CN104345734A

CN104345734A - Automatic working system, automatic walking equipment and control method thereof

Info

Publication number: CN104345734A
Application number: CN201410386484.8A
Authority: CN
Inventors: 田角峰; 刘瑜
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2013-08-07
Filing date: 2014-08-07
Publication date: 2015-02-11

Abstract

The invention relates to a control method for automatic walking equipment, wherein the automatic walking equipment comprises an image acquisition device, a main control module and an execution member; the control method comprises the following steps that a) the image acquisition device acquires environmental image information of the surrounding environment; b) the main control module recognizes whether the environmental image information contains an image with a priority identification or not; c) the main control module executes an ordinary program when the judgment result of the step b is that the environmental image information contains the image with the priority identification; d) the main control module executes a priority program, recognizes the type of the priority identification according to the environmental image information, and sends a corresponding control signal to the execution member according to the type of the priority identification when the judgment result of the step b is that the environmental image information contains no image with the priority identification. The invention further relates to the automatic walking equipment and an automatic working system. According to the automatic working system, the automatic walking equipment and the control method thereof provided by the invention, a user can customize personalized working scenes according to own requirements, and the personalized requirements of the user are met, so that the walking range of the automatic walking equipment is expanded.

Description

Automatic working system, automatic running device and control method thereof

Technical field

The present invention relates to a kind of automatic working system, particularly a kind ofly environmentally image information can control the automatic working system of duty of automatic running device.

The present invention relates to a kind of automatic running device, particularly a kind ofly environmentally image information can control the automatic running device of duty.

The invention still further relates to a kind of control method, particularly a kind ofly environmentally image information can control the control method of duty of automatic running device.

Background technology

Along with the continuous progress of computer technology and artificial intelligence technology, the automatic running device being similar to intelligent robot has started the life of coming into people slowly.The company such as Samsung, Electrolux all develops automatic dust catcher and puts goods on the market.The usual compact of this automatic dust catcher, is integrated with environmental sensor, from drive system, dust collecting system, battery and charging system, can without the need to manual control, cruise in indoor voluntarily, the auto-returned bus stop when energy is low, docks and charges, then continuing dust suction of cruising.Due to this automatic running device once arrange after just without the need to dropping into energy management again, user is uninteresting and free the housework work of wasting time and energy from clean, lawn maintenance etc., be therefore subject to very big welcome.

Existing automatic running device can by the image information of image acquisition device surrounding environment, and the area type of automatic running device present position is identified according to the general identification existed in the image information of surrounding environment, and control it the need of continuing in this regional work according to area type, still leave this region as early as possible.But because single pass general identification identifies that the area type of automatic running device present position too limits to, user cannot plan the operative scenario of automatic running device again according to the demand of oneself personalization, therefore can not meet user's multiple demands.Therefore be necessary to improve existing automatic running device and control method thereof, make the setting of the operative scenario to automatic running device simpler, personalized.

Summary of the invention

Technical matters to be solved by this invention is: the control method providing a kind of automatic running device.

For solving the problems of the technologies described above, technical scheme provided by the invention is: a kind of control method of automatic running device, described control method controls automatic running device and works in the working environment being provided with priority symbol, described automatic running device comprises the image collecting device be arranged on automatic running device, store and control the ordinary procedure of automatic running device work and the main control module of priority routine, and the executive module of relevant work is performed according to the control signal that main control module sends, described control method comprises the following steps: a) the ambient image information of image acquisition device surrounding environment, b) image of priority symbol whether is comprised in main control module environment-identification image information, c) as step b) judged result when being no, main control module performs ordinary procedure, d) as step b) judged result for being time, main control module performs priority routine, in priority routine, the type of main control module environmentally image information identification priority symbol, and send corresponding control signal to executive module according to the type of priority symbol.

Preferably, the type of described priority symbol comprises the current mark allowing automatic running device walking, steps d) in, when the type of the priority symbol of identification is for current mark, main control module sends current control signal to executive module, controls automatic running device and walks to current mark.

Preferably, the type of described priority symbol comprise forbid that automatic running device walks forbid mark, steps d) in, when the type of the priority symbol of identification is for forbidding mark, main control module sends the control signal of forbidding to executive module, controls automatic running device and forbids mark away from described.

Preferably, at least one in the color, profile or the texture that environmentally comprise in image information of main control module identifies the type of priority symbol.

Preferably, the working environment of automatic running device also has general identification, general identification comprises distinguishes the dissimilar mark that working environment is perform region and non-active area, in described ordinary procedure, the type of main control module environmentally image information identification general identification, the type of the working environment residing for the type identification automatic running device current location of general identification, send corresponding control signal to executive module according to the type of working environment, control automatic running device and walk in perform region.

Preferably, described general identification comprises green vegetation and non-green vegetation, and the working environment at green vegetation place is perform region, and the working environment at non-green vegetation place is non-active area.

Preferably, at least one in the color that environmentally comprises in image information of main control module or texture identifies the type of general identification.

The technical matters that the present invention also solves is: provide a kind of automatic running device.

For solving the problems of the technologies described above, technical scheme provided by the invention is: a kind of automatic running device, described automatic running device works in the working environment being provided with priority symbol, comprise the image collecting device be arranged on automatic running device, store and control the ordinary procedure of automatic running device work and the main control module of priority routine, and the executive module of relevant work is performed according to the control signal that main control module sends, described main control module, receive the ambient image information that image collecting device transmits, comprise the first determination component, storage unit, ordinary procedure execution module and priority routine execution module, wherein said cell stores has parameter preset, described first determination component judges according to described ambient image information and parameter preset the image that whether there is priority symbol in ambient image information, when the judged result of described first determination component is no, described ordinary procedure execution module startup work, performs ordinary procedure, when the judged result of described first determination component is for being, described priority routine execution module startup work, perform priority routine, the type of described priority routine execution module environmentally image information identification priority symbol, and send corresponding control signal to executive module according to the type of priority symbol.

Preferably, the type of described priority symbol comprises the current mark allowing automatic running device walking, when the type of the priority symbol of priority routine execution module identification is for current mark, priority routine execution module sends current control signal to executive module, controls automatic running device and walks to current mark.

Preferably, the type of described priority symbol comprise forbid that automatic running device walks forbid mark, when the type of the priority symbol of priority routine execution module identification is for forbidding mark, priority routine execution module sends the control signal of forbidding to executive module, controls automatic running device and forbids mark away from described.

Preferably, at least one in the color, profile or the texture that environmentally comprise in image information of described priority routine execution module identifies the type of priority symbol.

Preferably, the working environment of automatic running device also has general identification, general identification comprises distinguishes the dissimilar mark that working environment is perform region and non-active area, the type of ordinary procedure execution module environmentally image information identification general identification, the type of the working environment residing for the type identification automatic running device current location of general identification, send corresponding control signal to executive module according to the type of working environment, control automatic running device and walk in perform region.

Preferably, at least one in the color that environmentally comprises in image information of ordinary procedure execution module or texture identifies the type of general identification.

Compared with prior art, the operative scenario of priority symbol identification residing for it that automatic running device both can have been arranged according to user, carries out corresponding travelling control; The general identification identification operative scenario existed in the priority symbol that also can simultaneously arrange according to user and operative scenario carries out corresponding travelling control; Make user can formulate personalized operative scenario according to the demand of oneself.

Present invention also offers a kind of automatic working system, described automatic working system comprises automatic running device and is arranged on the ID of trace route path in the automatic running device domain of walk, described automatic running device comprises: image collecting device, gathers the image information of automatic running device surrounding environment; Mark identification module, according to the image information identification ID of trace route path of surrounding environment, and according to the outside transmission of signal of recognition result; Position judging module, judges whether automatic running device is positioned at perform region; Memory module, the information of store path mark and the path policy corresponding to ID of trace route path, described path policy guides automatic running device to travel through in the domain of walk; Control Component, according to the signal that mark identification module and position judging module transmit, controls the walking path of automatic running device; Described automatic running device has first mode and the second pattern, and under first mode, the signal that Control Component transmits according to position judging module, controls automatic running device and walk in perform region; Under second pattern, the signal that Control Component transmits according to mark identification module, controls automatic running device and performs corresponding path policy; When identifying identification module and recognizing ID of trace route path, automatic running device enters the second pattern, and when identifying identification module and not recognizing ID of trace route path, automatic running device enters first mode.

Preferably, under described first mode, the signal that Control Component transmits according to position judging module, controls automatic running device and walks in perform region and work, when identifying identification module and recognizing ID of trace route path, automatic running device enters the second pattern by first mode.

Preferably, described ID of trace route path comprises current mark, described path policy comprises the leap strategy corresponding to current mark, when mark identification module recognizes current mark, Control Component controls automatic running device and performs leap strategy, according to leap strategy, Control Component controls automatic running device and walks towards the region at current mark place, and crosses over the region at current mark place.

Preferably, described current mark is laid on the walkway surface of automatic running device, and according to leap strategy, Control Component controls the side walking of automatic running device along mark of passing through, and by the current region identifying place.

Preferably, the angled setting of walkway surface of described current mark and automatic running device, according to leap strategy, Control Component controls automatic running device and walks towards the direction just right with current mark, and passes through the region at current mark place.

Preferably, according to leap strategy, when position judging module judges that automatic running device enters non-active area, Control Component controls automatic running device to be continued to walk forward, until position judging module judges that automatic running device is positioned at perform region.

