CN103324192A - Boundary setting method and boundary setting system - Google Patents
Boundary setting method and boundary setting system Download PDFInfo
- Publication number
- CN103324192A CN103324192A CN201210079236XA CN201210079236A CN103324192A CN 103324192 A CN103324192 A CN 103324192A CN 201210079236X A CN201210079236X A CN 201210079236XA CN 201210079236 A CN201210079236 A CN 201210079236A CN 103324192 A CN103324192 A CN 103324192A
- Authority
- CN
- China
- Prior art keywords
- cpu
- processing unit
- central processing
- border
- region
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 65
- 238000012545 processing Methods 0.000 claims abstract description 171
- 239000003550 marker Substances 0.000 claims description 17
- 238000012544 monitoring process Methods 0.000 claims description 14
- 230000003993 interaction Effects 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 7
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 7
- 230000000052 comparative effect Effects 0.000 description 5
- 238000012546 transfer Methods 0.000 description 5
- 238000005520 cutting process Methods 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
- 230000007812 deficiency Effects 0.000 description 3
- 238000009826 distribution Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000003245 working effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0033—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a boundary setting system and a boundary setting method. A working area can be set for an automatic walking device. The boundary setting method comprises the following steps that an information collecting device collects images of a monitored area; a display device displays a global image, and the global image covers the monitored area; an information input device selects a specific area in the global image; a central processing unit sets the working area of the automatic walking device according to the specific area. According to the boundary setting system and the boundary setting method, a user can operate the information input device to complete setting of the working area, boundary lines do not need to be paved by hands, and thus the work that the user sets the working area for the automatic walking device is greatly simplified.
Description
Technical field
The present invention relates to a kind of border method to set up, particularly a kind of border method to set up of setting the perform region for automatic running device.
The present invention relates to a kind of border system is set, particularly a kind of border for automatic running device setting perform region arranges system.
Background technology
Development along with science and technology, the automatic running device of intelligence is well known, because the program that automatic running device can set in advance is automatically carried out the inter-related task that sets in advance, operation that need not be artificial and intervention, therefore the application on commercial Application and family product is very extensive.Industrial application is as carrying out the robot of various functions, the application on the family product such as mower, suction cleaner etc., and these intelligent automatic running devices have greatly been saved people's time, all bring great convenience to commercial production and life staying idle at home.
Be the perform region of planning automatic running device, the mode that usually adopts is that the boundary line is set, and the zone that the boundary line surrounds is the perform region of automatic running device.On May 11st, 1999, the US Patent No. 6615108B1 of bulletin adopted the mode of burying the boundary line on the meadow underground that the perform region of robot is set.The deficiency that this mode exists is that burying the boundary line underground needs the instrument of specialty to slot on the meadow, wastes time and energy, and can destroy the integrality on meadow.In addition, for some specific robot, in its perform region, can't slot, such as indoor suction cleaner, be not suitable for laying the boundary line at ground, incity fluting.If but the direct ground surface that the boundary line is laid on the perform region, then the position of boundary line easily changes, so that the perform region is among the change, can't meet consumers' demand.
For solving the deficiency that the mode of perform region is set by laying the boundary line in the prior art, need a kind of border method to set up and the border that can set convenient, reliably the perform region of exploitation that system is set.
Summary of the invention
The technical matters that the present invention solves is: a kind of border method to set up is provided, and this border method to set up can arrange the perform region for automatic running device, and does not need to lay the boundary line.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of border method to set up, and for automatic running device arranges the perform region, described border method to set up comprises the steps: the image in information collecting device acquisition monitoring zone; Display device shows global image, and described global image covers guarded region; Message input device is chosen the specific region in the described global image; CPU (central processing unit) is set the perform region of automatic running device according to described specific region.
Preferably, described information collecting device comprises at least one camera.
Preferably, display device shows that the step of global image comprises, CPU (central processing unit) receives the image from a plurality of cameras, a plurality of Image Mosaics is become to cover the global image of guarded region according to the coincidence of the unique point on a plurality of images, and the control display device shows global image.
Preferably, before the step of CPU (central processing unit) according to the perform region of described specific region setting automatic running device, described border method to set up comprises that also CPU (central processing unit) is the step of each assigned characteristics sign in the global image.
Preferably, described signature identification comprises station location marker at least.
Preferably, message input device is chosen the mode of specific region for inputting specific signature identification.
Preferably, before the step of CPU (central processing unit) according to the perform region of described specific region setting automatic running device, described border method to set up also is included as the step that the specific region arranges the type identification of expression specific region type.
Preferably, CPU (central processing unit) is set the perform region of automatic running device according to described specific region and corresponding type identification.
Preferably, described specific region type comprises the conventional load zone and forbids that perform region, described perform region are the zone that the border in conventional load zone and the border of forbidding the perform region surround.
Preferably, described message input device is a kind of in mouse, touch-screen, keyboard, speech recognition equipment, human-computer interaction device, writing pencil or the handwriting pad.
Preferably, described automatic running device is automatic mower or automatic cleaner.
Preferably, described information collecting device and automatic running device are separated from each other.
The technical matters that the present invention also solves is: provide a kind of border that system is set, this border arranges system can arrange the perform region for automatic running device, and does not comprise the boundary line.
