CN104111651A - Automatic walking equipment and method for automatic walking equipment to return to stop station - Google Patents
Automatic walking equipment and method for automatic walking equipment to return to stop station Download PDFInfo
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- CN104111651A CN104111651A CN201310140286.9A CN201310140286A CN104111651A CN 104111651 A CN104111651 A CN 104111651A CN 201310140286 A CN201310140286 A CN 201310140286A CN 104111651 A CN104111651 A CN 104111651A
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Abstract
The invention relates to a piece of automatic walking equipment and a method for the automatic walking equipment to return to a stop station. The automatic walking equipment comprises a housing, a walking module consisting of a wheel set mounted on the housing and a walking motor for driving the wheel set, an image acquisition device mounted on the housing, a working module mounted on the housing and performing predetermined work, and a main control module connected with the image acquisition device, the working module and the walking module to control work of the automatic walking equipment. The method for the automatic walking equipment to return to a stop station comprises the following steps: a, whether an image acquired by the image acquisition device has a boundary is monitored; b, if a boundary is monitored, the automatic walking equipment walks to the boundary; and c, the automatic walking equipment walks along the boundary. According to the invention, the image acquisition device is adopted to monitor a boundary, and the automatic walking equipment returns to a stop station along the boundary, so that slotting for physical boundary line burying is avoided, and the arrangement work is systematic, simple and labor-saving.
Description
Technical field
The present invention relates to a kind of automatic running device, also relate to a kind of method that automatic running device returns to bus stop.
Background technology
At present, along with the quickening of human lives's rhythm, the household equipment of robotization more and more receives an acclaim in the whole world.Because it has automatic operation program, work voluntarily, do not need like this manpower to control all the time.People can free from heavy home tasks, thereby saved a large amount of energy, obtain more lie Fallow Time.The household equipment of this robotization also claims automatic running device, comprises that picture is mainly used in the automatic cleaner of home cleaning, also comprises that picture is mainly used in the automatic mower of family garden etc.
On automatic running device, border is confirmed and automatic returning is two gordian techniquies, and border is confirmed to make automatic running device can distinguish perform region and inoperative region, to work in perform region; Automatic returning makes automatic running device return under specific circumstances bus stop, as needs makeup energy, needs maintenance and the stop of inoperative period etc.Take intelligent grass-removing as example, and border confirmation and automatic returning all rely on border electric wire realization conventionally, and first this Technology Need lays a circle border electric wire around perform region, and bus stop is arranged on the electric wire of border.After the electric wire energising of border, space generates an electromagnetic field around, and automatic running device relies on detection of electromagnetic fields signal to judge perform region and inoperative region; When needs return, automatic running device just can be got back to bus stop along electric wire walking.
The drawback of such scheme is to need before use manually fluting on border to bury electric wire underground, trouble comparatively, and maintain border electric wire and need to continue power consumption.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of cost low, initial installation is easy to automatic running device.
The present invention solves the technical scheme that prior art problem adopts: a kind of automatic running device, comprising: housing; Walking module, described walking module comprises the wheels that are arranged on housing and the running motor that drives described wheels; Image collecting device, is arranged on housing; Operational module, carries out predetermined work; Main control module, connect image collecting device, operational module and walking module to control automatic running device work, it is characterized in that: described image collecting device gathers the image of housing front region, and described image transfer is arrived to main control module, described front region at least comprises the presumptive area on ground, housing the place ahead, described main control module is analyzed the predetermined image piece corresponding with described presumptive area in described image, to monitor whether occur border in described presumptive area, and when monitoring border, make automatic running device in boundary position, and walk along border.
Preferably, the width of described presumptive area is greater than the width of housing, described main control module is divided into the corresponding some subimage blocks corresponding to some subregions of presumptive area by predetermined image piece, and analyze each subimage block corresponding subregion is identified as in perform region or inoperative region, when a sub regions is inoperative region and its adjacent subarea territory while being perform region, master control module judges border is arranged in this subregion.
Preferably, while walking along border, described master control module controls walking module, to keep housing to be positioned at perform region, and border is positioned at a specific side of housing.
Preferably, described image collecting device gathers image and passes to main control module, described main control module is divided into middle part by the predetermined image piece of described image, right part and left part three number of sub images pieces, correspond respectively to the wide zone line of automatic running device dead ahead and automatic running device, the right side area on described zone line right side, left field three sub regions in described zone line left side, described master control module controls walking module moves to adjust the position of automatic running device, keep zone line corresponding to middle part to be identified as perform region, the left field that left part or right part are corresponding or right side area are identified as inoperative region and border is positioned at wherein, to keep housing to be positioned at perform region, and border is positioned at a specific side of housing.
Preferably, described main control module also comprises Boundary Recognition unit, and whether the current border following of described Boundary Recognition unit judges leads to bus stop, if the determination result is NO, described master control module controls walking module, makes automatic running device leave the current border following.
Preferably, the direction of travel of described Boundary Recognition unit judges automatic running device in default time or default distance, and by judged result and the comparison of preset standard result, if consistent, judge that the current border following is connected to bus stop, if inconsistent, judge that the current border following is not connected to bus stop.
Preferably, described Boundary Recognition unit calculates the accumulative total amount of deflection of automatic running device in default time or default distance, by described accumulative total amount of deflection and preset value relatively with the direction of travel of judgement automatic running device.