Preferably, according to leap strategy, when position judging module judges that automatic running device enters non-active area, Control Component controls automatic running device to be continued to walk forward, until position judging module judges that automatic running device is positioned at perform region all the time in preset time period.

Preferably, described ID of trace route path comprises forbids mark, described path policy comprises and forbids identifying corresponding avoidance strategy, when mark identification module recognizes and forbids mark, Control Component controls automatic running device and performs avoidance strategy, according to avoidance strategy, Control Component controls automatic running device and walks towards away from the direction of forbidding identifying.

Preferably, according to avoidance strategy, when position judging module judges that automatic running device is positioned at perform region, Control Component controls automatic running device to be continued towards preset time period of walking away from the direction of forbidding identifying.

Preferably, according to avoidance strategy, when position judging module judges that automatic running device is positioned at perform region, Control Component controls automatic running device and continues towards away from the direction walking forbidding identifying, until automatic running device enters the position, boundary of non-active area and perform region.

The present invention also provides a kind of automatic running device, and described automatic running device comprises: image collecting device, gathers the image information of automatic running device surrounding environment; Mark identification module, according to the image information identification ID of trace route path of surrounding environment, and according to the outside transmission of signal of recognition result; Position judging module, judges whether automatic running device is positioned at perform region; Memory module, the information of store path mark and the path policy corresponding to ID of trace route path, described path policy guides automatic running device to travel through in the domain of walk; Control Component, according to the signal that mark identification module and position judging module transmit, controls the walking path of automatic running device; Described automatic running device has first mode and the second pattern, and under first mode, the signal that Control Component transmits according to position judging module, controls automatic running device and walk in perform region; Under second pattern, the signal that Control Component transmits according to mark identification module, the automatic walking of control is standby performs corresponding path policy; When identifying identification module and recognizing ID of trace route path, automatic running device enters the second pattern, and when identifying identification module and not recognizing ID of trace route path, automatic running device enters first mode.

Preferably, ID of trace route path comprises current mark, memory module stores the information of current mark and the leap strategy corresponding with it, when mark identification module recognizes current mark, Control Component controls automatic running device and performs leap strategy, according to leap strategy, Control Component controls automatic running device and walks towards the region at current mark place, and crosses over the region at current mark place.

Preferably, ID of trace route path comprises forbids mark, memory module stores the information and the avoidance strategy corresponding with it forbidding identifying, when mark identification module recognizes and forbids mark, Control Component controls automatic running device and performs avoidance strategy, according to avoidance strategy, Control Component controls automatic running device and walks towards away from the direction of forbidding identifying.

Preferably, according to avoidance strategy, when position judging module judges that automatic running device is positioned at perform region, Control Component controls automatic running device and continues towards away from the direction walking forbidding identifying, until automatic running device enters non-active area and position, boundary, perform region.

Accompanying drawing explanation

Above-described technical matters solved by the invention, technical scheme and beneficial effect by the detailed description that can realize specific embodiments of the invention below, can describe and clearly obtain simultaneously by reference to the accompanying drawings.

Identical label in accompanying drawing and instructions and symbol are for representing identical or equivalent element.

Fig. 1 is the operative scenario schematic diagram of the automatic running device of a better embodiment;

Fig. 2 is the circuit module figure of the first better embodiment of the automatic running device shown in Fig. 1;

Fig. 3 is the workflow diagram of a better embodiment of the automatic running device shown in Fig. 2;

Fig. 4 is the circuit module figure of a better embodiment of the priority routine execution module shown in Fig. 2;

Fig. 5 is the workflow diagram of a better embodiment of the priority routine execution module shown in Fig. 2;

Fig. 6 is the circuit block diagram of the profile acquiring unit shown in Fig. 4;

Fig. 7 is the circuit block diagram of the profile judging unit shown in Fig. 4;

Fig. 8 is the viewfinder range figure of the automatic running device shown in Fig. 2;

Fig. 9 is the circuit module figure of a better embodiment of the ordinary procedure execution module shown in Fig. 2;

Figure 10 is the workflow diagram of a better embodiment of the ordinary procedure execution module shown in Fig. 2;

Figure 11 is the schematic diagram of the automatic working system of a better embodiment;

Figure 12 is the circuit block diagram of a better embodiment of automatic running device in Figure 11;

Figure 13 is the workflow diagram of a better embodiment of automatic running device in Figure 12.

Wherein:

1,1 ', automatic running device 3172, color extraction unit

2,2 ', perform region 3173, accounting computing unit

3, non-active area 3174, accounting comparing unit

4,4 ', current mark 3175, texture fetch unit

5,5 ', mark 3176, texture comparing unit is forbidden

13, executive module 3177, perform region recognition unit

15,15 ', image collecting device 319, priority routine execution module

17, identification module 3191, colour recognition unit is identified

19, memory module 3192, area extracting unit

21, position judging module 3193, profile acquiring unit

23, Control Component 3193a, gray proces circuit

31, main control module 3193b, gradient difference treatment circuit

313, storage unit 3195, profile judging unit

315, the first determination component 3195a, characteristic quantity acquisition cuicuit

317, ordinary procedure execution module 3195b, characteristic quantity match circuit

3171, sub-zone dividing unit

Embodiment

Detailed description for the present invention and technology contents, coordinate accompanying drawing to be described as follows, appended accompanying drawing only provides reference and explanation, is not used for being limited the present invention.

The working environment of automatic running device 1 as shown in Figure 1 comprises perform region 2, non-active area 3 and priority symbol.Automatic running device 1 can be industrial robot, suction cleaner, full intelligent grass-removing, semi-intelligent mower etc.Priority symbol is mark that operator is arranged as required temporarily, that represent specific meanings, as the current mark 4 allowing automatic running device 1 current, forbid automatic running device 1 current forbid mark 5, the alarming sign etc. on dangerous border, priority symbol can be one or more in above-mentioned polytype mark.Exemplarily enumerate priority symbol at this to comprise current mark 4, forbid mark 5.Store ordinary procedure and priority routine in automatic running device 1, there is not current mark 4 when automatic running device 1 recognizes in surrounding environment, when forbidding that mark 5 isopreference identifies, perform ordinary procedure; There is current mark 4 when automatic running device 1 recognizes in surrounding environment, when forbidding that mark 5 isopreference identify, execution priority routine.In ordinary procedure, automatic running device 1 can be identifying whether the working environment residing for it is perform region 2, so that it only works in perform region 2, and can not work in addition in perform region 2; Also can be at searching bus stop, to realize and the docking of bus stop; Can also be carrying out initialization, to determine the scope etc. of perform region 2.When this exemplarily enumerates ordinary procedure, automatic running device 1 himself is in walking in perform region 2 according to the Type Control of working environment.In priority routine, automatic running device 1 identifies the type of priority symbol, and the walking states of Type Control self according to priority symbol.Concrete, when the priority symbol recognized is for current mark 4, automatic running device 1 is walked to current mark 4; When the priority symbol recognized is for forbidding mark 5, automatic running device 1 forbids mark 5 away from described, forbids mark 5 to avoid.Control to walk on after automatic running device 1 rotates predetermined angle away from forbidding that mark 5 comprises, and control automatic running device 1 directly retreats.Based on foregoing description, it will be appreciated by persons skilled in the art that when automatic running device 1 is in perform region 2, but run into when forbidding mark 5, automatic running device 1 is away from forbidding mark 5; To have a common boundary position when automatic running device 1 runs to non-active area 3 and perform region 2 by perform region 2, but when running into current mark 4, automatic running device 1 is walked to current mark 4.Make the conventional walking path of automatic running device 1 change because of the setting of priority symbol thus, provide convenience for operator formulates personalized operative scenario.

Perform region 2 and non-active area 3 can be divided by the boundary line being layed in earth's surface, and the region that wherein boundary line surrounds is perform region 2, and the region of periphery, boundary line is non-active area 3; Also can be distinguished by the general identification in operative scenario.The situation being distinguished perform region 2 and non-active area 3 by general identification can for following several.Naturally identify by the manual identification or industry of solidifying setting in operative scenario are already present, as the floor of indoor, wall, threshold, step; Outdoor green vegetation, road, hedge etc. divide.When general identification is indoor floor, wall, threshold, step, the working environment at place, floor is perform region 2, and the working environment at wall, threshold, step place is non-active area 3; When general identification is outdoor green vegetation, road, hedge, the working environment at green vegetation place is perform region 2, and the working environment at the non-green such as road, hedge vegetation place is non-active area 3.

Below in conjunction with Fig. 2, the first better embodiment of automatic running device 1 is introduced.