For solving the problems of the technologies described above, technical scheme provided by the invention is: a kind of border arranges system, can the perform region be set for automatic running device, and described border arranges system and comprises: information collecting device, the image in acquisition monitoring zone; CPU (central processing unit) receives the image that information collecting device transmits, and generates the global image that covers guarded region; Display device is electrically connected with CPU (central processing unit), according to the described global image of the control display of CPU (central processing unit); Message input device is electrically connected with CPU (central processing unit), operationally chooses the specific region in the described global image, and passes to CPU (central processing unit); The perform region of automatic running device is set in the specific region that described CPU (central processing unit) is chosen according to message input device.
Preferably, described information collecting device comprises at least one camera.
Preferably, CPU (central processing unit) receives the image from a plurality of cameras, a plurality of Image Mosaics is become to cover the global image of guarded region according to the coincidence of the unique point on a plurality of images.
Preferably, CPU (central processing unit) is each assigned characteristics sign in the global image, and stores described signature identification.
Preferably, described signature identification comprises station location marker at least.
Preferably, message input device is chosen the mode of specific region for inputting specific signature identification.
Preferably, described border arranges the type identification that system can arrange for the specific region expression specific region type.
Preferably, CPU (central processing unit) is set the perform region of automatic running device according to described specific region and corresponding type identification.
Preferably, described specific region type comprises the conventional load zone and forbids that perform region, described perform region are the zone that the border in conventional load zone and the border of forbidding the perform region surround.
Preferably, described message input device is a kind of in mouse, touch-screen, keyboard, speech recognition equipment, human-computer interaction device, writing pencil or the handwriting pad.
Preferably, described automatic running device is automatic mower or automatic cleaner.
Preferably, described information collecting device and automatic running device are separated from each other.
The technical matters that the present invention also solves is: a kind of control method is provided, and this control method can be worked in the perform region based on the virtual work zone control automatic running device that sets in advance, and need not lay the boundary line.
For solving the problems of the technologies described above, technical scheme provided by the invention is: a kind of control method, described control method is according to default perform region control automatic running device work, and described control method comprises the steps: that the positional information of locating device output automatic running device is to CPU (central processing unit); CPU (central processing unit) is determined the position of the relative perform region of automatic running device according to described positional information, based on the position of the relative perform region of automatic running device, generate corresponding control signal; Automatic running device is adjusted working method according to described control signal.
Preferably, described locating device is arranged on the automatic running device.
Preferably, described locating device is GPS device or camera.
Preferably, described locating device and automatic running device are separated.
Preferably, described locating device comprises at least one camera.
Preferably, before the step in CPU (central processing unit) memory workspace territory, described control method also comprises border setting step, and the perform region is set.
Preferably, described border setting step may further comprise the steps: the image in information collecting device acquisition monitoring zone; Display device shows global image, and described global image covers guarded region; Message input device is chosen the specific region in the described global image; CPU (central processing unit) is set the perform region of automatic running device according to described specific region.
Preferably, information collecting device and automatic running device are separated from each other.
Preferably, described information collecting device comprises at least one camera.
Preferably, display device shows that the step of global image comprises, CPU (central processing unit) receives the image from a plurality of cameras, a plurality of Image Mosaics is become to cover the global image of guarded region according to the coincidence of the unique point on a plurality of images, and the control display device shows global image.
Preferably, before the step of CPU (central processing unit) according to the perform region of described specific region setting automatic running device, described control method comprises that also CPU (central processing unit) is the step of each assigned characteristics sign in the global image.
Preferably, described locating device and information collecting device are same device.
Preferably, described CPU (central processing unit) obtains the signature identification of automatic running device according to the signature identification of global image, determines the position of the relative perform region of automatic running device according to the signature identification of automatic running device.
Preferably, message input device is chosen the mode of specific region for inputting specific signature identification.
Preferably, before the step of CPU (central processing unit) according to the perform region of described specific region setting automatic running device, described control method also is included as the step that the specific region arranges the type identification of expression specific region type, the different different specific region types of type identification representative.
Preferably, CPU (central processing unit) is set the perform region of automatic running device according to described specific region and corresponding type identification.
Preferably, described specific region type comprises the conventional load zone and forbids that perform region, described perform region are the zone that the border in conventional load zone and the border of forbidding the perform region surround.
Preferably, described specific region type also comprises the heavy duty zone, described perform region comprise the conventional load zone border, heavy duty zone the border and forbid the routine work zone that the border of perform region surrounds, and particular job zone of surrounding, the border in heavy duty zone.
Preferably, when CPU (central processing unit) confirms that automatic running device is in particular job zone, generate control signal, control automatic running device deceleration work or repeated work.
Preferably, before CPU (central processing unit) generates corresponding control signal, described control method also comprises the positional information of CPU (central processing unit) record automatic running device and generates the step of walking path according to the positional information of record, and the step that compares of the walking path of the walking path that automatic running device is current and record, CPU (central processing unit) generates corresponding control signal according to the position of comparative result and the relative perform region of automatic running device.
Preferably, described message input device is a kind of in mouse, touch-screen, keyboard, speech recognition equipment, human-computer interaction device, writing pencil or the handwriting pad.
Preferably, described automatic running device is automatic mower or automatic cleaner.
The technical matters that the present invention also solves is: a kind of control system is provided, and this control system can be worked in the perform region based on the virtual work zone control automatic running device that sets in advance, and does not comprise the boundary line.