Preferably, the revolver that described accumulation amount of deflection is automatic running device and right accumulative total of taking turns the distance of walking are taken turns the accumulative total deflection angle of poor or automatic running device.
Preferably, when a described specific side is left side, described preset standard result is clockwise; When a described specific side is right side, described preset standard result is counterclockwise.
Preferably, described main control module also comprises bus stop recognition unit, whether occurs bus stop, if monitor bus stop in the image of described bus stop recognition unit monitoring image harvester collection, described master control module controls walking module, makes automatic running device travel to described bus stop.
Another object of the present invention is to provide a kind of cost low, the initial method returning to bus stop that is easy to automatic running device of installing.
The present invention solves the technical scheme that prior art problem adopts: a kind of method that automatic running device returns to bus stop, described automatic running device comprises: housing, walking module, described walking module comprises the wheels that are arranged on housing and the running motor that drives described wheels, be arranged on the image collecting device on housing, be arranged on housing, carry out the operational module of predetermined work, connect aforesaid image collecting device, operational module and walking module are to control the main control module of automatic running device work, described homing method comprises the following steps: a. monitors the predetermined image piece of the image of described image collecting device collection, this predetermined image piece is corresponding to the presumptive area on ground, housing the place ahead, to judge whether occur border in this presumptive area, if b. there is border in specific region, control automatic running device in boundary position, c. along border, walk
Preferably, the width of described presumptive area is greater than the width of housing, and described step a further comprises: predetermined image piece is divided into the corresponding some subimage blocks corresponding to some subregions of presumptive area; Analyze each subimage block corresponding subregion is identified as in perform region or inoperative region; When a sub regions is inoperative region and its adjacent subarea territory while being perform region, judgement border is arranged in this subregion.
Preferably, in step c, while walking along border, keep housing to be positioned at perform region, and border is positioned at a specific side of housing.
Preferably, described image collecting device collection gathers image and passes to main control module, described main control module is divided into middle part by the predetermined image piece of described image, right part and left part three number of sub images pieces, correspond respectively to automatic running device dead ahead, with the wide zone line of automatic running device, the right side area on described zone line right side, left field three sub regions in described zone line left side, described master control module controls walking module moves to adjust the position of automatic running device, keep zone line corresponding to middle part to be identified as perform region, the left field that left part or right part are corresponding or right side area are identified as inoperative region and border is positioned at wherein, to keep housing to be positioned at perform region, and border is positioned at a specific side of housing.
Preferably, the method that automatic running device returns to bus stop is further comprising the steps of: d. judges whether the current border following leads to bus stop; If e. the determination result is NO for steps d, leave the current border following, execution step a.
Preferably, described steps d is further comprising the steps: the direction of travel of d1. judgement automatic running device in default time or default distance; D2. by the judged result of d1 step and the comparison of preset standard result, if consistent, judge that the current border following is connected to bus stop, if inconsistent, judge that the current border following is not connected to bus stop.
Preferably, described steps d 1 is specially: calculate the accumulative total amount of deflection of automatic running device in default time or default distance, by described accumulative total amount of deflection and preset value relatively with the direction of travel of judgement automatic running device.
Preferably, the revolver that described accumulation amount of deflection is automatic running device and right accumulative total of taking turns the distance of walking are taken turns the accumulative total deflection angle of poor or automatic running device.
Preferably, when a described specific side is left side, described preset standard result is clockwise; When a described specific side is right side, described preset standard result is counterclockwise.
Preferably, the method that automatic running device returns to bus stop is further comprising the steps of: in the image of f. monitoring collection image collecting device collection, whether occur bus stop; If g. monitor bus stop, to described bus stop, travel.
Compared with prior art, beneficial effect of the present invention is: by adopting image collecting device monitoring Bing Yan border, border to return bus stop, avoided needing fluting to bury physics boundary line underground, the system of assigning a work is simply laborsaving.
Accompanying drawing explanation
Above-described object of the present invention, technical scheme and beneficial effect can be realized by accompanying drawing below:
Fig. 1 is the automatic working system figure of one embodiment of the present invention.
Fig. 2 is the module map of automatic running device in the automatic working system shown in Fig. 1.
Fig. 3 is the stereographic map of the automatic running device shown in Fig. 2.
Fig. 4 is the image acquisition region schematic diagram of the automatic running device shown in Fig. 2.
Fig. 5 is that the automatic running device shown in Fig. 2 is along the schematic diagram of border walking.
Fig. 6 is the principle schematic that the automatic running device in Fig. 5 is walked along border.
Fig. 7 is the schematic diagram that the automatic running device shown in Fig. 2 departs from isolated island.
Fig. 8 is that the automatic running device shown in Fig. 2 is to the schematic flow sheet of the method for bus stop recurrence.
Fig. 9 identifies the schematic flow sheet whether current border following leads to the method for bus stop in Fig. 8.
Wherein
1, automatic running device 4, bus stop 5, perform region
6, border 7, inoperative region 71, isolated island
11, housing 13, wheels 17, walking module
131, revolver 132, rightly take turns 133, auxiliary wheel
15, image collecting device 19, operational module 31, main control module
33, energy module 311, subregion division unit 312, color extraction unit
313, accounting computing unit 314, accounting comparing unit 315, texture fetch unit
316, texture comparing unit 317, perform region recognition unit 318, storage unit
321, Boundary Recognition unit 323, bus stop recognition unit d, blind area
A, zone line b, left field c, right side area
Embodiment
Figure 1 shows that the automatic working system of one embodiment of the invention.Automatic working system setting on the ground.In the present embodiment, ground is divided into perform region 5 and inoperative region 7, and the part inoperative region 7 being surrounded by perform region 5 forms isolated island 71, and the boundary line in perform region 5 and inoperative region 7 forms border 6.Perform region 5 and inoperative region 7 visually have difference.Automatic working system comprises automatic running device 1 and bus stop 4.Automatic running device 1 can be automatic cleaner, automatic mower, automatic pruning machine etc.In the present embodiment, automatic running device 1 is automatic mower, and bus stop 4 is arranged in the peripheral boundary 6 of perform region.