As shown in Figure 2, automatic running device 1 comprises image collecting device 15 on the housing being arranged on automatic running device 1, stores the main control module 31 controlling ordinary procedure that automatic running device 1 works and priority routine and the executive module 13 performing relevant work according to the control signal that main control module 31 sends.Main control module 31, receives the ambient image information that image collecting device 15 transmits, comprises the first determination component 315, storage unit 313, ordinary procedure execution module 317 and priority routine execution module 319.Storage unit 313, stores parameter preset, comprises at least one in pre-set color, default profile or default texture.First determination component 315, is electrically connected with image collecting device 15 and storage unit 313, judges whether there is priority symbol around automatic running device 1 current location according to described ambient image information and parameter preset.Ordinary procedure execution module 317 and priority routine execution module 319 are all electrically connected with the first determination component 315 and storage unit 313, and wherein ordinary procedure execution module 317 performs ordinary procedure, and priority routine execution module 319 performs priority routine.When the first determination component 315 judges there is not priority symbol around automatic running device 1 current location, ordinary procedure execution module 317 starts work.When the first determination component 315 judges to there is priority symbol around automatic running device 1 current location, priority routine execution module 319 starts work, the type of priority routine execution module 319 environmentally image information identification priority symbol, and send corresponding control signal to executive module 13 according to the type of priority symbol.At least one in color, profile or texture that priority routine execution module 319 environmentally comprises in image information identifies the type of priority symbol.Concrete, when the type of the priority symbol that priority routine execution module 319 identifies is the current mark 4 allowing automatic running device 1 to walk, priority routine execution module 319 sends current control signal to executive module 13, controls automatic running device 1 and walks to current mark 4.When the type of priority symbol that priority routine execution module 319 identifies be forbid that automatic running device 1 walks forbid mark 5 time, priority routine execution module 319 sends the control signal of forbidding to executive module 13, controls automatic running device 1 away from forbidding mark 5.When the type of the priority symbol that priority routine execution module 319 identifies is the Warning Sign of dangerous warning, priority routine execution module 319 sends corresponding control signal to executive module 13, control automatic running device 1 and stop walking, and send alerting signal to User Alarms.

According to foregoing teachings, automatic running device 1, when being not activated priority routine, performs ordinary procedure.When performing ordinary procedure, automatic running device 1 may be identifying whether the working environment residing for it is perform region 2, so that it only works in perform region 2, and can not work in addition in perform region 2; Also may be at searching bus stop, to realize and the docking of bus stop; May be also carrying out initialization, to determine the scope etc. of perform region 2.When in ordinary procedure, automatic running device 1 is in and identifies whether the working environment residing for it is perform region 2, so that when it only works in perform region 2, preferably, ordinary procedure execution module 317 identifies perform region 2 and non-active area 3 according to the type of the general identification existed in working environment, and send corresponding control signal to executive module 13, control automatic running device 1 and work in perform region 2.More preferred, the type of ordinary procedure execution module 317 environmentally image information identification general identification, and then the type of working environment residing for type identification automatic running device 1 current location of general identification, send corresponding control signal to executive module 13 according to the type of working environment, control automatic running device 1 and walk in perform region 2.At least one in the color that ordinary procedure execution module 317 environmentally comprises in image information or texture identifies the type of priority symbol.Certainly, ordinary procedure execution module 317 also can identify the type of the perform region residing for automatic running device 1 by being layed in other modes such as the sideband signal of the boundary line transmission on earth's surface.

Below in conjunction with Fig. 3 to automatic running device 1 the first preferably workflow diagram be introduced.

Automatic running device 1 enters step S50, carries out initialization.

After step S50, enter step S52, start image collecting device 15.

After step S52, enter step S54, image collecting device 15 starts to gather the ambient image information around automatic running device 1 current location, and the ambient image information collected is passed to the first determination component 315 of main control module 31.It will be understood by those skilled in the art that, signal transmission can be carried out with mode excessively in electrical contact between image collecting device 15 and main control module 31, also signal transmission can be carried out by non-mode in electrical contact, image collecting device 15 can be arranged on automatic running device 1, also can be arranged on other places beyond automatic running device 1.

After step S54, enter step S56, the parameter preset that first determination component 315 of main control module 31 stores according to the ambient image information received and storage unit 313, judge the image whether comprising priority symbol in ambient image information, to judge whether there is priority symbol around automatic running device 1 current location, when judged result is for being, enter step S58; Otherwise, when judged result is no, enter step S64.The type of priority symbol at least for current mark 4 and can forbid mark 5.Current mark 4 and forbid that mark 5 can for having the manual identification of particular color, contoured or particular texture.If current mark 4 is yellow mark, forbid that mark 5 is for red mark; Or current mark 4 is rectangle mark, forbid that mark 5 is for square mark; Or current mark 4 has the texture that texture value is 1, forbid that mark 5 has the texture that texture value is 2; Or current mark 4 and forbid that mark 5 is respectively the mark with at least both combinations in particular color, contoured and particular texture three.It will be appreciated by persons skilled in the art that the concrete form of the priority symbol of any one type arbitrarily can be arranged according to the demand of user.After user sets the concrete form of the priority symbol of certain type, the parameter preset of storage unit 313 needs to set according to the concrete form of this priority symbol.In present embodiment, with current mark 4 for yellow rectangle mark, and forbid that mark 5 is described for red square identifies.Under this situation, pre-set color comprises yellow and redness, and default profile comprises rectangle and square.When the first determination component 315 judge to comprise in ambient image information have rectangular yellow area and there is foursquare red area time, judge to there is priority symbol around automatic running device 1 current location; Otherwise judge to there is not priority symbol around automatic running device 1 current location.

In step S58, the type of the parameter preset identification priority symbol that the priority routine execution module 319 of main control module 31 stores according to storage unit 313.Subsequently, step S60 is entered.In present embodiment, the color that priority symbol has by priority routine execution module 319 and profile mate with pre-set color and profile, thus identify the type of this priority symbol.

In step S60, priority routine execution module 319 judges whether this priority symbol is current mark 4.Step S70 is entered when judged result is for being; Step S62 is entered when judged result is no.In present embodiment, when the color recognized is yellow and its profile is rectangle, judge that this priority symbol is as current mark 4, namely judged result is yes; Otherwise judged result is no.

In step S62, priority routine execution module 319 judges that this priority symbol is as forbidding mark 5, enters step S72 subsequently.It will be appreciated by persons skilled in the art that when the priority symbol type comprised in operative scenario only has current mark 4, and do not comprise when forbidding mark 5, step S62 can be omitted, and after step S60, directly enter step S70.

In step S70, priority routine execution module 319 sends current control signal to executive module 13, controls automatic running device 1 and walks to current mark 4.

In step S72, priority routine execution module 319 sends the control signal of forbidding to executive module 13, controls automatic running device 1 away from forbidding mark 5.

In step S64, the type of the parameter preset identification general identification that ordinary procedure execution module 317 stores according to storage unit 313.Subsequently, step S66 is entered.The type of general identification is according to the difference of the type of automatic running device 1 and residing working environment thereof, and different.When automatic running device 1 is mower, its common working environment is garden, accordingly, the type of general identification at least comprises green vegetation and non-green vegetation, green vegetation comprises greenweed, non-green vegetation comprises road, yellow soil, hedge etc., and wherein the working environment at green vegetation place is perform region 2, and the working environment at non-green vegetation place is non-active area 3.When automatic running device 1 is suction cleaner, its common working environment is indoor, and accordingly, the type of general identification at least comprises floor, step, and wherein the working environment at place, floor is perform region 2, and the working environment at step place is non-active area 3.Green vegetation and non-green vegetation is at least comprised for the type of general identification, dissimilar general identification has different colors, also have different textures, at least one therefore in ordinary procedure execution module 317 color that can environmentally comprise in image information or texture identifies the particular type of general identification.

In step S66, ordinary procedure execution module 317 is according to the working environment type of the current present position of general identification identification automatic running device 1.Subsequently, step S68 is entered.Working environment type comprises perform region 2 and non-active area 3, and the corresponding relation of working environment type and general identification is as described in step S64.

In step S68, ordinary procedure execution module 317 sends corresponding control signal to executive module 13, controls automatic running device 1 and walks in perform region 2.

It will be understood by those skilled in the art that, workflow shown in Fig. 3 is the type of the ordinary procedure execution module 317 environmentally image information identification general identification of automatic running device 1, and the process flow diagram of the embodiment of the type of working environment residing for type identification automatic running device 1 current location of general identification.When ordinary procedure execution module 317 execution is the work that searching bus stop is also attempted docking with bus stop, or carry out initialization to determine other work such as the scope of perform region 2, or when ordinary procedure execution module 317 identifies the type of the working environment residing for automatic running device 1 current location by other means, then its workflow diagram does not comprise the step S64 to S68 shown in Fig. 3.

In aforementioned embodiments, only summarize the priority symbol and general identification that exist in priority routine execution module 319 and the ordinary procedure execution module 317 parameter preset identification operative scenario that environmentally image information and storage unit 313 store, introduce priority routine execution module 319 and the concrete embodiment of ordinary procedure execution module 317 in detail below in conjunction with Fig. 4 to Figure 10.

First the first better embodiment of composition graphs 4 to Fig. 7 priority routine execution module 319 describes in detail.

In this embodiment, first priority routine execution module 319 tentatively judges the type of the priority symbol that automatic running device 1 surrounding exists by whether comprising pre-set color in environment-identification image information, then by extracting the profile with the subregion of pre-set color, and the profile of subregion and default profile is carried out to mate the type accurately judging the priority symbol that automatic running device 1 surrounding exists.Under this embodiment, the parameter preset stored in storage unit 313 comprises pre-set color and default profile.