For solving the problems of the technologies described above, technical scheme provided by the invention is: a kind of control system, and based on default perform region control automatic running device work, described control system comprises: locating device, the positional information of output automatic running device; CPU (central processing unit), the memory workspace territory is electrically connected with locating device, determines the position of the relative perform region of automatic running device according to described positional information, based on the position of the relative perform region of automatic running device, generates corresponding control signal; Control module is arranged in the automatic running device, receives described control signal, and adjusts the working method of automatic running device according to described control signal.
Preferably, described locating device is arranged on the automatic running device.
Preferably, described locating device is GPS device or camera.
Preferably, described locating device and automatic running device are separated.
Preferably, described locating device comprises at least one camera.
Preferably, described control system also comprises information collecting device, message input device and display device, the image in information collecting device acquisition monitoring zone; CPU (central processing unit) receives described image, generates the global image that covers guarded region; Display device is according to the described global image of the control display of CPU (central processing unit); Message input device is operationally chosen the specific region in the described global image, and passes to CPU (central processing unit); The perform region of automatic running device is set in the specific region that CPU (central processing unit) is chosen according to message input device.
Preferably, described information collecting device and automatic running device are separated from each other.
Preferably, described information collecting device comprises at least one camera.
Preferably, display device shows that the step of global image comprises, CPU (central processing unit) receives the image from a plurality of cameras, a plurality of Image Mosaics is become to cover the global image of guarded region according to the coincidence of the unique point on a plurality of images, and the control display device shows global image.
Preferably, CPU (central processing unit) is each assigned characteristics sign in the global image, and the information that message input device passes to CPU (central processing unit) is specific signature identification.
Preferably, described locating device and information collecting device are same device.
Preferably, described CPU (central processing unit) obtains the signature identification of automatic running device according to the signature identification of global image, determines the position of the relative perform region of automatic running device according to the signature identification of automatic running device.
Preferably, described control system can arrange for the specific region type identification of expression specific region type, the different different specific region types of type identification representative.
Preferably, CPU (central processing unit) is set the perform region of automatic running device according to described specific region and corresponding type identification, and the signature identification in writing task zone.
Preferably, described specific region type comprises the conventional load zone and forbids that perform region, described perform region are the zone that the border in conventional load zone and the border of forbidding the perform region surround.
Preferably, described specific region type also comprises the heavy duty zone, described perform region comprise the conventional load zone border, heavy duty zone the border and forbid the routine work zone that the border of perform region surrounds, and particular job zone of surrounding, the border in heavy duty zone.
Preferably, when CPU (central processing unit) confirms that automatic running device is in particular job zone, generate control signal, control automatic running device deceleration work or repeated work.
Preferably, CPU (central processing unit) records the positional information of automatic running device and generates walking path according to the positional information that records, the walking path that automatic running device is current and the walking path of record compare, position according to comparative result and the relative perform region of automatic running device generates corresponding control signal.
Preferably, described message input device is a kind of in mouse, touch-screen, keyboard, speech recognition equipment, human-computer interaction device, writing pencil or the handwriting pad.
Preferably, automatic running device is automatic mower or automatic cleaner.
Beneficial effect of the present invention is: border provided by the invention method to set up and border arrange system, by the information of user according to the display device demonstration, the operation information input media can finish the work the zone setting, the real work zone of user and automatic running device is isolated fully, the boundary line is laid in the real work zone that does not more need the user to arrive automatic running device, avoided the user must arrive the real work zone of automatic running device, and the inconvenience of manually laying the boundary line, greatly simplified the user arranges the perform region for automatic running device work.
Description of drawings
Technical matters, technical scheme and the beneficial effect that above-described the present invention solves can be by the following detailed description that can realize better specific embodiment of the present invention, describes by reference to the accompanying drawings simultaneously and clearly obtains.
Identical label in accompanying drawing and the instructions is used for representing element identical or that be equal to symbol.
Fig. 1 is the circuit block diagram that the border of the present invention's one better embodiment arranges system;
Fig. 2 is the workflow diagram that border shown in Figure 1 arranges system;
Fig. 3 is the circuit block diagram of the control system of the present invention's one better embodiment;
Fig. 4 is the workflow diagram of control system shown in Figure 3;
Fig. 5 is the configuration diagram of control system shown in Figure 3;
Fig. 6 is the schematic diagram of the specific region selection mode of control system shown in Figure 5.
Embodiment
About detailed description of the present invention and technology contents, cooperate description of drawings as follows, yet appended accompanying drawing only provide reference and explanation, and the present invention is limited.
As shown in Figure 1, the border arranges system 1 and comprises information collecting device 2, CPU (central processing unit) 4, and display device 6, and message input device 8, wherein information collecting device 2, display device 6, message input device 8 all are electrically connected with CPU (central processing unit) 4.Information collecting device 2, the image in acquisition monitoring zone, and pass to CPU (central processing unit) 4.CPU (central processing unit) 4 receives the image that information collecting device 2 transmits, and generates the global image that covers guarded region.Display device 6 is according to the described global image of the control display of CPU (central processing unit) 4.Message input device 8 is electrically connected with CPU (central processing unit) 4, operationally chooses the specific region in the described global image, and passes to CPU (central processing unit) 4.CPU (central processing unit) 4 receives the input message of message input devices 8, and the perform region of automatic running device 10 is set in the specific region of choosing according to message input device 8.Below to information collecting device 2, CPU (central processing unit) 4, display device 6, and message input device 8 describes in detail respectively.