In conjunction with Fig. 2 and Fig. 3, automatic running device 1 has housing 11 and is arranged on the image collecting device 15 on housing 11.Image collecting device 15 gathers the image in automatic running device 1 the place ahead, for identifying perform region 5 and inoperative region 7.Automatic running device 1 also comprises main control module 31, walking module 17, operational module 19 and energy module 33.
Operational module 19 is for carrying out specific work.In its operational module 19 the present embodiment, be specially cutting module, comprise cutting part and the cutting motor that drives cutting part for mowing.
Energy module 33 is for providing energy to the operation of automatic running device 1.The energy of energy module 33 can be gasoline, power brick etc., and energy module 33 is included in the rechargeable battery pack of housing 2 interior settings in the present embodiment.In work, power brick discharges electric energy to maintain automatic running device 1 work.In inoperative, battery can be connected to external power source with electric energy supplement.Especially, for more humane design, when detecting the electric weight deficiency of battery, automatic running device 1 meeting searching bus stop electric energy supplement voluntarily.
Walking module 17 comprises wheels 13 and drives the running motor of wheels 13.Wheels 13 can have multiple method to set up.Conventionally wheels 13 comprise the driving wheel that driven by running motor and the auxiliary wheel 133 of supplemental support housing 11, and the quantity of driving wheel can be 1,2 or more.As shown in Figure 2, using the moving direction of automatic running device 1 as front side, a side relative with front side is rear side, and the both sides adjacent with front and back side are respectively the left and right sides.In the present embodiment, the driving wheel of automatic running device 1 is 2, is respectively to be positioned at the revolver 131 in left side and to be positioned at the right of right side to take turns 132.Revolver 131 and right 132 axis about automatic running device 1 of taking turns are symmetrical arranged.Revolver 131 and right 132 rear portions that are preferably positioned at housing 11 of taking turns, auxiliary wheel 133 is positioned at front portion, certainly also can replace setting in other embodiments.
In the present embodiment, revolver 131 and rightly take turns 132 and connect separately a CD-ROM drive motor, to realize differential output.CD-ROM drive motor can directly connect driving wheel, but also can between CD-ROM drive motor and driving wheel, establish gearing, as common in the art planet circular system etc.In other embodiment, 2 of driving wheels also can be set, 1 of CD-ROM drive motor, in this case, CD-ROM drive motor, by the first actuator drives revolver 131, takes turns 132 by the second actuator drives is right.Be same motor by different actuator drives revolvers 131 and rightly take turns 132.
As Fig. 3 and Fig. 4, image collecting device 15 is arranged on the top position, front portion of housing 11, and preferred placed in the middle setting, gathers the image of housing 11 front region, and this front region at least comprises the presumptive area on ground, the place ahead.In the present embodiment, the viewfinder range of image collecting device 15 is a fixed area, but viewfinder range also can be for activity in other optional embodiment.The presumptive area that the viewfinder range of image collecting device 15 comprises is the DCIJ region of the rectangle in Fig. 4, and DCIJ region is positioned at the ground in the dead ahead of automatic running device 1, and and the automatic running device 1 a bit of distance in interval, form blind area d.The axis of the housing 11 of the axis in DCIJ region and automatic running device 1 overlaps, and the width in DCIJ region is slightly larger than the width of automatic running device 1.Can guarantee that like this automatic running device 1 can gather its dead ahead image information on ground nearby, for main control module 31 its attributes of judgement.
Whole viewfinder ranges of image collecting device 15 can be greater than DCIJ region, for example also comprise region more than ground, in this case, in the complete image that main control module 31 can gather image collecting device 15, corresponding to the predetermined pattern piece in DCIJ region, extract and carry out ground attributive analysis; Whole viewfinder ranges of image collecting device 15 also can equal DCIJ region just, and the complete image that now image collecting device 15 gathers is the predetermined pattern piece corresponding to DCIJ region.
Main control module 31 connects and controls all parts such as aforesaid walking module 17, operational module 19, image collecting device 15, energy module 33, to control automatic running device 1 work.In the present embodiment, the every terms of information of predetermined image piece in the image that main control module 31 gathers by analysis image harvester 15, identify the distribution situation of perform region 5 and inoperative region 7 in aforesaid presumptive area, and search out border 6, control automatic running device 1 and 6 to bus stop 4, return along border.
Below describe respectively main control module 31 identification presumptive areas in the present embodiment, find border 6 and control the concrete mode returning.
In the present embodiment, automatic running device 1 is automatic mower, and the color information of main control module 31 by predetermined image piece corresponding to identification presumptive area and texture information judge perform region 5 wherein and the distribution situation in inoperative region 7.As perform region 5, the color on meadow is green, and texture is natural irregular pattern, and as inoperative region 7, other ground colors such as ground, soil or cement are not green conventionally, even if color is green, it typically is the article of artificial, thus the well-regulated texture of tool.Therefore, main control module 31 is identifying certain part color for green, and crossgrained, judges that this part is meadow, otherwise, if color is not green or texture has rule, be non-meadow.