As shown in Figure 4, priority routine execution module 319 comprises colour recognition unit 3191, area extracting unit 3192, profile acquiring unit 3193, profile judging unit 3195, whether pre-set color is comprised in the ambient image information that described colour recognition unit 3191 recognition image harvester 15 gathers, when comprising pre-set color in ambient image information, colour recognition unit 3191 exports corresponding electric signal to area extracting unit 3192.The subregion with pre-set color extracts, and the image information extracted is passed to profile acquiring unit 3193 after receiving the electric signal of colour recognition unit 3191 output by area extracting unit 3192 from ambient image information.The profile of the image information acquisition subregion of the subregion that profile acquiring unit 3193 transmits according to area extracting unit 3192, and the profile information of subregion is passed to profile judging unit 3195.The profile of subregion and default profile compare by profile judging unit 3195, judge whether the profile of subregion mates with default profile, when profile and the default outline of described subregion, priority routine execution module 319 can identify the type of the priority symbol existed around automatic running device 1 current location.

Concrete, step S80 as shown in Figure 5, the color value comprised in colour recognition unit 3191 environment-identification image information, thus the type of the priority symbol comprised in preliminary environment-identification image information.Typically, ambient image information is made up of several dot informations, by identifying the color value that rgb value that each dot information comprises can identify each dot information and comprises.Certainly, also can by identifying that HSV value identifies the color value that each dot information comprises.

After step S80, enter step S84, the subregion with pre-set color extracts by area extracting unit 3192 from ambient image information.Typically, by color space distance and Similarity Measure, the subregion with pre-set color can be extracted from ambient image information.Concrete, the ambient image information gathered due to image collecting device 15 is generally rgb format, first, the image of RGB color model is converted to hsv color model, then color space distance and Similarity Measure is utilized, carry out segmentation of a color image, the subregion of pre-set color in image is set to prospect white, all the other regions are set to background black, finally, by the image after color segmentation by row or the number of column count prospect pixel and, carry out histogram level projection or longitudinal projection again, to determine the coordinate figure of wanted color region, thus the subregion with pre-set color is extracted from original ambient image information.

After step S84, enter step S86, profile acquiring unit 3193 obtains the profile with the subregion of pre-set color.The profile of subregion comprises the boundary profile of subregion and the in-profile of subregion, wherein the boundary profile of subregion and the peripheral structure of priority symbol corresponding, the in-profile of subregion is corresponding with the structure of the characteristic of the outside surface of priority symbol.Typically, profile acquiring unit 3193 by carrying out gray proces and gradient difference process to image information, can obtain the profile of subregion.As shown in Figure 6, profile acquiring unit 3193 comprises gray proces circuit 3193a and gradient difference treatment circuit 3193b further, corresponding, step S86 comprises step S88 and step S90 further.

As shown in step S88, gray proces circuit 3193a carries out gray proces according to pre-set color to described subregion and obtains gray level image, and result is passed to gradient difference treatment circuit 3193b.

As shown in step S90, after gradient difference treatment circuit 3193b receives gray level image, gradient difference process is carried out to gray level image and then obtains the profile of subregion.Concrete, gradient difference treatment circuit 3193b carries out gradient difference process to gray level image and comprises twice gradient difference process and a fine processing.Gradient difference treatment circuit 3193b carries out to gray level image the texture image that gradient difference process obtains subregion first, then carries out gradient difference extension process to texture image and generates profile band, finally carry out process of refinement acquisition to profile band.

After step S86, enter step S92, the profile of subregion mates with default profile by profile judging unit 3195.Profile judging unit 3195 can carry out mating with the full details of default profile the default profile identified with the outline of subregion by the full details of profile obtaining subregion, also can by extracting the characteristic quantity of the profile of subregion, carry out the characteristic quantity of the profile of subregion and default characteristic quantity to mate the default profile identified with the outline of subregion, wherein presetting characteristic quantity is the characteristic quantity corresponding with default profile.In present embodiment, identify the default profile with the outline of subregion by the coupling of characteristic quantity.As shown in Figure 7, profile judging unit 3195 comprises characteristic quantity acquisition cuicuit 3195a and characteristic quantity match circuit 3195a.Correspondingly, step S92 comprises step S94 and step S96 further.

As shown in step S94, characteristic quantity acquisition cuicuit 3195a obtains the characteristic quantity of the profile characterizing subregion.This characteristic quantity can be the parameter of the in-profile of subregion, also can be the parameter of the boundary profile of subregion, the ratio of all right parameter of boundary profile and the parameter of in-profile.Certainly, characteristic quantity can also be the ratio between two parameters of ratio between two parameters of boundary profile or in-profile.The parameter of boundary profile or in-profile can be length, at least one highly, in shape, area of boundary profile or in-profile.

As shown in step S96, described characteristic quantity mates with default characteristic quantity by characteristic quantity match circuit 3195a, thus determines the default characteristic quantity with the images match of the priority symbol in ambient image information.

In step S98, according to pre-set color and default characteristic quantity with the images match with the priority symbol in ambient image information, realize the type accurately identifying the priority symbol that automatic running device 1 surrounding exists.

It will be appreciated by persons skilled in the art that identification can by identifying the default profile mated with the boundary profile of subregion with the default profile of the outline of subregion, now presetting profile is the circumference of priority symbol; Also can by identifying the default profile mated with the in-profile of subregion, now preset the profile that profile is the inner structure of priority symbol, can also identify the default profile mated with the boundary profile of subregion and in-profile, the circumference that now default profile comprises priority symbol also comprises the profile of the inner structure of priority symbol simultaneously.

It will be understood by those skilled in the art that, according to the difference of the concrete form of priority symbol, priority routine execution module 319 can also identify the type of the priority symbol existed around automatic running device 1 current location according at least one parameter in color, texture or profile.Wherein, the recognition method of color or profile is with the first better embodiment, and the recognition method of texture, with hereinafter to the texture recognition mode of general identification, does not repeat them here.The embodiment of the type identifying priority symbol is carried out in the combination of the multiple parameter of relative employing, adopts the embodiment of the type of single parameter identification priority symbol to have structure simple, the advantage that cost is low, is applicable to the relatively simple situation of environment scene.

In aforementioned embodiments, the specific works mode of priority routine execution module 319 is described in detail, the first the preferably embodiment introducing that ordinary procedure execution module 317 identifies general identification in detail below in conjunction with Fig. 8 to Figure 10.

As previously mentioned, the type of automatic running device 1 is different, then the environment of its work is different, and correspondingly, the type of general identification is not identical yet.In present embodiment, take general identification as green vegetation and non-green vegetation, wherein the region at green vegetation place is perform region 2, and the region at non-green vegetation place is non-active area 3 is example, identifies that the embodiment of general identification is described to ordinary procedure execution module 317.Preferably, first ordinary procedure execution module 317 tentatively judges by the pre-set color comprised in environment-identification image information the general identification type that automatic running device 1 surrounding exists, then carry out mating the general identification type accurately judging that automatic running device 1 surrounding exists by texture and default texture, and then identify the type of the working environment residing for automatic running device 1 current location.

In present embodiment, by the viewfinder range of image collecting device 15 is divided into several specific region, identify in several specific region and whether comprise green vegetation, and identify the accounting of this several specific regions Green vegetation further, thus identify the area type of this several specific region, thus determine perform region 2 and non-active area 3 relative position in this several specific region, and then identify the area type residing for automatic running device 1 current location.

As shown in Figure 8, image collecting device 15 is arranged on top position, the front portion of the housing of automatic running device 1, preferred setting placed in the middle, gather the image of automatic running device 1 front region, this front region at least comprises the target area on ground, front, the DCIJ region of the rectangle namely in Fig. 8, and DCIJ region is positioned at the ground in the dead ahead of automatic running device 1, and and a bit of distance in automatic running device 1 interval, formed blind area d.The axis of the axis in DCIJ region and the housing of automatic running device 1 overlaps, and the width in DCIJ region is slightly larger than the width of automatic running device 1.The image information that image collecting device 15 gathers is divided into middle part, left part and right part three subimage blocks through the process of ordinary procedure execution module 317, corresponds respectively to the subregion in target area.Middle part corresponds to the front dead center of automatic running device 1, the zone line a wide with automatic running device 1; Left part correspond to automatic running device 1 front, be positioned at left field b on the left of zone line a; Right part correspond to automatic running device 1 front, be positioned at right side area c on the right side of zone line a.There is between target area and automatic running device 1 the blind area d that an image collecting device 15 does not cover.

Ordinary procedure execution module 317 judges the attribute of each sub regions in view area by the every terms of information analyzed in the image of image collecting device 15 shooting, as by the colouring information of sub regions each in analysis chart picture and texture information, judge that whether position corresponding to each sub regions be the green vegetation as perform region 2.Color as the green vegetation of perform region 2 is green, and texture is natural irregular pattern, and as non-active area 3, the color of the non-green vegetation such as ground, soil or cement is not green usually, even if color is green, it typically is the article of artificial, thus the well-regulated texture of tool.Therefore, ordinary procedure execution module 317 is identifying the color of certain sub regions for green, and crossgrained, then judge that this subregion is green vegetation, and then be identified as perform region 2, if color is not green or texture has rule, is then non-green vegetation, and then is identified as non-active area 3.

Below the process of the ordinary procedure execution module 317 in the present embodiment according to the area type of image information identification general identification and representative thereof is described.

Please refer to Fig. 9, described ordinary procedure execution module 317 comprises sub-zone dividing unit 3171, color extraction unit 3172, accounting computing unit 3173, accounting comparing unit 3174, texture fetch unit 3175, texture comparing unit 3176 and perform region recognition unit 3177.

After described image collecting device 15 takes the image on ground, automatic running device 1 front, image is divided into some subimage blocks by described sub-zone dividing unit 3171, corresponds respectively to the some subregions in target area.In present embodiment, some subimage blocks comprise middle part, left part and right part three subimage blocks, correspond respectively to zone line a, left field b and the right side area c in target area.