Information collecting device 2, the image in the acquisition monitoring zone, and pass to CPU (central processing unit) 4 with its electric connection.The position of the perform region of the automatic running device 10 that the guarded region that information collecting device 2 gathers can arrange according to user's wish and regulating arbitrarily.Information collecting device 2 can be for the device of the image in a certain moment in the crawl certain area, such as camera.Information collecting device 2 also can be for transmitting continuously the device of the image in its overlay area, such as camera or video recorder.Preferably, information collecting device 2 is camera.When information collecting device 2 is camera, can directly utilize family existing for camera antitheft or monitoring, save cost.Information collecting device 2 can comprise a camera, also can comprise two and plural camera.The camera number that comprises when information collecting device 2 is during for two or more, and information collecting device 2 can cover zone in larger scope, effectively overcomes the regional limited deficiency that single camera covers.Information collecting device 2 can be fixedly installed on the specific region, also can be arranged on relatively-stationary object, even on the mobile object.Preferably, information collecting device 2 arranges regularly, and the advantage of this set-up mode is that the image that information collecting device 2 is gathered is relatively fixing, prevents because the image that too changes is chosen the inconvenience that bring the specific region to user's operation information input media 8.When information collecting device 2 adopts when being fixedly installed mode, preferred, information collecting device 2 is fixedly installed on the top in the zone that automatic running device 10 will work.The advantage of this kind set-up mode is to make information collecting device 2 to obtain more clearly image.Information collecting device 2 can be fixedly installed on the automatic running device 10, also can be separated with automatic running device 10.Preferably, information collecting device 2 is separated with automatic running device 10, thereby can obtain more easily the global information of guarded region.Information collecting device 2 can be wired connection with the electric connection of CPU (central processing unit) 4, also can be wireless connections.
CPU (central processing unit) 4 receives the image that information collecting device 2 transmits, and generates the global image that covers guarded region.CPU (central processing unit) 4 can be Programmable Logic Controller, also can be computer or the specialized equipment that comprises Programmable Logic Controller.When CPU (central processing unit) 4 is set to computer, it is advantageous that and can directly use the Basic application that computer operating system comprises, be applicable to the application program that the border arranges system 1 in the exploitation of the basis of Basic application, and need not to develop Basic application.In addition, because household PC is widely used, the border arranges 1 provider of system, and application program can only be provided, and downloads to own computer by the user and installs and uses and get final product, and need not the hardware that provides extra, and the reduction border arranges the cost of system 1.When information collecting device 2 comprised a camera, the global image that CPU (central processing unit) 4 generates was corresponding one by one with the image that information collecting device 2 transmits.When information collecting device 2 comprised a plurality of camera, CPU (central processing unit) 4 received the image that a plurality of cameras transmit, and a plurality of Image Mosaics was become the image of a covering guarded region according to the coincidence of the unique point that occurs on a plurality of images.
Message input device 8, operated by the user, selectively choose the specific region in display device 6 indication ranges, and user's selection result passed to CPU (central processing unit) 4 as input message, CPU (central processing unit) 4 receives the input message of message input devices 8, and the perform region of automatic running device is set in the specific region of choosing according to message input device 8.The input message of message input device 8 can be a width of cloth picture, and the information of the specific region that the user selected is arranged at picture, and CPU (central processing unit) 4 is mated picture and the global image of input, and the zone of mating with the picture of input is the specific region.The input message of message input device 8 also can be the parameter of representative specific region, and the user is by behind message input device 8 input parameters, and the specific region of user selection is regarded as in the zone that CPU (central processing unit) 4 will meet parameter.Message input device 8 can be the various ways such as mouse, touch-screen, keyboard, speech recognition equipment, human-computer interaction device, handwriting pad, writing pencil, and the electric connection of itself and CPU (central processing unit) 4 can be wired connection, also can be wireless connections.
Below specifically introduce a kind of mode that specific region that CPU (central processing unit) 4 selectes according to the user arranges the perform region.
After the image that CPU (central processing unit) 4 is transmitted according to the information collecting device 2 that receives generates global image, be the sign of each assigned characteristics in the global image, described signature identification can be station location marker, perhaps station location marker and color-values.CPU (central processing unit) 4 receives the input message of message input device 8, according to the special characteristic sign in the signature identification of the global image of this input message identification user selection, thereby identify the specific region of user selection, and the position of this specific region in global image, and then definite perform region.Preferably, message input device 8 also correspondingly is set to choose the specific region by inputting specific signature identification, and the specific signature identification of message input device 8 inputs can be station location marker, color-values or station location marker and color-values.When signature identification was station location marker, the zone that the station location marker of message input device 8 inputs surrounds was the specific region of user selection.When signature identification was color-values, CPU (central processing unit) 4 compared the color reference value of message input device 8 inputs and the color-values of global image, and the zone that meets the color condition is the specific region of user selection.The color condition can equal the color reference value for color-values, also can be for color-values be higher than the color reference value, also can be for color-values be lower than the color reference value, can also for color-values between two color reference values.The color reference value also can be set in advance by CPU (central processing unit) 4, can also be adjusted accordingly according to the color-values in the predeterminable area by CPU (central processing unit) 4.The accuracy of selecting for improving the specific region, preferred, signature identification is station location marker.Station location marker can or be position relationship of relative point of fixity etc. for two-dimensional coordinate, three-dimensional coordinate.Preferably, station location marker is two-dimensional coordinate.But two-dimensional coordinate is the clear expression ad-hoc location in display device 6 indication ranges, and expression-form is simple.Two-dimensional coordinate can for two-dimensional image information being divided the coordinate that obtains, also can be the latitude and longitude coordinates of the earth.