Please refer again to Fig. 2, described main control module 31 comprises subregion division unit 311, color extraction unit 312, accounting computing unit 313, accounting comparing unit 314, texture fetch unit 315, texture comparing unit 316, perform region recognition unit 317 and storage unit 318.
Through the processing of subregion division unit 311, predetermined image piece is divided into middle part, right part and left part three number of sub images pieces, corresponds respectively to the subregion in specific region.Middle part is corresponding to the center, the place ahead of automatic running device 1, and the wide zone line a of automatic running device 1; Left part corresponding to the place ahead of automatic running device 1, the left field b in the left side at middle part; Right part corresponding to the place ahead of automatic running device 1, the right side area c on the right side of zone line a.Between presumptive area and automatic running device 1, there is the blind area d that an image collecting device does not cover.
Please also refer to Fig. 4 and Fig. 5, described color extraction unit 312 extracts the color of at least one each pixel of number of sub images piece.In present embodiment, color extraction unit 312 extracts respectively the color of each pixel in middle part, right part and left part.Particularly, color extraction unit 312 extracts each pixel three primary colors (RGB) component.
Accounting computing unit 313 calculates predetermined colors shared ratio (hereinafter to be referred as accounting) in a number of sub images piece.
In present embodiment, described predetermined color is green, has the numerical range of the color component, particularly three primary color components of described predetermined color in described storage unit 318.If the color component of a pixel falls into respectively the numerical range of the color component of predetermined color, the color of color extraction unit 312 these pixels of judgement is predetermined color.
In a number of sub images piece, accounting computing unit 313 is the number divided by pixel total in this subimage block by the number of green pixel, obtains the accounting of green pixel in this subimage block.
In described storage unit 318, also have the first preset value, described accounting comparing unit 314 is accounting and first preset value of predetermined color in this subimage block relatively, judges both sizes.
Texture fetch unit 315 is extracted the textural characteristics value of this subimage block.
Due to the crossgrained on meadow, by detecting the dispersion of a parameter of image, can embody the scrambling of its texture.Therefore, in present embodiment, described textural characteristics value is parameter discrete degree, and described the second preset value is default dispersion.The described storage unit default dispersion of 318 storage and default difference value, texture fetch unit 315 is calculated the gradient difference of at least one parameter of every two adjacent pixels in a sub regions, judge whether this gradient difference is greater than default difference value, calculate all dispersions that are greater than the gradient difference of this default difference value in this subregion.
Texture comparing unit 316 relatively the textural characteristics value of this subimage block and the second preset value to judge whether textural characteristics value reaches the second preset value.Texture comparing unit 316 relatively this dispersion and default dispersion to judge whether this dispersion reaches default dispersion.
More specifically, described textural characteristics value is color dispersion.In present embodiment, color dispersion is Green Discrete degree.
The accounting of the predetermined color of perform region recognition unit 317 in this subimage block reaches when the first preset value and textural characteristics value reach the second preset value and judges that the subregion that this subimage block is corresponding is perform region.
In other embodiments, main control module 31 also can first carry out texture analysis, carrying out color sets again, as long as the accounting of the predetermined color in a number of sub images piece reaches the first preset value and textural characteristics value reaches the second preset value, 32 subregions corresponding to this subimage block of identification of described main control module are perform region 5.The differentiating method in above-mentioned perform region 5 and inoperative region 7 is only exemplary, and under similar thinking, main control module 31 also can process to distinguish perform region 5 and inoperative region 7 to image with other algorithm.For example predetermined block is divided into more subregion with improve location recognition degree of accuracy, change the shape of predetermined block, as become fan-shaped to contain wider visual field etc.
Based on the differentiation to perform region 5 and inoperative region 7 above, main control module 31 has been realized and having been analyzed in described image and predetermined image piece corresponding to described presumptive area, to monitor whether occur border in described presumptive area.
In the present embodiment, main control module 31 is divided into the corresponding some subimage blocks corresponding to some subregions of presumptive area by predetermined image piece, and analyze each subimage block corresponding subregion is identified as in perform region or inoperative region, when a sub regions is inoperative region and its adjacent subarea territory while being perform region, master control module judges boundary position is arranged in this subregion.
Concrete, if find after analyzing, zone line a, left field b and right side area c are perform region, judge that so the position of automatic running device 1 self does not have border 6 for being arranged in perform region 5 and visible range.If some region is perform region 5 in regional, some region is inoperative region 7, judges that so automatic running device 1 is positioned near border 6, and now, main control module 31 needs the relative position relation on further judgement self and border 6.If some subregions are judged as inoperative region 7, and the adjacent subarea territory in this region is perform region 5, so judge that this region comprises border 6, because the actual range of regional is limited, particular location that therefore in this way can decision boundary 6.
The recognition method of 6 positions, above-mentioned border is only exemplary, and under similar thinking, main control module 31 also can process to identify border to video with other algorithm.For example predetermined block is divided into more subregion with improve border 6 location recognition degree of accuracy, change the shape of predetermined block, as become fan-shaped with the size that contains the wider visual field, change predetermined block to find border of farther place etc.