Described color extraction unit 3172 extracts the color of at least one each pixel of subimage block and judges whether each pixel is predetermined color.

In present embodiment, color extraction unit 3172 extracts the color of each pixel in middle part, left part and right part respectively, and especially, color extraction unit 3172 extracts each pixel three primary colors (RGB) component; Have the numerical range of the three primary color components of described predetermined color in described storage unit 313, color extraction unit 3172 compares the numerical range of the three primary color components of a pixel and the three primary color components of predetermined color; If the three primary color components of a pixel falls into the numerical range of the three primary color components of predetermined color respectively, color extraction unit 3172 judges that the color of this pixel is predetermined color.

In another better embodiment, default tone value (Hue) scope of predetermined color is had in storage unit 313, color extraction unit 3172 is after extraction pixel three primary color components, the RGB component obtained is converted to HSV (tone Hue further, saturation degree Saturation, brightness Value) value, and judge its tone value whether within default tone value scope, be that the color of this pixel is predetermined color.

In present embodiment, described predetermined color is green.

Accounting computing unit 3173 calculates the ratio (hereinafter referred to as accounting) of pixel shared by a subimage block of predetermined color.

Particularly, in a subimage block, accounting computing unit 3173, by the number of the number of the pixel of predetermined color divided by pixel total in this subimage block, obtains the accounting of pixel in this subimage block of predetermined color.

Accounting comparing unit 3174 compares the default accounting stored in the accounting of predetermined color in this subimage block and storage unit 313, both judgements size.When the accounting of predetermined color is higher than default accounting, tentatively judge that the subregion that this subimage block is corresponding is green vegetation, i.e. perform region 2; Otherwise, then judge that the subregion that this subimage block is corresponding is non-green vegetation, i.e. non-active area 3.

For getting rid of green artificial article further to the interference of the judged result of ordinary procedure execution module 317, texture fetch unit 3175 extracts the textural characteristics value of this subimage block.The dispersion of at least one parameter of an all pixel of subimage block can embody the difference degree between each value of this parameter.If target area is green paint, then in its image, the dispersion of a parameter is very little, is even 0.Due to the crossgrained of green vegetation, the dispersion of the difference value of a parameter of an all pixel of subimage block can be more than or equal to a default dispersion, thus embodies the scrambling of this subimage block texture.Therefore, in present embodiment, described textural characteristics value is parameter discrete degree, as color dispersion, gray scale dispersion, brightness dispersion etc.When textural characteristics value is color dispersion, after color extraction unit 3172 judges whether each pixel is predetermined color, the pixel of all predetermined colors is labeled as 1 by texture fetch unit 3175, and the pixel of non-predetermined color is labeled as 0; Texture fetch unit 3175 calculates the gradient difference score value of the mark value of two often adjacent pixels, and judges whether this gradient difference score value is more than or equal to default difference value, as 1; Texture fetch unit 3175 calculates all dispersions being more than or equal to the gradient difference score value of this default difference value in this subregion, and the modes such as extreme difference, mean difference or standard deviation specifically can be adopted to calculate dispersion.It will be appreciated by persons skilled in the art that texture fetch unit 3175 also by calculating the gradient difference score value of the tone value of two often adjacent pixels, and can judge whether this gradient difference score value is more than or equal to default difference value; Texture fetch unit 3175 calculates all dispersions being more than or equal to the gradient difference score value of this default difference value in this subregion, and the modes such as extreme difference, mean difference or standard deviation specifically can be adopted to calculate dispersion.

Texture comparing unit 3176 compares the textural characteristics value of this subimage block and default texture to judge whether textural characteristics value reaches default texture.In present embodiment, described default texture is for presetting dispersion.

The accounting of the predetermined color of perform region recognition unit 3177 in this subimage block meet or exceed default accounting and textural characteristics value meets or exceeds default texture time judge that the subregion that this subimage block is corresponding is perform region 2.

In other embodiments, ordinary procedure execution module 317 also first can carry out texture analysis, carry out colour recognition again, as long as the accounting of the predetermined color in a subimage block meets or exceeds default accounting and textural characteristics value meets or exceeds default texture, described ordinary procedure execution module 317 identifies that the general identification that the subregion that this subimage block is corresponding comprises is green vegetation, and corresponding subregion is perform region 2; Otherwise then ordinary procedure execution module 317 identifies that the general identification that the subregion that this subimage block is corresponding comprises is non-green vegetation, and corresponding subregion is non-active area 3.The above-mentioned identification to general identification, and then the method identifying perform region 2 and non-active area 3 is only exemplary, under similar thinking, ordinary procedure execution module 317 also can use other algorithm to carry out process to identify general identification to image, and then distinguishes perform region 2 and non-active area 3.Such as predetermined block is divided into more subregion to improve the degree of accuracy of location recognition, to change the shape of predetermined block, as fan-shaped to contain wider visual field etc. in become.It will be appreciated by persons skilled in the art that when operative scenario is relatively single, ordinary procedure execution module 317 also can identify the particular type of general identification by means of only in the color comprised in ambient image information or texture.

Below in conjunction with Figure 10 to the identification of ordinary procedure execution module 317 pairs of general identification and then identify that the process of type of working environment is described.

Step S102: the image that image collecting device 15 is taken is divided into some subimage blocks by the sub-zone dividing unit 3171 of ordinary procedure execution module 317.In present embodiment, some subimage blocks are divided into middle part, left part and right part three subimage blocks, correspond respectively to zone line a, left field b and the right side area c in target area.

Step S103: the color extraction unit 3172 of described ordinary procedure execution module 317 extracts the color of each pixel of at least one subimage block.

In present embodiment, the color extraction unit 3172 of ordinary procedure execution module 317 extracts three primary colors (RGB) component of each pixel of each subimage block.

Step S104: whether the color of each pixel of the color extraction unit 3172 identified sub-images block of described ordinary procedure execution module 317 is predetermined color.

Step S105: the accounting computing unit 3173 of described ordinary procedure execution module 317 calculates the accounting of predetermined color in this subimage block.

In present embodiment, described predetermined color is green, has the numerical range of the color component, particularly three primary color components of predetermined color in described ordinary procedure execution module 317.If the color component of a pixel falls into the numerical range of the color component of predetermined color respectively, then color extraction unit 3172 judges that the color of this pixel is predetermined color.In a subimage block, accounting computing unit 3173, by the number of the number of green pixel divided by pixel total in this subimage block, obtains the green accounting of pixel in this subimage block.

Step S106: the accounting comparing unit 3174 of described ordinary procedure execution module 317 judges whether the ratio shared in this subimage block of predetermined color meets or exceeds default accounting.Be enter step S107, otherwise enter step S110.

Step S107: the texture fetch unit 3175 of described ordinary procedure execution module 317 extracts the textural characteristics value of this subimage block.In present embodiment, described textural characteristics value is parameter discrete degree, and described default texture is for presetting dispersion.Described ordinary procedure execution module 317 has default dispersion and default difference value, texture fetch unit 3175 calculates the gradient difference of at least one parameter of two pixels often adjacent in a subimage block, judge whether this gradient difference is greater than default difference value, calculate all dispersions being greater than the gradient difference of this default difference value in this subimage block.

Step S108: the texture comparing unit 3176 of described ordinary procedure execution module 317 judges whether the textural characteristics value of this subimage block meets or exceeds default texture.Be enter step S109, otherwise enter step S110.

Step S109: if the accounting of predetermined color meets or exceeds default accounting and textural characteristics value meets or exceeds default texture in this subimage block, the perform region recognition unit 3177 of ordinary procedure execution module 317 identifies that the general identification that the subregion that this subimage block is corresponding comprises is green vegetation, and corresponding subregion is perform region 2.

Step S110: if the accounting of predetermined color is less than default accounting and textural characteristics value is less than default texture in this subimage block, the perform region recognition unit 3177 of ordinary procedure execution module 317 identifies that the general identification that the subregion that this subimage block is corresponding comprises is non-green vegetation, and corresponding subregion is non-active area 3.

It will be understood by those skilled in the art that, when operative scenario is relatively single, ordinary procedure execution module 317 is by means of only the color comprised in ambient image information to identify the particular type of general identification, and the step S107 shown in Figure 10 and S108 can omit; The texture comprised in ordinary procedure execution module 317 is by means of only ambient image information is to identify the particular type of general identification, and the step S103 to S106 shown in Figure 10 can omit.

The present invention also provides a kind of automatic working system, and automatic working system as shown in figure 11 comprises automatic running device 1 ', the working environment of automatic running device 1 ', and is arranged on the ID of trace route path in the domain of walk.The domain of walk comprises perform region 2 ' and non-active area.In the perform region 2 ' shown in Figure 11, comprise the perform region 2 ' of three pieces of larger areas, be respectively A perform region 2 ', B perform region 2 ', C perform region 2 ', wherein be positioned at figure upper left A perform region 2 ' and B perform region 2 ', C perform region 2 ' mutually isolated, and the B perform region 2 ' of figure below couples together through gallery with C perform region 2 '.ID of trace route path comprises current mark 4 ', forbids mark 5 ', alarming sign etc.At this, the implication of ID of trace route path is substantially identical with the implication of the priority symbol that instructions preceding sections is introduced.The set-up mode of ID of trace route path has multiple, the walkway surface of automatic running device 1 ' can be laid in, the current mark 4 ' that gallery between the B of being laid in perform region 2 ' as bottom-right in Figure 11 and C perform region 2 ' is other and be arranged on and forbid mark 5 ' in B perform region 2 ', also can setting angled with the walkway surface of automatic running device 1 ', typically be and be set to 90 degrees, as on the left of Figure 11 across the current mark 4 ' on the non-active area that A perform region 2 ' and B perform region 2 ' are isolated.

