Control system for an autonomous garden tool, method and apparatus

Patent metadata

Field	Value
Publication number	US-9883114-B2
Application number	US-201414506805-A
Country	US
Kind code	B2
Filing date	Oct 6, 2014
Priority date	Nov 19, 2013
Publication date	Jan 30, 2018
Grant date	Jan 30, 2018

Abstract

The invention relates to a control system for an autonomous garden tool that is equipped with at least one camera and one motor. The control system comprises a camera control module and an image generation module. With the camera control module the camera settings are controlled that are used for capturing images. With the image generation module two consecutive images in a sequence of images that is captured by the camera is determined whereby theses two consecutive images are captured on the basis of different camera settings. The two determined pictures are used as a basis for generating an HDR image in an HDR mode of the control system.

First claim

The invention claimed is:

1. A control system for an autonomous garden tool that is equipped with at least one camera and at least one motor, wherein the control system comprises:
a camera controller configured for controlling camera settings such that the camera can apply a change of camera settings;
an image generator configured to i) analyze images of a sequence of images, ii) determine, based on the analyzed images, a time on which the change of camera settings is applied by the camera, iii) determine, based on said time, two consecutive images in the sequence of images captured by the camera on the basis of different, respective camera settings, and iv) generate a HDR image on the basis of these two consecutive images in a HDR mode; and
an image analyzer configured to analyze the HDR image transferred from the image generator,
the control system being configured to use the HDR image for automatically implementing a function of the autonomous garden tool.

2. The control system according to claim 1 , wherein the camera settings that are controlled by the camera controller comprise exposure time and/or gain and/or aperture of the camera.

3. The control system according to claim 1 , wherein the camera controller is adapted to control the camera to capture the sequence of images and to change the camera settings while the sequence of images is captured.

4. The control system according to claim 1 , wherein the image generator is adapted to determine the two images on the basis of their mean intensity values.

5. The control system according to claim 4 , wherein the camera controller is adapted to calculate the mean intensity value for each of the images of the sequence and to compare each two successive images of the sequence until the difference between the mean intensity values of two successive images exceeds a threshold.

6. The control system according to claim 1 , wherein the control system further comprises a movement controller for controlling the at least one motor and further adapted to adapt a speed of movement of the autonomous garden tool to a progress in the determination of the two images.

7. The control system according to claim 6 , wherein the movement controller is adapted to stop the autonomous garden tool when a time for capturing the sequence of images exceeds a threshold.

8. The control system according to claim 1 , wherein the image generator is adapted to determine a contrast in a single captured image and to switch to the HDR mode only when the contrast exceeds a threshold.

9. The control system according to claim 1 , wherein the system is adapted to start capturing a new sequence as soon as the two consecutive images of an already captured sequence are determined and further processing of the two determined images and/or the HDR image generated therefrom is performed in parallel with capturing the new sequence.

10. An autonomous lawn mower comprising the control system according to claim 1 .

11. A method for generating an image for further image processing in an autonomous garden tool that is equipped with a camera for capturing images, the method comprising the following steps:
controlling camera settings such that the camera can apply a change of camera settings;
capturing a sequence of images with different camera settings;
analyzing images of the sequence of images;
determining, based on the analyzed images, a time on which the change of camera settings is applied by the camera;
determining, based on said time, two images out of the sequence of images captured by the camera on the basis of different, respective camera settings by analyzing the images of the sequence of images;
generating a HDR image on the basis of the two consecutive images using the HDR image for implementing a function of the autonomous garden toot
analyzing the HDR image; and
using the HDR image for automatically implementing a function of the autonomous garden tool.

12. The method according to claim 11 , wherein the camera settings that are controlled by the camera controller comprise exposure time and/or gain and/or aperture of the camera.

13. The method according to claim 11 , wherein the camera controller controls the camera to capture the sequence of images and changes the camera settings while the sequence of images is captured.

14. The method according to claim 11 , wherein the image generator determines the two images on the basis of their mean intensity values.

15. The method according to claim 14 , wherein the camera controller calculates the mean intensity value for each of the images of the sequence and compares each two successive images of the sequence until the difference between the mean intensity values of two consecutive images exceeds a threshold.

16. The method according to claim 11 , wherein the control system further controls a motor of the autonomous garden tool and further adapts a speed of movement of the autonomous garden tool to a progress in the determination of the two consecutive images.

17. The method according to claim 16 , wherein the autonomous garden tool is stopped when a time for capturing the sequence of images exceeds a threshold.

18. The method according to claim 11 , wherein a contrast in a single captured image is determined and when the contrast is equal to or less than a threshold the single image is used for further image processing.

19. The method according to claim 11 , wherein capturing a new sequence of images is started as soon as the two consecutive images of an already captured sequence are determined and the two determined images and/or the HDR image generated therefrom are further processed in parallel with capturing the new sequence.

20. A control system for an autonomous garden tool that is equipped with at least one camera and at least one motor, wherein the control system comprises:
a camera control module for controlling camera settings such that the camera can apply a change of camera settings;
an image generation module configured to i) analyze images of a sequence of images, ii) determine, based on the analyzed images, a time on which the change of camera settings is applied by the camera, iii) determine, based on said time, two consecutive images in the sequence of images captured by the camera on the basis of different, respective camera settings, and iv) generate a HDR image on the basis of these two consecutive images in a HDR mode; and
an image analyzer configured to analyze the HDR image transferred from the image generator,
the control system being configured to use the HDR image for automatically implementing a function of the autonomous garden tool.

Assignees

• Honda Res Inst Europe Gmbh

Inventors

• Einecke Nils
• Franzius Mathias

Classifications

• Y02T10/7072

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