Main control module 31 identifies behind the position on border 6, controls walking module 31 actions, makes automatic running device 1 in boundary position.If the actual coverage of predetermined block is larger, this step may need the time of growing and move, for example in the outermost of a predetermined block larger, that be divided into more subregions, find behind border 6, walking module 31 drives automatic running device walking, until the adjacent area of zone line or the most close several zone line a is inoperative region; If as in the present embodiment, presumptive area is less, be only divided into three sub regions, while finding border 6 so, border 6 is very close to automatic running device 1, and now walking arrival boundary position only comprises that controlling automatic running device keeps current state, avoids the action away from border 6.
Behind 6 positions, border, main control module 31 continues to control walking module 13 actions, makes automatic running device 16 walkings along border.While walking along border, automatic running device 1 needs to keep towards consistent with border 6, and therefore, main control module 31 is controlled walking module 13, keep housing 11 to be positioned at perform region 5, and border 6 is positioned at a specific side of housing 11.
Main control module 31 makes the region at 6 places, border be positioned at a side of automatic running device but not the place ahead, to realize towards adjustment.Concrete, it is perform region that main control module action makes zone line a, and left field b or right side area c are inoperative region, and like this, border 6 is located in left field b or right side area c, and not at zone line a.Main control module 31 can make border 6 be positioned at any side of automatic running device, also can make border 6 be positioned at a specific side of automatic running device, in the present embodiment, adjustment towards time, make border 6 be positioned at a specific side of automatic running device 1, keeping aforesaid zone line a is perform region 45, and in left field b or right side area c specific one is non-perform region 7, and another is perform region 5.Concrete, main control module 31 is controlled walking module 13 actions, keeps zone line corresponding to middle part to be identified as perform region, and the left field that left part or right part are corresponding or right side area are identified as inoperative region and border is positioned at wherein.
After adjusting, main control module 31 keep automatic running devices 1 towards and direction of travel consistent with border 6, be that main control module 31 is controlled walking module 13 actions, keep zone line corresponding to middle part to be identified as perform region, the left field that left part or right part are corresponding or right side area are identified as inoperative region and border is positioned at wherein, make the subregion at 6 places, border be positioned at all the time a side of automatic running device 1, keeping aforesaid zone line a is perform region 45, and one in left field b or right side area c is non-perform region 7, another is perform region 5.
Main control module 31 also comprises Boundary Recognition unit 321 and bus stop recognition unit 323, next coming in order introduction.
Boundary Recognition unit 321 judges that whether the current border following 6 is correct, whether leads to bus stop 4.
Except perform region 5, by perform region 5 around isolated island 71 there is equally border 6.As Fig. 7, if automatic running device 1 has first found the border 6 of isolated island 71 when finding border 6, may ceaselessly around isolated island 71, turn-take, cannot depart from, cannot return to bus stop 4.For fear of this situation, in 6 whens walking along border, Boundary Recognition unit 321 also judges whether the border 6 that automatic running device 1 is current followed is borders 6 of perform region 5, if judgment result is that, be, main control module 31 is controlled walking module 13, makes automatic running device 1 continue 6 walkings along this border; If the determination result is NO, main control module 31 is controlled walking module 13, makes automatic running device 1 leave the current border following 6, then finds other border 6.
Theoretical direction of travel when walk by the correct border of actual direction of travel and edge of comparison automatic running device 1 in Boundary Recognition unit 321 judges that whether current border is correct.As previously mentioned, in the present embodiment, automatic running device 16 while returning, is guaranteeing that border 6 is positioned at the specific side of self along border all the time.The automatic running device 1 of take guarantees that it is example that border 6 is positioned at self right side, if in the peripheral boundary 6 of automatic running device 1 perform region 5, it is by 6 the inside walking on border, direction of travel is counterclockwise, if in the peripheral boundary of isolated island 71, it is by 6 the outside walking on border, and its direction of travel is clockwise.Preset standard result is just set according to above-mentioned this corresponding relation, if a described specific side is left side, theoretical direction of travel is that a described specific side is right side clockwise, and theoretical direction of travel is counterclockwise.
First Boundary Recognition unit 321 judges in default time or default distance, the direction of travel of automatic running device 1, to represent clockwise and counterclockwise, this direction of travel is by calculating in default time or default distance, the accumulative total amount of deflection of automatic running device 1, and described accumulative total amount of deflection and preset value are relatively obtained, accumulation amount of deflection is the revolver 131 of automatic running device 1 and the accumulative total deflection angle that right accumulative total of taking turns the distance of 132 walkings is taken turns poor or automatic running device 1.
Boundary Recognition unit 321 is by the result of judgement and the preset standard result in storage unit 318, the i.e. theoretical direction of travel comparison in 6 whens walking along correct border subsequently, if the result of comparison is that actual direction of travel is consistent with theoretical direction of travel, the 321 current borders that follow 6 of judgement, Boundary Recognition unit are correct border 6 so, lead to bus stop 4, if the result of comparison is inconsistent, the 321 current borders that follow of judgement, Boundary Recognition unit are incorrect so, do not lead to bus stop 4.
Whether bus stop recognition unit 323 identification automatic running devices 1 close or arrival bus stop 4, and when it recognizes after bus stop 4, main control module 31 is controlled walking module, makes automatic running device 1 walk and dock towards bus stop.