As shown in figure 12, automatic running device 1 ' comprises position judging module 21, image collecting device 15 ', the mark identification module 17, memory module 19 and the Control Component 23 that are electrically connected with image collecting device 15 '.

Position judging module 21, judge whether automatic running device 1 ' is positioned at perform region 2 ', its signal form that can send according to the boundary line received judges, the image information that also can collect according to image collecting device 15 ' judges, can also judge whether automatic running device 1 ' is positioned at perform region 2 ' according to various ways such as GPS, RFID.

Memory module 19, the information of store path mark and the path policy corresponding to specific ID of trace route path, described path policy guides automatic running device 1 ' to travel through in the whole domain of walk, namely guides it to shuttle back and forth at multizone.Such as, memory module 19 store current mark 4 ' information, forbid mark 5 ' information and with current mark 4 ' accordingly current strategy, with forbid the corresponding avoidance strategy of mark 5 ' etc.

Image collecting device 15 ', gathers the image information of automatic running device 1 ' surrounding environment.Mark identification module 17, receives the image information that image collecting device 15 ' gathers, and according to image information identification ID of trace route path.

Control Component 23, according to the signal that mark identification module 17, memory module 19 and position judging module 21 are transmitted, controls walking path and the work of automatic running device 1 '.

Automatic running device 1 ' has first mode and the second pattern, and under first mode, the signal that Control Component 23 transmits according to position judging module 21, controls automatic running device 1 ' and walk in perform region 2 '; Under second pattern, the signal that Control Component 23 transmits according to mark identification module 17 and memory module 19, controls automatic running device 1 ' and enters corresponding path policy.When identifying identification module 17 and recognizing ID of trace route path, automatic running device 1 ' enters the second pattern; When identifying identification module 17 and not recognizing ID of trace route path, automatic running device 1 ' enters first mode.

Preferably, under first mode, the signal that Control Component 23 transmits according to position judging module 21, controls automatic running device 1 ' and walks in perform region 2 ' and work, when identifying identification module 17 and recognizing ID of trace route path, automatic running device 1 ' enters the second pattern by first mode.Work described herein refers to the running of service part of automatic running device 1 ' for reaching its basic function and carrying out, and e.g., when automatic running device 1 ' is for suction cleaner, works as the running of dust suction parts and then dust suction; When automatic running device 1 ' is for intelligent grass-removing, work as the running of cutting part and then mowing.

Elaborate below in conjunction with Figure 11 and Figure 13, the workflow of automatic running device 1 ' when running into various situation.

As shown in figure 11, when automatic running device 1 ' is positioned on the position 1 of A perform region 2 ', the workflow of automatic running device 1 ' is as follows.

Automatic running device 1 ' starts work, and to each module initialization, as shown in the step S200 of Figure 13.

Subsequently, as shown in step S202, image collecting device 15 ' starts work, gathers the image information of automatic running device 1 ' surrounding environment, and passes to mark identification module 17.

Enter step S204, mark identification module 17 receives the image information that image collecting device 15 ' transmits, and processes it.

Enter step S206, the information of the ID of trace route path image information obtained after process and memory module 19 stored is compared, and whether comprises ID of trace route path in the image information that recognition image harvester 15 ' collects.When judged result is no, enter first mode; When judged result is for being, enter the second pattern.Mark identification module 17 judges the mode of the image that whether there is ID of trace route path in image information and judges whether in aforementioned embodiments that the mode that there is priority symbol is identical, does not repeat them here.

Due to now, automatic running device 1 ' is positioned on the position 1 of A perform region 2 ', ID of trace route path is there is not in its surrounding environment, the image information that image collecting device 15 ' gathers also can not comprise the image information of ID of trace route path, therefore, the result that mark identification module 17 identifies is do not comprise ID of trace route path in the image information that collects of image collecting device 15 ', namely identify image information identification that identification module 17 collects according to image collecting device 15 ' less than ID of trace route path, namely the judged result of step S206 is no.Therefore, automatic running device 1 ' enters first mode.First mode comprises the following steps.

First, enter step S208, Control Component 23 controls automatic running device 1 ' according to the signal that position judging module 21 is transmitted and walks in perform region 2 '.Preferably, the signal control automatic running device 1 ' that Control Component 23 transmits according to position judging module 21 is walked and works in perform region 2 '.Work described herein refers to the running of service part of automatic running device 1 ' for reaching its basic function and carrying out, and e.g., when automatic running device 1 ' is for suction cleaner, works as the running of dust suction parts and then dust suction; When automatic running device 1 ' is for intelligent grass-removing, work as the running of cutting part and then mowing.It should be noted that at this, position judging module 21 can judge automatic running device 1 ' whether in perform region 2 ' according to sideband signal, also can judge according to image information, can also judge according to gps signal.Sideband signal can be field signal, RFID signal etc. from boundary line.When position judging module 21 judges according to image information, the image collecting device 15 ' gathering image information is with to identify identification module 17, to transmit the image collecting device 15 ' of image information shared.

Subsequently, enter step S210, image collecting device 15 ' continues the image information gathering automatic running device 1 ' surrounding environment, and transmits to mark identification module 17.

Enter step S212, mark identification module 17 receives the image information that image collecting device 15 ' transmits, and processes it.

Enter step S214, the information of the ID of trace route path image information obtained after process and memory module 19 stored is compared, and judges the image information whether comprising ID of trace route path in the image information of surrounding environment.When judged result is no, return step S208.When judged result is for being, automatic running device 1 ' is exited by first mode, enters the second pattern.

When automatic running device 1 ' in the flrst mode, when the position 2 of A perform region 2 ' is arrived in walking, in step S210, image collecting device 15 ', when gathering the image information of surrounding environment of automatic running device 1 ', can collect setting current mark 4 ' in its vicinity.Subsequently, in step S212 and step S214, the image information of the surrounding environment that mark identification module 17 gathers according to image collecting device 15 ', judges the image comprising ID of trace route path in the image information of environment environment.Namely the judged result in step S214 is yes, then automatic running device 1 ' is exited by first mode, enters the second pattern.

Under second pattern, the signal that Control Component 23 transmits according to mark identification module 17 and memory module 19, controls automatic running device 1 ' and performs corresponding path policy, specifically comprise the following steps.

First enter step S220, the information of the ID of trace route path that at least one parameter in the parameter such as color, texture, profile of the image information after process and memory module 19 store by mark identification module 17 is compared, and identifies the type of ID of trace route path.Different ID of trace route paths has different settings at least one parameter above-mentioned, and the difference for different ID of trace route paths is arranged, and with reference to the setting of different priority symbols, can not repeat them here.When recognition result is for current mark 4 ', enter step S222, namely perform and cross over strategy.When recognition result is for forbidding mark 5 ', entering step S224, namely performing avoidance strategy.In step S220, number of times, frequency, working time etc. that Control Component 23 can occur according to ID of trace route path come whether to perform corresponding path policy after setting identification identification module 17 recognizes ID of trace route path.Control Component 23 can be selected once recognize ID of trace route path, namely corresponding path policy is performed, also automatic running device 1 ' work predetermined time period can be selected, and just perform corresponding path policy when recognizing ID of trace route path, can also select just to perform corresponding path policy when recognizing ID of trace route path the N time, or to be separated by preset time period with the front ID of trace route path that once recognizes, and to perform the various ways such as corresponding path policy when again recognizing ID of trace route path.The identifying of mark identification module 17 pairs of ID of trace route paths is identical with identifying the mode of priority symbol type in aforementioned embodiments, does not repeat them here.

Due on position 2, the image of current mark 4 ' that what image collecting device 15 ' collected is, therefore, the recognition result of step S220 is current mark 4 ', enters step S222 subsequently.

In step S222, namely according to leap strategy, Control Component 23 controls automatic running device 1 ' and walks towards the region at current mark 4 ' place, and crosses over the region at current mark 4 ' place.Concrete, for the plane of travel angled setting of the current mark 4 ' arranged near position 2 with automatic running device 1 ', preferably, according to leap strategy, Control Component 23 controls automatic running device 1 ' and walks towards the direction just right with current mark 4 ', and passes through the region at current mark 4 ' place.Subsequently, automatic running device 1 ' in-position 3.Enter step S226 subsequently.

