CN105988469A - Automatic walking equipment - Google Patents
Automatic walking equipment Download PDFInfo
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- CN105988469A CN105988469A CN201510070020.0A CN201510070020A CN105988469A CN 105988469 A CN105988469 A CN 105988469A CN 201510070020 A CN201510070020 A CN 201510070020A CN 105988469 A CN105988469 A CN 105988469A
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- image information
- photographic head
- image
- automatic running
- driving wheel
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Abstract
Automatic walking equipment comprises an engine body, a walking device installed on the engine body, an image acquisition apparatus, an image splicing circuit and a control apparatus, wherein the image acquisition apparatus is arranged on the engine body, includes more than two cameras and is used for collecting image information of an external environment; the image splicing circuit is used for superposing and cutting the image information collected by the two cameras so as to form splicing image information; and the control apparatus is used for controlling a walking direction of the walking device according to the splicing image information. By using the equipment of the invention, long range shooting can be achieved and a misjudgment rate is low.
Description
Technical field
The present invention relates to automated machine field, particularly relate to a kind of automatic running device.
Background technology
Hay mover is a kind of common automatic running device, is used for cutting grass quilt, vegetation etc., prune weeds with
Process the semi-automatic machine tool of smooth greening lawn.Hay mover, because of simple to operate, saves manpower and time,
Thus be widely used.
Hay mover, during work, can gather some image informations, and root by installing photographic head
According to these image information identification meadows and non-meadow to form walking path.But, traditional hay mover is all
Imaging by installing a wide-angle camera, such coverage is limited, and pattern distortion big thus
It is easy to the situation that erroneous judgement occurs.
Summary of the invention
Based on this, it is necessary to provide a kind of and can shoot on a large scale and automatic running device that False Rate is low.
A kind of automatic running device, including body and the running gear that is installed on body, also includes:
Image collecting device, is located on body, and described image collecting device includes two or more photographic head, uses
In the image information gathering external environment condition；
Image mosaic circuit, for the image information of two camera collections being overlapped, cutting to be to be formed
Stitching image information；
Control device, for controlling the direction of travel of described running gear according to described stitching image information.
Wherein in an embodiment, two or more photographic head lays respectively at described body front and relatively described
The both sides that body is symmetrical.
Wherein in an embodiment, described image mosaic circuit includes:
Modular converter, for being respectively converted into different images by the image information of two or more camera collection
Data；
Concatenation module, for described different view data being overlapped by logical operations, and cutting weight
Folded view data is to form stitching image information.
Wherein in an embodiment, described running gear includes driving wheel and driven pulley, described control device
Control the direction of travel of described driving wheel according to described stitching image information, described driving wheel drives driven pulley row
Walk.
Wherein in an embodiment, described image collecting device also includes active connection, and two or more is taken the photograph
As head is all connected with described body by active connection, described active connection is used for adjusting two or more and takes the photograph
Acquisition angles as head.A kind of automatic running device, including body and the running gear that is installed on body,
Also include:
Image collecting device, is located on body, and described image collecting device includes two or more photographic head, uses
In the image information gathering external environment condition；
Control device, for the image information of two or more camera collection is analyzed respectively, and will divide
Analysis result carries out the direction of travel merging to control described running gear.
Wherein in an embodiment, two or more photographic head lays respectively at described body front and relatively described
The both sides that body is symmetrical.
Wherein in an embodiment, described running gear includes driving wheel and driven pulley, described control device
Control the direction of travel of described driving wheel according to described image information, described driving wheel drives driven pulley walking.
Wherein in an embodiment, described image collecting device also includes active connection, and two or more is taken the photograph
As head is all connected with described body by active connection, described active connection is used for adjusting two or more and takes the photograph
Acquisition angles as head.
Above-mentioned automatic running device, gathers the image information of external environment condition by installing two or more photographic head,
Then the image information of two or more camera collection be overlapped by image mosaic circuit, cutting is with shape
Become stitching image information, i.e. on a large scale global image, or control device to two or more camera collection
Image information be analyzed respectively, and analysis result is carried out the walking merging to control described running gear
Direction, so need not wide-angle camera of sampling, so not havinging pattern distortion, False Rate is low.
Accompanying drawing explanation
Fig. 1 is the external structure schematic diagram of automatic running device in an embodiment；
Fig. 2 is automatic running device FOV (Field of View) schematic diagram in an embodiment；
Fig. 3 is the construction module figure of automatic running device in an embodiment；
Fig. 4 is the structural representation of the automatic running device of another embodiment.
Detailed description of the invention
Refer to Fig. 1～Fig. 3, the external structure schematic diagram of automatic running device and regarding in respectively one embodiment
Territory scope schematic diagram.In the present embodiment, mainly say using hay mover as a kind of automatic running device
Bright, it will be understood that in other embodiments, it is also possible to be other automatic running devices, such as automatic dust absorption
Device, robot etc..