The specific implementation form of bus stop recognition unit 323 can have multiple, whether it can there is bus stop 4 in the image of monitoring image harvester 15 collections, if monitor bus stop 4, described main control module 31 is controlled walking module 13, and automatic running device 1 is travelled to described bus stop 4.It also can adopt the proximity transducer of electromagnetic type or other types, bus stop 4 and automatic running device 1 near time to automatic running device 1, send cue etc., do not repeat them here.
Referring to Fig. 8, describe the method returning towards bus stop 4 of automatic running device 1 in detail.
Automatic running device 1, after recurrence program starts, first enters step S0, keeps walking, when keeping walking, whether execution step S1, there is border 6 in the image that monitoring image harvester 15 gathers, and in the process of monitoring, automatic running device 1 keeps walking.If do not find border 6 in the image that main control module 31 gathers at image collecting device 15, continue execution step S0, continue monitoring border 6; If found border 6 in the image that main control module 31 gathers at image collecting device 15, enter step S2, adjust position and make automatic running device 1 be positioned at 6 positions, border and towards consistent with border 6 trends.In the present embodiment, because the presumptive area of image collecting device 15 is less, while monitoring border 6 automatic running device 1 from the distance on border 6 close to, now the workload of step S2 is less, only needs to adjust self-position near border 6.
In the image that monitoring image harvester 15 gathers, whether comprise that border 6 can realize by following steps.
First, predetermined image piece is divided into the corresponding some subimage blocks corresponding to some subregions of presumptive area;
Subsequently, analyze each subimage block corresponding subregion is identified as in perform region 5 or inoperative region 7;
When a sub regions is inoperative region 7 and its adjacent subarea territory while being perform region 5, judgement 6 positions, border are arranged in this subregion.
As Fig. 5 and Fig. 6, after completing, step S2 enters step S4,6 walkings along border.Along border, the concrete modes of 6 walkings can be cross-border 6 walkings, also can be 6 one skiddings on border and walk, in the present embodiment, in order to keep the stability of walking, automatic running device 1 on border a specific skidding of 6 walk.And when walking along border, keep housing to be positioned at perform region, and border is positioned at a specific side of housing.Keeping aforesaid zone line a is perform region 45, and in left field b or right side area c specific one is non-perform region 7, and another is perform region 5.Concrete, main control module 31 is controlled walking module 13 actions, keeps zone line corresponding to middle part to be identified as perform region, and the left field that left part or right part are corresponding or right side area are identified as inoperative region and border is positioned at wherein.
Automatic running device 1 adjust self towards, make border 6 all be positioned at a specific side, in left field b or right side area c, then by this direction walking.After adjusting, main control module 31 keep automatic running devices 1 towards and direction of travel consistent with border 6, be that main control module 31 is controlled walking module 13 actions, keep zone line corresponding to middle part to be identified as perform region, the left field that left part or right part are corresponding or right side area are identified as inoperative region and border is positioned at wherein, make the subregion at 6 places, border be positioned at all the time a side of automatic running device 1, keeping aforesaid zone line a is perform region 45, and one in left field b or right side area c is non-perform region 7, another is perform region 5.
In the process of walking, image collecting device 15 is real-time image acquisition still, if left field b or right side area c have been departed from border 6, illustrate automatic running device 1 towards, namely the trend on direction of travel and border 6 is no longer consistent, automatic running device 1 is adjusted again towards making border 6 be arranged in left field b or right side area c, walking and in real time adjustment direction by the way, and automatic running device 1 has been realized 6 walkings along border.Because bus stop 4 is arranged on the border 6 of perform region 5, if automatic running device 15 border, 6 walkings along perform region finally can be got back to bus stop 4.
Maintenance is 6 walking time along border, and automatic running device 1 enters step S6, in the image that monitoring image harvester 15 gathers, whether occur bus stop 4.If main control module 31 analysis images are not found bus stop 4; do not move; walk on and monitor bus stop 4; if main control module 31 is found bus stop 4; enter step S8, main control module 31 is controlled automatic running devices 1 to bus stop 4 walkings, and adjusts towards with over against bus stop 4; with bus stop 4 docking, the actions such as confirmation is shut down after docking, charging.
Referring to Fig. 9, whether the current border following 6 of identification of describing automatic running device 1 in detail leads to the method for bus stop 4.
In border judgement flow process, first main control equipment 31 performs step S4,6 walkings along border.
In the walking of border 6, execution step S5, boundary recognition module 321 judgements in default time or default distance, the direction of travel of automatic running device 1.
1, calculate in default time or default distance the accumulative total amount of deflection of automatic running device 1 step S5 can be decomposed into two sub-steps, that is:; And 2, by accumulative total amount of deflection and and preset value compare, to judge the direction of travel of automatic running device 1.
In above-mentioned sub-step 1, accumulative total amount of deflection is automatic running device 1 degree of off-straight under steam, the deflection angle adding up in other words.Accumulative total amount of deflection can represent by deviation distance or the angle departing from.For example, in regular hour or certain operating range, automatic running device 1 has departed from again 7m to the right after having departed from 5m left, adds up amount of deflection and can be expressed as and departed from 2m to the right; And for example, automatic running device 1 has turned to after 15 ° clockwise, has turned to counterclockwise again 12 °, adds up amount of deflection and can be expressed as clockwise deflection 3 °.
