermore, the structural feature is formed by the shape of the guidance beacon itself. In conjunction with the above embodiment, the motion feature uses a QR code to store motion instructions. To save guidance beacon material, the guidance beacon can be square, and therefore a square shape can be used as the structural feature. Specifically, the above-mentioned "square" generally refers to a square or nearly square shape.

[0040] In some embodiments, the guiding beacon can be fixed on the ground as a fixed object; in other embodiments, the guiding beacon can be fixed on a wall, a fence or other object as a fixed object, thus leaving the ground.

[0041] In combination with the above embodiments, the guiding beacon includes a substrate 11 as a part of the carrier, and a graphic area 2 disposed on one side of the substrate. The substrate 11 itself has structural and color features, and the graphic area has movement features storing movement instructions drawn therein. For example Figure 1 As shown, the substrate 11 has opposite front and back surfaces, the back surface is used to connect to the fixed object, and the front surface is used to dispose the graphic area 2.

[0042] Further, the front surface of the substrate 11 has a boss 12 protruding from the surface of the substrate, and the graphic area 2 is disposed on the boss 12, so as to increase the height of the graphic area 2 to make it easier for the lawn mowing robot to recognize the movement features in the graphic area 2.

[0043] When the guiding beacon is fixed on the ground, it is easier for the lawn mowing robot to find the guiding beacon and for the visual recognition system to capture the color features 3. The color features 3 can be drawn on the side wall of the boss 12, so as to be arranged close to vertical to the ground. That is, the color features 3 are arranged vertically to the ground, which facilitates recognition and reduces external environmental interference, such as grass obstruction.

[0044] Specifically, the above-mentioned "facilitating recognition" includes effectively reducing the required setting height of the visual recognition system of the lawn mowing robot, or increasing the effective scanning range of the visual recognition system of the lawn mowing robot under the same setting height.

[0045] Further, the graphic area 2 is provided with a two-dimensional code providing movement features, and the color features 3 extend along the side wall of the boss 12 to the outer periphery of the graphic area 2. That is, the color features 3 are partially located on the boss 12 and partially distributed around the outer periphery of the graphic area 2. This facilitates rapid positioning of the graphic area 2 and helps highlight the two-dimensional code in the graphic area 2.

[0046] It needs to be explained that, since the structural features are related to the structure of the guiding beacon, in the above embodiments, the structural features include one or more of the shape of the substrate 11 being square, the boss 12 being provided on the substrate 11, and the height of the boss 12.

[0047] In an embodiment, the graphic area 2 occupies a partial space relative to the front surface of the substrate 11, and the remaining space is used to draw colors to form the color features 3.

[0048] In another embodiment, the graphic area 2 occupies the entire space relative to the front surface of the substrate 11. The substrate 11 itself has a certain thickness for drawing colors and forming color features 3 on its side walls.

[0049] It needs to be explained that, for the convenience of expression and understanding, the word "drawing" is used in the above embodiment, but the word "drawing" does not limit the specific production and processing technology.

[0050] refer to Figures 2 to 4 In combination with the above embodiment, in order to ensure the reuse rate of the guide beacon, the motion features on the guide beacon can be replaced. In a specific embodiment, the graphic area 2 is detachably linked to the upper end of the boss 12.

[0051] Furthermore, an annular sleeve 13 is provided on the outer periphery of the boss 12 . The annular sleeve 13 is detachably connected to the outer side of the boss 12 and covers or surrounds the boss 12 along the circumferential direction.

[0052] like Figure 3 As shown, the annular sleeve 13 has a buckle 132 at one end close to the base 11 , and a snap-fit ​​hole 112 is provided on the base 11 to cooperate with the buckle 132 . The two cooperate to allow the annular sleeve 13 to be detachably connected to the base 11 .

[0053] Furthermore, the above-mentioned annular kit 13 also has an inserting portion 131, which is arranged on the same side as the snap 132. A slot 111 that cooperates with the inserting portion 131 is provided on the base 11. The inserting portion 131 is inserted into the slot 111 to make the annular kit 13 and the base 11 more stable.

[0054] The end of the annular sleeve 13 close to the graphic area 2 has a tightening portion 133 , which acts on the upper end of the graphic area 2 along the circumferential direction to fix the graphic area 2 on the boss 12 .

[0055] Furthermore, there are mutually cooperating positioning structures between the contact surfaces of the graphic area 2 and the boss 12 for accurate positioning of the graphic area 2 during installation.

[0056] Combine Figure 3 and Figure 4 In some embodiments, the lower end surface of the graphic area 2 has a first fixing portion 21 extending circumferentially, and the first fixing portion 21 extends toward the boss 12. The boss 12 has a downwardly recessed first positioning portion 121. The first fixing portion 21 is connected to the first positioning portion 121 and is used for pre-positioning before the annular sleeve 13 fixes the graphic area 2.

[0057] Further, the boss 12 and the graphic area 2 are provided with guiding structures for assisting the graphic area 2 to determine the installation direction on the boss 12. The guiding structures can be a second positioning part 122 on one side of the upper end surface of the boss 12 and a second fixing part on one side of the lower end surface of the graphic area 2. When the second positioning part 122 is connected with the second fixing part, the designated side of the graphic area 2 and the designated side of the boss 12 are aligned, thus playing a guiding role.