In step S226, the information that Control Component 23 transmits according to position judging module 21, mark identification module 17 judges whether corresponding path policy is finished, namely whether exit corresponding path policy, concrete Rule of judgment is determined according to many factors such as the type of ID of trace route path and set-up modes.For the walkway surface angled setting of current mark 4 ' with automatic running device 1 ', and be not the situation of the area of isolation between leap two perform regions 2 ', for making automatic running device 1 ' can under the guide of current mark 4 ', stride across the non-active area between A perform region 2 ' and B perform region 2 ' smoothly, B perform region 2 ' is arrived by A perform region 2 ', the Rule of judgment of step S226 is, whether automatic running device 1 ' has entered into perform region 2 ' by non-active area.Owing to being completely isolated between A perform region 2 ' and B perform region 2 ', in the process of being crossed over to B perform region 2 ' by A perform region 2 ', can not spanning operation region 2 '.Therefore, the Rule of judgment of the step S226 under this situation is occur once judging that automatic running device 1 ' has entered into the situation of perform region 2 ' by non-active area, preferably, can select to occur repeatedly judging that automatic running device 1 ' has entered into the situation of perform region 2 ' by non-active area.If for gallery is connected between A perform region 2 ' with B perform region 2 ', then pass through the region at current mark 4 ' place at automatic running device 1 ' after, continue in the process of crossing over to B perform region 2 ', existence due to gallery causes position judging module 21 just to judge that automatic running device 1 ' is positioned at perform region 2 ' when not yet arriving B perform region 2 ', under this situation, the Rule of judgment of step S226 should be modified to position judging module 21 and judge that automatic running device 1 ' is positioned at perform region 2 ' all the time in preset time period.

In step S226, when judged result is for being, automatic running device 1 ' exits corresponding path policy, exits the second pattern simultaneously, and enters first mode.When judged result is no, continues to perform corresponding path policy, namely return step S222.Position 3 when, position judging module 21 judges that automatic running device 1 ' is positioned at non-active area, not yet arrive perform region 2 ', under this situation, the judged result of step S226 is no, returns step S222, continues to perform corresponding path policy, Control Component 23 controls automatic running device 1 ' to be continued to walk forward, until reach perform region 2 '.Subsequently, automatic running device 1 ' in-position 4.Position 4 when, the judged result of step S226 is yes, then automatic running device 1 ' exits override mode, exits the second pattern simultaneously, and enters first mode.

Automatic running device 1 ' walks in the flrst mode, and walking manner is with the aforementioned walking manner put on 1 in place, until automatic running device 1 ' in-position 5.Time on position 5, in step S210, image collecting device 15 ' collects the image forbidding mark 5 '.Subsequently, in step S212 and step S214, the image information of the surrounding environment that mark identification module 17 gathers according to image collecting device 15 ', judges the image comprising ID of trace route path in the image information of environment environment.Namely the judged result in step S214 is yes, then automatic running device 1 ' is exited by first mode, again enters the second pattern.

After entering the second pattern, in step S220, mark identification module 17 recognizes the type of ID of trace route path for forbidding mark 5 '.Control Component 23 can be selected, once recognize and forbid that mark 5 ' namely controls automatic running device 1 ' and enters step S224, also can select according to forbidding that number of times, frequency, working time etc. that mark 5 ' occurs judge whether to enter step S224.Preferably, once mark identification module 17 recognizes forbid that mark 5 ' namely controls automatic running device 1 ' and enters step S224.

Enter step S224 subsequently, perform avoidance strategy.According to avoidance strategy, Control Component 23 controls automatic running device 1 ' towards away from the direction walking forbidding mark 5 ', walks forward after rotating predetermined angle again, can realize court away from the direction walking forbidding mark 5 '.

Enter step S226, judge whether corresponding path policy is finished, and namely whether avoidance strategy is finished, exemplary enumerate two kinds of Rule of judgment at this.The first Rule of judgment is automatic running device 1 ' towards towards away from forbidding whether the direction walking of mark 5 ' reaches preset time period, and described preset time period can be from 0 to any number.The second Rule of judgment is whether automatic running device 1 ' arrives non-active area and position, boundary, perform region 2 '.

In the process performing avoidance strategy, automatic running device 1 ' runs to position 6 by position 5.Suppose to meet on position 6 in above-mentioned two kinds of Rule of judgment any one, then automatic running device 1 ' exits avoidance strategy, exits the second pattern simultaneously, and enters first mode.

Automatic running device 1 ' walks in the flrst mode, and walking manner is with the aforementioned walking manner put on 1 in place, until automatic running device 1 ' in-position 7.Time on position 7, in step S210, image collecting device 15 ' collects the image of current mark 4 '.Subsequently, in step S212 and step S214, the image information of the surrounding environment that mark identification module 17 gathers according to image collecting device 15 ', judges the image comprising ID of trace route path in the image information of environment environment.Namely the judged result in step S214 is yes, then automatic running device 1 ' is exited by first mode, again enters the second pattern.

After entering the second pattern, in step S220, mark identification module 17 recognizes the type of ID of trace route path for current mark 4 '.Control Component 23 can be selected, once recognize current mark 4 ' and namely control automatic running device 1 ' and enter step S222, the number of times, frequency, working time etc. occurred according to current mark 4 ' also can be selected to judge whether to enter step S222.

Enter step S222, namely perform and cross over strategy.Control Component 23 controls automatic running device 1 ' and walks towards the region at current mark 4 ' place, and crosses over the region at current mark 4 ' place.Concrete, the plane of travel of automatic running device 1 ' is laid in, preferably, according to leap strategy for the current mark 4 ' arranged near position 7, Control Component 23 controls the side walking of automatic running device 1 ' along current mark 4 ', until pass through the region at current mark 4 ' place.

Enter step S226 subsequently, judge whether corresponding path policy is finished, namely cross over strategy and whether be finished.The object that this current mark 4 ' is arranged makes automatic running device 1 ' can enter into C perform region 2 ' by B perform region 2 ' rapidly, although also there is the possibility being reached C perform region 2 ' by gallery by B perform region 2 ' in automatic running device 1 ', but difficulty improves greatly, efficiency also reduces greatly.When the length that current mark 4 ' is laid is shorter, Control Component 23 controls the side walking of automatic running device 1 ' along current mark 4 ', and after passing through the region at current mark 4 ' place, not yet arrive C perform region 2 ', but on the non-active area be positioned between B perform region 2 ' and C perform region 2 ' or gallery, automatic running device 1 ' intermittently can be positioned at the perform region 2 ' of gallery, but enter C perform region 2 ' not yet completely, now need to continue to control automatic running device 1 ' to walk forward, until arrive C perform region 2 ', in preset time period, automatic running device 1 ' is positioned at perform region 2 ' all the time, exited by leap strategy subsequently.And when the length that current mark 4 ' is laid is longer so that B perform region 2 ' can be connected with C perform region 2 ', Control Component 23 controls the side walking of automatic running device 1 ' along current mark 4 ', and after passing through the region at current mark 4 ' place, namely C perform region 2 ' is entered completely, in preset time period, automatic running device 1 ' is positioned at perform region 2 ' all the time, can exit subsequently and cross over strategy.For in two kinds of situations that above-mentioned current mark 4 ' tiling is arranged, the Rule of judgment of step S226 can be: condition one, and in preset time period, automatic running device 1 ' is positioned at perform region 2 ' all the time; Condition two, automatic running device 1 ' is completely by the region at current mark 4 ' place.

In the implementation of above-mentioned leap strategy, automatic running device 1 ' is by in-position, position 78, in the process, automatic running device 1 ' along the side walking of current mark 4 ', and reaches non-active area by perform region 2 ', but not yet enters perform region 2 ' by non-active area, therefore, during position 8, the judged result of step S226 is no, and automatic running device 1 ' continues to perform step S222 and namely crosses over strategy.When automatic running device 1 ' reaches position 9 by position 8, it experienced by the process of again being got back to perform region 2 ' by non-active area, and now the judged result of step S226 is yes, and automatic running device 1 ' exits crosses over strategy, exit the second pattern simultaneously, enter into first mode.Automatically automatic equipment works in the flrst mode subsequently, until it recognizes ID of trace route path again, then enters the second pattern, moves in circles.

Because the automatic running device 1 ' that is arranged so that of above-mentioned current mark 4 ' can shuttle back and forth work between mutually isolated perform region 2 ', can improve simultaneously and pass through efficiency between two pieces of perform regions 2 ' connecting through gallery, forbid that arranging of mark 5 ' can arrange the region worked without the need to automatic running device 1 ' in perform region 2 ' due to above-mentioned, thus make user can by arranging various ID of trace route path, plan the perform region 2 ' of automatic running device 1 ', perform region 2 ' the scope of Creative individuality, simplify the planning process of perform region 2 ' scope.

It will be appreciated by persons skilled in the art that the needs possible according to other, forbid that mark also can be arranged on non-active area, meanwhile, current mark also can be arranged in perform region to change the walking path of automatic running device in perform region.No matter ID of trace route path is arranged on where, automatic running device identification ID of trace route path is also the same according to the principle of ID of trace route path execution respective paths strategy, does not repeat them here.

It may occur to persons skilled in the art that, the present invention can also have other implementation, as long as but its technical spirit adopted is identical with the present invention or close, or any change of making based on the present invention and replacing all within protection scope of the present invention.

Claims

1. the control method of an automatic running device, described control method controls automatic running device and works in the working environment being provided with priority symbol, described automatic running device comprises the image collecting device be arranged on automatic running device, stores the executive module controlling the ordinary procedure of automatic running device work and the main control module of priority routine and the control signal execution relevant work according to main control module transmission, it is characterized in that, described control method comprises the following steps:

A) the ambient image information of image acquisition device surrounding environment;

B) image of priority symbol whether is comprised in main control module environment-identification image information;

C) as step b) judged result when being no, main control module performs ordinary procedure;

D) as step b) judged result for being time, main control module performs priority routine, in priority routine, the type of main control module environmentally image information identification priority symbol, and send corresponding control signal to executive module according to the type of priority symbol.