In the present embodiment, boundary recognition module 321 adopts accumulative total revolvers 131 and right 132 the poor mode of operating range of taking turns to calculate accumulative total amount of deflection.Concrete, at revolver 131 and the right 132 CD-ROM drive motor places, left and right of taking turns, speed pickup is respectively set, speed pickup passes to the velocity information of collection the main control module 31 being connected, main control module 31 just can calculate respectively in regular hour or distance according to this velocity information, revolver 131 and rightly take turns 132 distances of travelling respectively, and then obtain the distance of travelling poor of the left and right sidesing driving wheel of representative accumulative total amount of deflection.In other embodiment, also can adopt the mode of the deflection angle of accumulative total automatic running device 1 to calculate accumulative total amount of deflection.Concrete, at the interior angle inductance gauge that arranges of automatic running device 1, the yawing moment that angle inductance gauge constantly detects automatic running device 1 is with angle and send the data to the main control module 31 being connected, boundary recognition module 321 in main control module 31 just can calculate in regular hour or distance according to these data, the accumulative total deflection angle of representative accumulative total amount of deflection.
Calculate after the certain hour of automatic running device 1 or the accumulative total amount of deflection in operating range, enter into above-mentioned sub-step 2, boundary recognition module 321 is compared by accumulative total amount of deflection with preset value, to judge the direction of travel of automatic running device 1.In ideal conditions, preset value can be made as 0, only needs the positive and negative of judging distance value or angle value, and for example, distance or angle are for just just judging that direction of travel is clockwise, just judges that for negative direction of travel is counterclockwise.But the accuracy in order to guarantee to calculate, also can be set to an interval by preset value, for example (0 ± 10) meter, or (0 ± 180 °), when accumulative total amount of deflection is positioned at outside this interval, according to its value judgement direction of travel, when accumulative total amount of deflection is positioned at this interval, recalculate accumulative total amount of deflection.The mode recalculating can have multiple, for example restart Preset Time or the predeterminable range of one-period, or extend Preset Time or predeterminable range, or rolling value, along with time or distance increase, the starting point of moving Preset Time or predeterminable range after constantly corresponding.
In step S5, finally obtain the direction of travel of automatic running device 1, enter subsequently step S7, by the result of calculation of S5 and the comparison of preset standard result, if consistent, judge that the current border following 6 is connected to bus stop 4, if inconsistent, judge that the current border following 6 is not connected to bus stop 4.
Theoretical direction of travel when walk by the correct border of actual direction of travel and edge of comparison automatic running device 1 in Boundary Recognition unit 321 judges that whether current border is correct.As previously mentioned, in the present embodiment, automatic running device 16 while returning, is guaranteeing that border 6 is positioned at the specific side of self along border all the time.The automatic running device 1 of take guarantees that it is example that border 6 is positioned at self right side, if in the peripheral boundary 6 of automatic running device 1 perform region 5, it is by 6 the inside walking on border, direction of travel is counterclockwise, if in the peripheral boundary of isolated island 71, it is by 6 the outside walking on border, and its direction of travel is clockwise.Preset standard result is just set according to above-mentioned this corresponding relation, if a described specific side is left side, theoretical direction of travel is that a described specific side is right side clockwise, and theoretical direction of travel is counterclockwise.
If judgment result is that, the current border following 6 is connected to bus stop 4, returns to step S4, and automatic running device 1 continues 6 walkings along border; If judgment result is that, the current border following 6 is free of attachment to bus stop 4, enters step S9, and automatic running device 1 leaves current border 6, comes back to the flow process of finding border 6.
The present invention is not limited to lifted specific embodiment structure, and the structure based on the present invention's design all belongs to protection domain of the present invention.
Claims (20)
1. an automatic running device, comprising:
Housing;
Walking module, described walking module comprises the wheels that are arranged on housing and the running motor that drives described wheels;
Image collecting device, is arranged on housing;
Operational module, carries out predetermined work;
Main control module, connects image collecting device, operational module and walking module to control automatic running device work,
It is characterized in that:
Described image collecting device gathers the image of housing front region, and described image transfer is arrived to main control module, described front region at least comprises the presumptive area on ground, housing the place ahead, described main control module is analyzed the predetermined image piece corresponding with described presumptive area in described image, to monitor whether occur border in described presumptive area, and when monitoring border, make automatic running device in boundary position, and walk along border.
2. automatic running device according to claim 1, it is characterized in that: the width of described presumptive area is greater than the width of housing, described main control module is divided into the corresponding some subimage blocks corresponding to some subregions of presumptive area by predetermined image piece, and analyze each subimage block corresponding subregion is identified as in perform region or inoperative region, when a sub regions is inoperative region and its adjacent subarea territory while being perform region, master control module judges border is arranged in this subregion.
3. automatic running device according to claim 2, is characterized in that: while walking along border, and described master control module controls walking module, to keep housing to be positioned at perform region, and border is positioned at a specific side of housing.
4. automatic running device according to claim 3, it is characterized in that, described image collecting device gathers image and passes to main control module, described main control module is divided into middle part by the predetermined image piece of described image, right part and left part three number of sub images pieces, correspond respectively to the wide zone line of automatic running device dead ahead and automatic running device, the right side area on described zone line right side, left field three sub regions in described zone line left side, described master control module controls walking module moves to adjust the position of automatic running device, keep zone line corresponding to middle part to be identified as perform region, the left field that left part or right part are corresponding or right side area are identified as inoperative region and border is positioned at wherein, to keep housing to be positioned at perform region, and border is positioned at a specific side of housing.
5. according to the automatic running device described in claim 3 or 4, it is characterized in that, described main control module also comprises Boundary Recognition unit, whether the current border following of described Boundary Recognition unit judges leads to bus stop, if the determination result is NO, described master control module controls walking module, makes automatic running device leave the current border following.