[0058] In another embodiment, the substrate 11 and the boss 12 are two independent parts, and the boss 12 is detachably connected to the front surface of the substrate 11.

[0059] Further, a plurality of buckles are arranged around the boss 12, and the buckles are uniformly distributed along the circumference of the boss. The substrate is provided with buckle holes matched with the buckles, for fixing the boss after the buckles pass through. The user can adjust the movement characteristics in the graphic area by replacing the boss.

[0060] Reference Figure 4 In an embodiment, the guiding beacon is provided with a visual mark 113 for the user to understand the movement characteristics in the graphic area. For example, the movement characteristics in the graphic area 2 store the content of: first left turn and then straight movement. The visual mark 113 can adopt a left turn arrow, which is convenient for understanding.

[0061] Further, the visual mark 113 is located on the front surface of the substrate and outside the boss, so as to avoid being shielded by the boss.

[0062] In an embodiment, the color feature 3 can include a plurality of colors, for example Figure 1 As shown, the color mark drawn on the substrate 11 is marked as the first color feature 31, and the color mark drawn on the side wall of the boss 12 is marked as the second color feature 32. When the first color feature 31 and the second color feature 32 adopt two different colors, the guiding beacon is more eye-catching and more conducive to being recognized by the lawn mowing robot. At the same time, the identification elements are increased, so that the target to be recognized by the lawn mowing robot is more accurate.

[0063] Among them, the first color feature 31 can adopt black, and the second color feature 32 can adopt red.

[0064] In an embodiment, the cooperation transition mode of the guiding beacon and the lawn mowing robot has the following modes: 1. One guiding beacon is provided, and the lawn mowing robot reads the movement characteristics on the guiding beacon and moves to the specified position;

[0065] 2. A pair of guiding beacons are included, and the two guiding beacons are used in cooperation. One guiding beacon serves as a starting point, and the movement characteristics record the movement direction and movement distance. The other guiding beacon serves as a termination point, and the movement characteristics record the stop position.

[0066] 3. Including three or more guide beacons, one guide beacon as a starting point, one guide beacon as a termination point, and the remaining guide beacons as way points. The motion features on the starting point and the way points record the subsequent motion direction and motion distance, respectively, and the motion feature on the termination point records the stop position.

[0067] The above transition mode is adjusted after combination according to the length of the content that can be stored in the motion feature, the distance that the mowing robot can move after reading the motion feature, and the trajectory of the mowing robot is planned in advance.

[0068] The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope disclosed in the specification. When the technical features in different embodiments are embodied in the same figure, it can be considered that the figure also discloses the combination of each embodiment involved.

[0069] The above embodiments only express several implementation manners of the present application, the description is more specific and detailed, but it should not be understood as a limitation on the patent application scope. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which are within the protection scope of the present application.

Claims

1. A robot migration guidance beacon based on visual AI technology, used to pre-plan the trajectory of a lawn mowing robot, characterized by: The guide beacon comprises a carrier (1) and a graphic area (2) located on the carrier (1); the carrier (1) provides entity features, and the entity features are used for the visual recognition system of the lawn mowing robot to identify, confirm, and lock the target to be read through the structure and color of the guide beacon; the graphic area (2) provides motion features, and the motion features are expressed by a graphic drawn in the graphic area (2), so as to be scanned by the visual recognition system and generate the next motion command of the lawn mowing robot.

2. The robot migration guidance beacon based on visual AI technology according to claim 1, characterized in that: The carrier (1) comprises a base (11) and a boss (12), wherein the base (11) has a front side and a back side opposite to each other, the boss (12) is located on the front side of the base (11), and the back side of the base (11) is used for connecting a fixed object, and the graphic area (2) is located on the upper end surface of the boss (12).

3. The robot migration guidance beacon based on visual AI technology according to claim 2, characterized in that: The entity feature includes a structural feature, and the structural feature is composed of a square projection of the base (11) in the horizontal direction and a boss (12) provided on the base (11).

4. The robot migration guidance beacon based on visual AI technology according to claim 3, characterized in that: The physical feature also includes a color feature, and the color feature includes a first color feature (31) and a second color feature (32), the first color feature (31) is located on the base (11), the second color feature (32) is located on the boss (12), and the first color feature (31) and the second color feature (32).

5. The robot migration guidance beacon based on visual AI technology according to claim 4, characterized in that: The second color feature (32) covers the circumferential side wall of the boss (12).

6. The robot migration guidance beacon based on visual AI technology according to claim 5, characterized in that: A portion of the upper end surface of the boss (12) is the graphic area (2), and the remaining portion is the second color feature (32). The second color feature (32) extends along the circumference of the graphic area (2) to the side wall of the boss (12).

7. The robot migration guidance beacon based on visual AI technology according to claim 6, characterized in that: The graphic area (2) adopts a sheet-like structure and is detachably connected to the upper end surface of the boss (12).

8. The robot migration guidance beacon based on visual AI technology according to claim 7, characterized in that: The outer periphery of the boss (12) is connected to an annular sleeve (13), the second color feature (32) is provided on the outer surface of the annular sleeve (13), the annular sleeve (13) surrounds the side wall of the boss (12) along the circumferential direction, and the upper end of the annular sleeve (13) is connected to the graphic area (2), and the lower end of the annular sleeve (13) is detachably connected to the base (11).

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