2. control method according to claim 1, it is characterized in that, the type of described priority symbol comprises the current mark allowing automatic running device walking, steps d) in, when the type of the priority symbol identified is for current mark, main control module sends current control signal to executive module, controls automatic running device and walks to current mark.

3. control method according to claim 1, it is characterized in that, the type of described priority symbol comprise forbid that automatic running device walks forbid mark, steps d) in, when the type of the priority symbol identified is for forbidding mark, main control module sends the control signal of forbidding to executive module, controls automatic running device and forbids mark away from described.

4. control method according to claim 1, is characterized in that, at least one in color, profile or texture that main control module environmentally comprises in image information identifies the type of priority symbol.

5. control method according to claim 1, it is characterized in that, the working environment of automatic running device also has general identification, general identification comprises distinguishes the dissimilar mark that working environment is perform region and non-active area, in described ordinary procedure, the type of main control module environmentally image information identification general identification, the type of the working environment residing for the type identification automatic running device current location of general identification, corresponding control signal is sent to executive module according to the type of working environment, control automatic running device to walk in perform region.

6. control method according to claim 5, is characterized in that, described general identification comprises green vegetation and non-green vegetation, and the working environment at green vegetation place is perform region, and the working environment at non-green vegetation place is non-active area.

7. control method according to claim 5, is characterized in that, at least one in the color that main control module environmentally comprises in image information or texture identifies the type of general identification.

8. an automatic running device, described automatic running device works in the working environment being provided with priority symbol, comprise the image collecting device be arranged on automatic running device, store and control the ordinary procedure of automatic running device work and the main control module of priority routine, and the executive module of relevant work is performed according to the control signal that main control module sends, it is characterized in that, described main control module, receive the ambient image information that image collecting device transmits, comprise the first determination component, storage unit, ordinary procedure execution module and priority routine execution module, wherein

Described cell stores has parameter preset;

Described first determination component judges according to described ambient image information and parameter preset the image that whether there is priority symbol in ambient image information;

When the judged result of described first determination component is no, described ordinary procedure execution module startup work, performs ordinary procedure;

When the judged result of described first determination component is for being, described priority routine execution module startup work, perform priority routine, the type of described priority routine execution module environmentally image information identification priority symbol, and send corresponding control signal to executive module according to the type of priority symbol.

9. automatic running device according to claim 8, it is characterized in that, the type of described priority symbol comprises the current mark allowing automatic running device walking, when the type of the priority symbol of priority routine execution module identification is for current mark, priority routine execution module sends current control signal to executive module, controls automatic running device and walks to current mark.

10. automatic running device according to claim 8, it is characterized in that, the type of described priority symbol comprise forbid that automatic running device walks forbid mark, when the type of the priority symbol of priority routine execution module identification is for forbidding mark, priority routine execution module sends the control signal of forbidding to executive module, controls automatic running device and forbids mark away from described.

11. automatic running devices according to claim 8, is characterized in that, at least one in color, profile or texture that described priority routine execution module environmentally comprises in image information identifies the type of priority symbol.

12. automatic running devices according to claim 8, it is characterized in that, the working environment of automatic running device also has general identification, general identification comprises distinguishes the dissimilar mark that working environment is perform region and non-active area, the type of ordinary procedure execution module environmentally image information identification general identification, the type of the working environment residing for the type identification automatic running device current location of general identification, send corresponding control signal to executive module according to the type of working environment, control automatic running device and walk in perform region.

13. automatic running devices according to claim 12, is characterized in that, described general identification comprises green vegetation and non-green vegetation, and the working environment at green vegetation place is perform region, and the working environment at non-green vegetation place is non-active area.

14. automatic running devices according to claim 12, is characterized in that, at least one in the color that ordinary procedure execution module environmentally comprises in image information or texture identifies the type of general identification.

15. 1 kinds of automatic working systems, is characterized in that, described automatic working system comprises automatic running device and is arranged on the ID of trace route path in the automatic running device domain of walk, and described automatic running device comprises:

Image collecting device, gathers the image information of automatic running device surrounding environment;

Mark identification module, according to the image information identification ID of trace route path of surrounding environment, and according to the outside transmission of signal of recognition result;

Position judging module, judges whether automatic running device is positioned at perform region;

Memory module, the information of store path mark and the path policy corresponding to ID of trace route path, described path policy guides automatic running device to travel through in the domain of walk;

Control Component, according to the signal that mark identification module and position judging module transmit, controls the walking path of automatic running device;

Described automatic running device has first mode and the second pattern,

Under first mode, the signal that Control Component transmits according to position judging module, controls automatic running device and walks in perform region;

Under second pattern, the signal that Control Component transmits according to mark identification module, controls automatic running device and performs corresponding path policy;

When identifying identification module and recognizing ID of trace route path, automatic running device enters the second pattern, and when identifying identification module and not recognizing ID of trace route path, automatic running device enters first mode.

16. automatic working systems according to claim 15, it is characterized in that, under described first mode, the signal that Control Component transmits according to position judging module, control automatic running device walk in perform region and work, when identifying identification module and recognizing ID of trace route path, automatic running device enters the second pattern by first mode.

17. automatic working systems according to claim 15 or 16, it is characterized in that, described ID of trace route path comprises current mark, described path policy comprises the leap strategy corresponding to current mark, when mark identification module recognizes current mark, Control Component controls automatic running device execution and crosses over strategy, according to leap strategy, Control Component controls automatic running device and walks towards the region at current mark place, and crosses over the region at current mark place.

18. automatic working systems according to claim 17, it is characterized in that, described current mark is laid on the walkway surface of automatic running device, according to leap strategy, Control Component controls the side walking of automatic running device along mark of passing through, and by the current region identifying place.

19. automatic working systems according to claim 17, it is characterized in that, the angled setting of walkway surface of described current mark and automatic running device, according to leap strategy, Control Component controls automatic running device and walks towards the direction just right with current mark, and by the current region identifying place.

20. according to claim 17 to the automatic working system described in 19 any one, it is characterized in that, according to leap strategy, when position judging module judges that automatic running device enters non-active area, Control Component controls automatic running device to be continued to walk forward, until position judging module judges that automatic running device is positioned at perform region.

21. according to claim 17 to the automatic working system described in 19 any one, it is characterized in that, according to leap strategy, when position judging module judges that automatic running device enters non-active area, Control Component controls automatic running device to be continued to walk forward, until position judging module judges that automatic running device is positioned at perform region all the time in preset time period.

22. automatic working systems according to claim 15 or 16, it is characterized in that, described ID of trace route path comprises forbids mark, described path policy comprises and forbids identifying corresponding avoidance strategy, when mark identification module recognizes and forbids mark, Control Component controls automatic running device and performs avoidance strategy, and according to avoidance strategy, Control Component controls automatic running device court away from the direction walking forbidding identifying.

23. automatic working systems according to claim 22, it is characterized in that, according to avoidance strategy, when position judging module judges that automatic running device is positioned at perform region, Control Component controls automatic running device to be continued towards preset time period of walking away from the direction of forbidding identifying.

24. automatic working systems according to claim 22, it is characterized in that, according to avoidance strategy, when position judging module judges that automatic running device is positioned at perform region, Control Component controls automatic running device and continues towards away from the direction walking forbidding identifying, until automatic running device enters the position, boundary of non-active area and perform region.

25. 1 kinds of automatic running devices, is characterized in that, described automatic running device comprises:

Described automatic running device has first mode and the second pattern,

26. automatic running devices according to claim 11, it is characterized in that, under described first mode, the signal that Control Component transmits according to position judging module, control automatic running device walk in perform region and work, when identifying identification module and recognizing ID of trace route path, automatic running device enters the second pattern by first mode.

27. automatic running devices according to claim 25 or 26, it is characterized in that, ID of trace route path comprises current mark, memory module stores the information of current mark and the leap strategy corresponding with it, when mark identification module recognizes current mark, Control Component controls automatic running device execution and crosses over strategy, according to leap strategy, Control Component controls automatic running device and walks towards the region at current mark place, and crosses over the region at current mark place.

28. automatic running devices according to claim 27, it is characterized in that, according to leap strategy, when position judging module judges that automatic running device enters non-active area, Control Component controls automatic running device to be continued to walk forward, until position judging module judges that automatic running device is positioned at perform region.

29. automatic running devices according to claim 27, it is characterized in that, according to leap strategy, when position judging module judges that automatic running device enters non-active area, Control Component controls automatic running device to be continued to walk forward, until position judging module judges that automatic running device is positioned at perform region all the time in preset time period.

30. automatic running devices according to claim 25 or 26, it is characterized in that, ID of trace route path comprises forbids mark, memory module stores the information and the avoidance strategy corresponding with it forbidding identifying, when mark identification module recognizes and forbids mark, Control Component controls automatic running device and performs avoidance strategy, and according to avoidance strategy, Control Component controls automatic running device court away from the direction walking forbidding identifying.

31. automatic running devices according to claim 30, it is characterized in that, according to avoidance strategy, when position judging module judges that automatic running device is positioned at perform region, Control Component controls automatic running device to be continued towards preset time period of walking away from the direction of forbidding identifying.

32. automatic running devices according to claim 30, it is characterized in that, according to avoidance strategy, when position judging module judges that automatic running device is positioned at perform region, Control Component controls automatic running device and continues towards away from the direction walking forbidding identifying, until automatic running device enters non-active area and position, boundary, perform region.