This automatic running device includes that body 100, running gear 200, image collecting device 300, image are spelled
Connection circuit 400 and control device 500.Wherein, running gear 200 and image collecting device 300 are installed on machine
On body 100, it is internal that image mosaic circuit 400 and control device 500 are positioned at body 100.
Hay mover needs to judge external environment condition (especially some borderline regions) during work,
Identify region, meadow and non-grass region, ground and time adjust direction of travel, it is to avoid the phenomenon cut of mistake occurs.One
The coverage of individual photographic head is very limited, if but visual range is expanded and i.e. uses wide-angle camera, that
The effective visual range of photographic head will reduce accordingly, and so image of shooting can produce distortion, thus
Cause erroneous judgement.In the present embodiment, image collecting device 300 includes two photographic head 310, outside being used for gathering
The image information of portion's environment, so there is no need to use wide-angle camera.
The visual angle of photographic head 310 and the orientation of installation determine the size of its gaze area.In the present embodiment,
Two photographic head 310 lay respectively at described body front and the both sides of the most described body symmetry.To image
Be identified judging when whether image-region is region, meadow, need to be to the gaze area of photographic head 310 at
Reason.
In the present embodiment, image collecting device 300 also includes active connection 320, two photographic head 310
All being connected with body 100 by active connection 320, active connection 320 is for adjusting two photographic head
The acquisition angles of 310.
Image mosaic circuit 400 for the image information that two photographic head 310 gather is overlapped, cutting
To form stitching image information.Specifically, image mosaic circuit 400 includes modular converter 410 and splicing mould
Block 420.Wherein, modular converter 410 is for being respectively converted into the image information that two photographic head 310 gather
First view data and the second view data.Concatenation module 420 is used for described first figure by logical operations
As data and the second view data are overlapped and overlapping with the second view data in cutting the first view data
Signal or cutting the second view data in the view data overlapping with the first view data.Here spliced map
Seem to be exactly the seamless global images that are spliced of two photographic head 310.
Being appreciated that in other embodiments, image collecting device 300 can include multiple photographic head, figure
As splicing circuit 400 for the image information of the plurality of camera collection is overlapped, cutting to be to be formed
Stitching image information.Particularly as follows: the image information of multiple camera collections is respectively converted into different images
Data；By logical operations, described different view data is overlapped, and the view data that cutting is overlapping
To form stitching image information.
Image control apparatus 500 for controlling the walking side of running gear 200 according to described stitching image information
To.Running gear 200 includes driving wheel 210 and driven pulley 220, controls device 500 according to described spliced map
As information controls the direction of travel of driving wheel 210, driving wheel 210 drives driven pulley 220 to walk.
Specifically, controlling device and can first extract the characteristics of image of described image stitching information, characteristics of image is general
Including color characteristic and textural characteristics, then calculate the characteristics of image of described stitching image information and the mark prestored
Similarity between quasi-characteristics of image, and according to the region, meadow in similarity identification external environment condition and non-meadow
Region, controls the direction of travel of running gear 200 finally according to recognition result.
As in figure 2 it is shown, this automatic running device is in the process of walking, if recognizing I region is non-grass area
Territory, III region are region, meadow, and the front that I region and III region have a common boundary is that region, non-grass ground is then to right avertence
Turn；Recognize II region be non-grass ground region, IV region be region, meadow, and II region and IV region
Front is that region, non-grass ground deflects the most to the left；Recognizing front is that region, meadow then straight line is advanced forward.
Refer to Fig. 4, for the structural representation of the automatic running device of another embodiment.
This automatic running device includes body 600, driving wheel 610, driven pulley 620, photographic head 630, figure
As splicing circuit (not shown), control device (not shown) and cutter sweep 700.Wherein, driving wheel
610, driven pulley 620 and photographic head 630 are installed on body 100, described image mosaic circuit, control
It is internal that device and cutter sweep 700 are positioned at body 600.
In other embodiments, described control device be additionally operable to control this automatic running device return charging station and
Time be charged, so there to be enough power supply energies to support needing work when, improve use
Reliability, and be easy to manage automatic running device.
In other embodiments, described control device is additionally operable to control the duty of cutter sweep 700.Tool
Body ground, controls cutter sweep 700 and works, at this certainly when this automatic running device is positioned at meadow regional work
Dynamic walking arrangement controls cutter sweep 700 during returning charging station and quits work.
It addition, also provide for a kind of automatic running device, including body and the running gear that is installed on body,
Also including: image collecting device, being located on body, described image collecting device includes two or more photographic head,
For gathering the image information of external environment condition；Control device, for the image to two or more camera collection
Information is analyzed respectively, and analysis result carries out the direction of travel merging to control described running gear.