The user can arrange dissimilar specific region according to the actual condition of guarded region, the dissimilar different operating mode of specific region representative.The specific region type comprises that conventional load is regional, heavy duty is regional, forbid perform region etc.The conventional load zone is the zone that needs automatic running device 10 general works, does not relatively need the zone of automatic running device 10 work.The heavy duty zone is to need automatic running device 10 repeatedly to work or work at a slow speed just can reach the zone of working effect.Forbid that the perform region is the zone that does not need automatic running device 10 work in the conventional load zone.Particularly, when the user judges in the image that display device 6 shows, only have regional area to need automatic running device 10 work, the user can be chosen as this regional area a specific region, set type identification for this zone simultaneously, CPU (central processing unit) 4 is set as the conventional load zone based on input and the type identification of message input device 8 with this specific region.When the user judges in the image that display device 6 shows, the load of regional area is large especially, need automatic running device 10 to carry out repeated work or when working at a slow speed the working effect that just can reach satisfied, the user can will should be chosen as separately a specific region in the zone, set type identification for this zone simultaneously, CPU (central processing unit) 4 is set as the heavy duty zone based on input and the type identification of message input device 8 with this specific region.When the user judges in the conventional load zone, the subregion is the zone that does not need automatic running device 10 work, this moment, the user can be chosen as this subregion separately a specific region, be that simultaneously this zone sets type identification, CPU (central processing unit) 4 is set as this specific region based on the input of message input device 8 and type identification forbids the perform region.
CPU (central processing unit) 4 is determined the type of specific region by the type identification of specific region.The method of the type identification of specific region can input the specific region for CPU (central processing unit) 4 according to the user order is set for the specific region of user's input type identification is set.The specific region of inputting for the first time such as the user is set as the conventional load zone, the specific region of the input load area of attaching most importance to for the second time, and the specific region of input is for forbidding the perform region for the third time, said sequence also can be put upside down arbitrarily.Also can set for CPU (central processing unit) 4 type identification of specific region according to the size of input specific region.Specific region such as the area maximum is set to the conventional load zone, and the specific region that area is less is set to the heavy duty zone, and the specific region of area minimum is set to forbid the perform region.CPU (central processing unit) 4 also can be according to the type information of message input device 8 input, determines the type identification of specific region of the correspondence of the specific region that message input device 8 is selected.Therefore the border arranges the type identification that system 1 both can come by CPU (central processing unit) the Lookup protocol specific region, and the type identification of specific region also can be set according to the type information of message input device 8 inputs.In order to make things convenient for the user to set the specific region type, preferred, CPU (central processing unit) 4 is set the area type of specific region according to the type identification information of message input device 8 inputs.
The perform region that CPU (central processing unit) 4 is set automatic running device 10 according to specific region and the corresponding type identification of user selection.When the user only chooses a specific region, and when this zone was set as the routine work zone, this specific region of CPU (central processing unit) was set to the perform region.When the specific region that the user chooses comprises the conventional load zone and forbids the perform region, the perform region is the border in conventional load zone and forbids the zone that the border of perform region surrounds, namely the interior zone in conventional load zone with forbid that the public domain of the perimeter of perform region is the perform region.When the specific region that the user chooses comprise conventional load zone, when forbidding perform region and heavy duty zone, the perform region is the zone that the border in conventional load zone and the border of forbidding the perform region surround, and the perform region comprises by the border in the border in conventional load zone, heavy duty zone and forbids the routine work zone that the border of perform region surrounds, and particular job zone of surrounding, the border in heavy duty zone.It will be appreciated by persons skilled in the art that the border arranges the form that system 1 also can be set to only can choose a kind of specific region, need not to arrange the type of specific region this moment, and the zone that the border of the specific region of choosing surrounds is the perform region.
Introduce in detail the process that the border arranges below in conjunction with Fig. 2.
Shown in step S0, information collecting device 2 startup work, the image in acquisition monitoring zone, with described image transfer to CPU (central processing unit) 4.Enter step S2, CPU (central processing unit) 4 receives the image that information collecting device 2 transmits.Enter step S3, CPU (central processing unit) 4 generates the global image that covers guarded region according to the image that information collecting device 2 transmits; Enter step S4, CPU (central processing unit) 4 is each assigned characteristics sign of global image.Enter step S6, CPU (central processing unit) 4 control display devices 6 show described global image, thereby the image of guarded region intactly is presented on the display device 6.Enter step S8, the operator sets the type identification of specific region by message input device 8.Enter step S12, CPU (central processing unit) 4 receives the input message of message input device 8, and the type identification of the specific region of recorded information input media 8 settings.Enter step S14, the operator chooses specific region on the global image by message input device 8.Enter step S16, CPU (central processing unit) 4 is set the perform region of automatic running device 10 according to described specific region and corresponding type identification.The border method to set up also can only provide the setting of a kind of specific region type, this moment cancellation step S8 and step S12, the user can only arrange a kind of specific region type.