6. automatic running device according to claim 5, it is characterized in that, the direction of travel of described Boundary Recognition unit judges automatic running device in default time or default distance, and by judged result and the comparison of preset standard result, if consistent, judge that the current border following is connected to bus stop, if inconsistent, judge that the current border following is not connected to bus stop.
7. automatic running device according to claim 6, it is characterized in that, described Boundary Recognition unit calculates the accumulative total amount of deflection of automatic running device in default time or default distance, by described accumulative total amount of deflection and preset value relatively with the direction of travel of judgement automatic running device.
8. automatic running device according to claim 7, is characterized in that, the revolver that described accumulation amount of deflection is automatic running device and right accumulative total of taking turns the distance of walking are taken turns the accumulative total deflection angle of poor or automatic running device.
9. automatic running device according to claim 6, is characterized in that, when a described specific side is left side, described preset standard result is clockwise; When a described specific side is right side, described preset standard result is counterclockwise.
10. automatic running device according to claim 1, it is characterized in that, described main control module also comprises bus stop recognition unit, in the image of described bus stop recognition unit monitoring image harvester collection, whether there is bus stop, if monitor bus stop, described master control module controls walking module, makes automatic running device travel to described bus stop.
11. 1 kinds of methods that automatic running device returns to bus stop, described automatic running device comprises: housing, walking module, described walking module comprises the wheels that are arranged on housing and drives the running motor of described wheels, is arranged on the image collecting device on housing, be arranged on housing, carry out predetermined work operational module, connect aforesaid image collecting device, operational module and walking module to control the main control module of automatic running device work, it is characterized in that, described homing method comprises the following steps:
A. monitor the predetermined image piece of the image that described image collecting device gathers, this predetermined image piece is corresponding to the presumptive area on ground, housing the place ahead, to judge whether occur border in this presumptive area;
If b. there is border in specific region, control automatic running device in boundary position;
C. along border, walk.
The method that 12. automatic running devices according to claim 11 return to bus stop, is characterized in that, the width of described presumptive area is greater than the width of housing, and described step a further comprises:
Predetermined image piece is divided into the corresponding some subimage blocks corresponding to some subregions of presumptive area;
Analyze each subimage block corresponding subregion is identified as in perform region or inoperative region;
When a sub regions is inoperative region and its adjacent subarea territory while being perform region, judgement border is arranged in this subregion.
The method that 13. automatic running devices according to claim 12 return to bus stop, is characterized in that, in step c, while walking along border, keep housing to be positioned at perform region, and border is positioned at a specific side of housing.
The method that 14. automatic running devices according to claim 13 return to bus stop, it is characterized in that, described image collecting device collection gathers image and passes to main control module, described main control module is divided into middle part by the predetermined image piece of described image, right part and left part three number of sub images pieces, correspond respectively to automatic running device dead ahead, with the wide zone line of automatic running device, the right side area on described zone line right side, left field three sub regions in described zone line left side, described master control module controls walking module moves to adjust the position of automatic running device, keep zone line corresponding to middle part to be identified as perform region, the left field that left part or right part are corresponding or right side area are identified as inoperative region and border is positioned at wherein, to keep housing to be positioned at perform region, and border is positioned at a specific side of housing.
15. methods that return to bus stop according to the automatic running device described in claim 13 or 14, is characterized in that, further comprising the steps of:
D. judge whether the current border following leads to bus stop;
If e. the determination result is NO for steps d, leave the current border following, execution step a.
The method that 16. automatic running devices according to claim 15 return to bus stop, is characterized in that, described steps d is further comprising the steps:
D1. judge the direction of travel of automatic running device in default time or default distance;
D2. by the judged result of d1 step and the comparison of preset standard result, if consistent, judge that the current border following is connected to bus stop, if inconsistent, judge that the current border following is not connected to bus stop.
The method that 17. automatic running devices according to claim 16 return to bus stop, it is characterized in that, described steps d 1 is specially: calculate the accumulative total amount of deflection of automatic running device in default time or default distance, by described accumulative total amount of deflection and preset value relatively with the direction of travel of judgement automatic running device.
The method that 18. automatic running devices according to claim 17 return to bus stop, is characterized in that, the revolver that described accumulation amount of deflection is automatic running device and right accumulative total of taking turns the distance of walking are taken turns the accumulative total deflection angle of poor or automatic running device.
The method that 19. automatic running devices according to claim 16 return to bus stop, is characterized in that, when a described specific side is left side, described preset standard result is clockwise; When a described specific side is right side, described preset standard result is counterclockwise.
The method that 20. automatic running devices according to claim 11 return to bus stop, is characterized in that, further comprising the steps of:
F. in the image of monitoring collection image collecting device collection, whether there is bus stop;
If g. monitor bus stop, to described bus stop, travel.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201310140286.9A CN104111651A (en) | 2013-04-22 | 2013-04-22 | Automatic walking equipment and method for automatic walking equipment to return to stop station |
| PCT/CN2014/075954 WO2014173290A1 (en) | 2013-04-22 | 2014-04-22 | Automatic walking device and method for determining working area thereof |
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| CN201310140286.9A CN104111651A (en) | 2013-04-22 | 2013-04-22 | Automatic walking equipment and method for automatic walking equipment to return to stop station |
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| CN104111651A true CN104111651A (en) | 2014-10-22 |
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