Specifically, the image information of two or more camera collection is the most each carried out point by described control device
Analysis (i.e. need not carry out being spliced to form stitching image information), and analysis result is merged.Here fusion
Refer to: the analysis result being analyzed different images information respectively can control described running gear together
Direction of travel.
Above-mentioned automatic running device, gathers the image information of external environment condition by installing two or more photographic head,
Then the image information of two or more camera collection be overlapped by image mosaic circuit, cutting is with shape
Become stitching image information, i.e. on a large scale global image, or control device to two or more camera collection
Image information be analyzed respectively, and analysis result is carried out the walking merging to control described running gear
Direction, so need not wide-angle camera of sampling, so not havinging pattern distortion, False Rate is low.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes more concrete and detailed,
But therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that, for this area
Those of ordinary skill for, without departing from the inventive concept of the premise, it is also possible to make some deformation and
Improving, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be with appended
Claim is as the criterion.
Claims (9)
1. an automatic running device, including body and the running gear that is installed on body, it is characterised in that
Also include:
Image collecting device, is located on body, and described image collecting device includes two or more photographic head, uses
In the image information gathering external environment condition；
Image mosaic circuit, for the image information of two camera collections being overlapped, cutting to be to be formed
Stitching image information；
Control device, for controlling the direction of travel of described running gear according to described stitching image information.
Automatic running device the most according to claim 1, it is characterised in that two or more photographic head divides
It is not positioned at described body front and the both sides of the most described body symmetry.
Automatic running device the most according to claim 1, it is characterised in that described image mosaic circuit
Including:
Modular converter, for being respectively converted into different images by the image information of two or more camera collection
Data；
Concatenation module, for described different view data being overlapped by logical operations, and cutting weight
Folded view data is to form stitching image information.
Automatic running device the most according to claim 1, it is characterised in that described running gear includes
Driving wheel and driven pulley, described control device controls the walking of described driving wheel according to described stitching image information
Direction, described driving wheel drives driven pulley walking.
Automatic running device the most according to claim 1, it is characterised in that described image collecting device
Also including active connection, two or more photographic head is all connected with described body by active connection, described
Active connection is for adjusting the acquisition angles of two or more photographic head.
6. an automatic running device, including body and the running gear that is installed on body, it is characterised in that
Also include:
Image collecting device, is located on body, and described image collecting device includes two or more photographic head, uses
In the image information gathering external environment condition；
Control device, for the image information of two or more camera collection is analyzed respectively, and will divide
Analysis result carries out the direction of travel merging to control described running gear.
Automatic running device the most according to claim 6, it is characterised in that two or more photographic head divides
It is not positioned at described body front and the both sides of the most described body symmetry.
Automatic running device the most according to claim 6, it is characterised in that described running gear includes
Driving wheel and driven pulley, described control device controls the direction of travel of described driving wheel according to described image information,
Described driving wheel drives driven pulley walking.
Automatic running device the most according to claim 6, it is characterised in that described image collecting device
Also including active connection, two or more photographic head is all connected with described body by active connection, described
Active connection is for adjusting the acquisition angles of two or more photographic head.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510070020.0A CN105988469A (en) | 2015-02-10 | 2015-02-10 | Automatic walking equipment |
| JP2017534872A JP2017535279A (en) | 2014-09-23 | 2015-09-23 | Automatic mobile robot |
| PCT/CN2015/090468 WO2016045593A1 (en) | 2014-09-23 | 2015-09-23 | Self-moving robot |
| US15/513,106 US10609862B2 (en) | 2014-09-23 | 2015-09-23 | Self-moving robot |
| EP15845392.8A EP3199009B1 (en) | 2014-09-23 | 2015-09-23 | Self-moving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510070020.0A CN105988469A (en) | 2015-02-10 | 2015-02-10 | Automatic walking equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105988469A true CN105988469A (en) | 2016-10-05 |
Family
ID=57041610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510070020.0A Pending CN105988469A (en) | 2014-09-23 | 2015-02-10 | Automatic walking equipment |
Country Status (1)
| Country | Link |
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| CN (1) | CN105988469A (en) |
Cited By (2)
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| WO2021169193A1 (en) * | 2020-02-28 | 2021-09-02 | 苏州科瓴精密机械科技有限公司 | Automatic working system, automatic locomotion device and control method therefor, and computer readable storage medium |
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| WO2021169193A1 (en) * | 2020-02-28 | 2021-09-02 | 苏州科瓴精密机械科技有限公司 | Automatic working system, automatic locomotion device and control method therefor, and computer readable storage medium |
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Application publication date: 20161005 |