The border arranges system 1 and gathers the image that the user drafts the zone of automatic running device 10 work by information collecting device 2, and with image transfer to CPU (central processing unit) 4, further be presented on the display device 6 by CPU (central processing unit) 4, the user chooses specific region on the global image by message input device 8, and by message input device 8 or CPU (central processing unit) 4 for the specific region arranges type identification, CPU (central processing unit) 4 can be set based on specific region and type identification thereof the perform region of automatic running device 10.By display device 6 and message input device 8 being arranged on the place away from the perform region of automatic running device 10, so that need not to enter the perform region of automatic running device 10, the user can finish setting to the perform region, more need not the user and arrange the boundary line at the perform region internal recessing, greatly simplified the work that the user arranges the boundary line.
As previously mentioned, the border arranges system 1 can arrange the perform region for automatic running device 10, effectively in the perform region that arranges, work for realizing automatic running device 10, need to further learn the relative position relation of position and automatic running device 10 and the perform region of automatic running device 10, based on mutual position relationship, control automatic running device 10 is worked in the perform region.Introduce in detail control automatic running device 10 according to control system and the control method of the perform region work of user's setting below in conjunction with Fig. 3 to Fig. 4.
As shown in Figure 3, control system 11 comprises information collecting device 2, display device 6, message input device 8, locating device 14, CPU (central processing unit) 4 and is arranged on main control unit 12 in the automatic running device 10.Wherein, information collecting device 2, the image in acquisition monitoring zone; CPU (central processing unit) 4 is electrically connected with information collecting device 2, receives the image that information collecting device 2 transmits, and generates the global image that covers guarded region; Display device 6 shows global image according to being controlled at of CPU (central processing unit) 4 in the indication range; Message input device 8 is electrically connected with CPU (central processing unit) 4, operationally selects the specific region on the described global image, and passes to CPU (central processing unit) 4; Described CPU (central processing unit) 4 is set the perform region of automatic running device 10 according to described specific region, and the perform region of storage setting.The perform region of control system 11 arranges and can also comprise that type identification is carried out in different specific regions to be arranged, control system 11 is set the perform region according to specific region and corresponding type identification, concrete method to set up arranges the method to set up of system 1 referring to aforementioned border, do not repeat them here.
Locating device 14, the positional information of output automatic running device 10, and pass to CPU (central processing unit) 4; CPU (central processing unit) 4 is determined the position of automatic running device 10 relative perform regions according to described positional information, generate corresponding control signal based on the position of automatic running device 10 relative perform regions; Main control unit 12 is arranged in the automatic running device 10, receives described control signal, and controls the work of automatic running device 10 according to described control signal.When CPU (central processing unit) 4 and automatic running device 10 were separated from each other, CPU (central processing unit) 4 was carried out the signal transmission with main control unit 12 by wireless mode, such as radio wave signal, infrared signal etc.When CPU (central processing unit) 4 is arranged on automatic running device 10 when interior, also can carry out the signal transmission by wired mode between CPU (central processing unit) 4 and the main control unit 12.
Locating device 14 can be for being arranged on the camera on the automatic running device 10.Camera is followed automatic running device 10 and is moved, and gathers the local environmental information around automatic running device 10 current locations, and local environmental information is passed to main control unit 12.Main control unit 12 further passes to local environmental information CPU (central processing unit) 4, CPU (central processing unit) 4 is mated local environmental information and the global image that receives, determine the position of automatic running device 10 relative perform regions according to matching result, position based on automatic running device 10 relative perform regions, generate corresponding control signal, and control signal is sent to main control unit 12.After main control unit 12 receives described control signal, and according to the work of described control signal control automatic running device 10.
Locating device 14 also can be for being arranged on the GPS device on the automatic running device 10.The GPS device is followed automatic running device 10 and is moved, and locates in real time the current latitude and longitude coordinates of automatic running device 10, simultaneously the latitude and longitude coordinates value is passed to main control unit 12, and main control unit 12 further passes to CPU (central processing unit) 4 with the latitude and longitude coordinates value.Under this mode, the signature identification that CPU (central processing unit) 4 is preferably the global image distribution is station location marker.CPU (central processing unit) 4 compares the latitude and longitude coordinates value that receives and the station location marker of perform region, generates control signal according to comparative result, and control signal is sent to main control unit 12.After main control unit 12 receives described control signal, and according to the work of described control signal control automatic running device 10.Under this situation, the station location marker that CPU (central processing unit) 4 is distributed is preferably latitude and longitude coordinates.
In aforementioned two kinds of situations, locating device 14 is arranged on the automatic running device 10.In addition, locating device 14 also can be separated from each other with automatic running device 10, and is fixedly installed on a certain position.At this moment, locating device 14 can be the device in covering automatic running device 10 walking zones, as the camera that is fixedly installed, camera etc.Locating device 14 will comprise automatic running device 10 in interior image transfer to CPU (central processing unit) 4, CPU (central processing unit) 4 is mated image and the global image that receives, and determines the position of automatic running device 10 relative perform regions according to matching result.CPU (central processing unit) 4 generates corresponding control signal based on the position of automatic running device 10 relative perform regions, and control signal is sent to main control unit 12.After main control unit 12 receives described control signal, and according to the work of described control signal control automatic running device 10.When locating device 14 and automatic running device 10 are separated, be the cost of saving control system 11, preferred, to information collecting device 2, namely information collecting device 2 also is locating device 14 with the Function Integration Mechanism of locating device 14.The positional information that this moment, locating device 14 passed to CPU (central processing unit) 4 is the image that comprises automatic running device 10.The image that CPU (central processing unit) 4 is transmitted according to locating device 14 is determined the position of automatic running device 10 relative perform regions.CPU (central processing unit) 4 is each assigned characteristics sign on the global image when generating global image, thereby obtain the signature identification of automatic running device 10, and when setting the perform region signature identification in memory workspace territory, the signature identification of automatic running device 10 and the signature identification of perform region are compared, obtain the position of automatic running device 10 relative perform regions.
The control signal that CPU (central processing unit) 4 is sent comprises polytype, according to the difference of the area type of automatic running device 10 residing specific regions and difference.Comprise conventional load zone, heavy duty is regional and forbids that the perform region describes as example take the specific region type.When CPU (central processing unit) 4 receives conventional load zone, heavy duty zone and forbids the perform region, the border of confirming the conventional load zone is the perform region with the zone that the border of forbidding the perform region surrounds, be the interior zone and the public domain of forbidding the perimeter of perform region in conventional load zone, and the perform region comprises by the border in the border in conventional load zone, heavy duty zone and forbids the routine work zone that the border of perform region surrounds, and particular job zone of surrounding, the border in heavy duty zone.CPU (central processing unit) 4 needs control automatic running device 10 to work in the perform region, and the working method in particular job zone is different from the working method in routine work zone.Be specially, after CPU (central processing unit) 4 obtains the current positional information of automatic running device 10 by locating device 14, determine the position of the relative perform region of automatic running device.CPU (central processing unit) 4 is judged when automatic running device 10 is in particular job zone, generation particular job control signal, and control automatic running device 10 is worked at a slow speed or repeated work.CPU (central processing unit) 4 is judged when automatic running device 10 is in the routine work zone, generation routine work control signal, and control automatic running device 10 routinely working method carries out work.CPU (central processing unit) 4 is judged when automatic running device 10 is in the boundary position of perform region, generate the turning control signal, control automatic running device 10 stops walking, the rotation preset angles, then walk on, thereby avoid automatic running device 10 to leave the working range that the user arranges.CPU (central processing unit) 4 works automatic running device 10 by sending dissimilar control signal all the time in the perform region, repeatedly work repeatedly or work at a slow speed in particular job zone simultaneously to realize preferably working effect.
It will be understood by those skilled in the art that, when the border arranges system 1 in conventional load when zone, only be set, CPU (central processing unit) 4 confirms that this conventional load zone is the perform region, CPU (central processing unit) 4 needs control automatic running device 10 to work in this perform region, and working method is identical in whole perform region.CPU (central processing unit) 4 is determined the position of the relative perform region of automatic running device, and is judged further whether automatic running device 10 is in the perform region after obtaining the current positional information of automatic running device 10 by locating device 14.CPU (central processing unit) 4 is judged when automatic running device 10 is in the scope of perform region, sends the retentive control signal, and after main control unit 12 received the retentive control signal, control automatic running device 10 kept current walking states.CPU (central processing unit) 4 is judged when automatic running devices 10 are on the borderline region of perform region, CPU (central processing unit) 4 sends the turning control signal, and after main control unit 12 received the turning control signal, control automatic running device 10 stopped walking, then the rotation preset angles walks on.CPU (central processing unit) 4 works automatic running device 10 by sending above-mentioned two types control signal all the time in the perform region.
In addition, in automatic running device 10 courses of work, CPU (central processing unit) 4 also can record the signature identification that automatic running device 10 was walked, and generates walking path according to the signature identification of walking.Before generating control signal, the walking path that CPU (central processing unit) 4 is current with automatic running device 10 and the walking path of record are relatively, when judging that automatic running device 10 is walked in the path of having walked, send the turning control signal, control automatic running device 10 stops walking, then the rotation preset angles walks on, thereby control automatic running device 10 is walked in the path of not walking.The path that CPU (central processing unit) 4 record automatic running devices 10 walks, and the path that will walk and current path compare, and walks in the path of not walking thereby control automatic running device 10.
Below in conjunction with Fig. 4 control procedure is elaborated.
Shown in step S0, information collecting device 2 startup work, the image in acquisition monitoring zone, with described image transfer to CPU (central processing unit) 4.Enter step S2, CPU (central processing unit) 4 receives the image that information collecting device 2 transmits.Enter step S3, CPU (central processing unit) 4 generates the global image that covers guarded region according to the image that information collecting device 2 transmits; Enter step S4, CPU (central processing unit) 4 is each assigned characteristics sign of global image.Enter step S6, CPU (central processing unit) 4 control display devices 6 show described global image, thereby the image of guarded region intactly is presented on the display device 6.Enter step S8, the operator sets the type identification of the specific region of wish setting by message input device 8.Enter step S12, CPU (central processing unit) 4 receives the input message of message input device 8, and the type identification of the specific region of recorded information input media 8 settings.Enter step S14, the operator chooses specific region on the global image by message input device 8.Enter step S16, CPU (central processing unit) 4 is set the perform region of automatic running device 10 according to described specific region and corresponding type identification, and the signature identification in writing task zone.Enter step S24, the positional information of CPU (central processing unit) 4 receiving positioners 14 output automatic running devices 10.Enter step S26, CPU (central processing unit) 4 is obtained the signature identification of automatic running device 10 according to described positional information.Enter step S28, record the signature identification of automatic running device 10, and generate the walking path of automatic running device 10 according to the signature identification of record.Enter step S30, the walking path of automatic running device 10 current residing walking paths and CPU (central processing unit) 4 records is compared.Enter step S32, judge whether current walking path is identical with the walking path of record, if the determination result is NO, enters step S34, if judged result is yes, enters step S38.Step S34 compares the signature identification of automatic running device 10 and the signature identification of perform region.After the step S34, enter step S36.Among the step S36, CPU (central processing unit) 4 generates corresponding control signal based on automatic running device 10 current position and automatic running device 10 residing perform region types, and control automatic running device 10 is carried out corresponding working method.The type of concrete control signal and the working method of automatic running device such as the aforementioned description of carrying out the different operating mode at different operating area type automatic running device 10 repeat no more herein.
It will be understood by those skilled in the art that, control system 11 also can pre-set the perform region by any other modes, this moment control system 11 need not configuration information input media 8, display device 6, information collecting device 2 be used for the perform region is set, and can realize accurate control to automatic running device 10 and locating device 14 and CPU (central processing unit) 4 only need be set.Also need not setting steps S0 to step S22 this moment, and only need setting steps S24 to step S36.
Method in CPU (central processing unit) 4 memory workspace territories has multiple.Except the method that the border of aforementioned introduction arranges, the method of a kind of pre-stored perform region that the present invention also provides walk realization to the selection of specific region for carry the GPS device by the user in predeterminable area, and selection result passed to CPU (central processing unit) 4, CPU (central processing unit) 4 is set the perform region based on the specific region of user selection, the perform region that simultaneously storage is set.The method of the station location marker of the pre-stored perform region of another kind provided by the invention is the image by information collecting device 2 acquisition monitoring zones, CPU (central processing unit) 4 receives the image of guarded region, generate global image, and be each assigned characteristics sign on the global image, the signature identification reference value that signature identification and the CPU (central processing unit) 4 of each point on the global image are preset compares, the region division that will meet corresponding conditions is the perform region, and stores corresponding perform region.
Below take CPU (central processing unit) 4 as host computer 18, display device 6 is computer monitor 20, message input device 8 is mouse 22, information collecting device 2 and locating device 14 integrate, be set to camera 16, automatic running device 10 is that automatic mower 24 is example, how describes the user in detail for the garden arranges dissimilar perform region, and based on the work of the current position control mower of the perform region that has arranged and automatic mower 24.
As shown in Figure 5, a camera 16 is fixedly installed on the eaves, adjusts the angle of camera 16 by the user, and this camera 16 can gather the image information in whole garden, and under this situation, information collecting device 2 only comprises a camera 16.When user's garden scope is larger, the global information that a plurality of cameras gather the garden can be set simultaneously.This camera 16 is connected to host computer 18 by data line, and host computer 18 further is electrically connected with display 20 and mouse 22 by data line.
To host computer 18, host computer 18 generates the global image that covers the garden to camera 16 when receiving image information with the image transfer that collects, and be that each assigned characteristics on the global image identifies.When the common acquisition monitoring area image of a plurality of cameras is arranged, the image of each camera is the cover part guarded region only, CPU (central processing unit) 4 receptions become to cover the global image of guarded regions from the image of a plurality of cameras with a plurality of Image Mosaics according to the coincidence of the unique point on a plurality of images.And in this scheme, camera only has one, and the image of this camera transmission is the image that covers guarded region.Host computer 18 further control display devices 20 show the image information that camera 16 gathers in its indication range.The user can clearly see by display 20 information in whole garden, as careless dense, which position kind of which position, garden be implanted with fresh flower, which position is provided with obstacle etc.
After the global image that the user shows by display 20 obtained the information in garden, operating mouse 22 clicked the specific region on the image.In conjunction with the actual conditions in garden, the user can arrange by mouse 22 perform region of number of different types for the garden in the image-region that display 20 shows.As need mower according to the conventional load zone of normal mode of operation work.In the conventional load zone, need mower at a slow speed or the heavy duty of repeated work zone, such as Hou Cao district, withered grass district etc.The perform region of forbidding that does not need mower work in the conventional load zone is such as flower bed, trees, pond etc.
The diagram that has shown the user selection specific region such as Fig. 6.At first, the user is by the type of perform region corresponding to the specific region of its wishs selection of mouse 22 inputs.The user has multiple by mouse 22 to the mode that host computer 18 input types identify.As click the setting that the dialog interface that shows on the displays 20 realizes the specific region type by mouse 22, also can realize by 22 the number of times of clicking the mouse in the Preset Time setting of specific region type.The user sets the specific region type when also can pass through to select the specific region., inputting specific region distribution locations sign for the user when, calculate the size of specific region, and set the specific region type according to the size of specific region such as host computer 18.Specific region such as the area maximum is set to the conventional load zone, and the specific region that area is less is set to the heavy duty zone, and the specific region of area minimum is set to forbid the perform region.Host computer 18 is when inputting specific region distribution locations sign for the user for another example, record the input sequence of this specific region, input the order of specific region according to the user and set the specific region type, the specific region of inputting for the first time such as the user is set as the conventional load zone, the specific region of the input load area of attaching most importance to for the second time, the specific region of input is for forbidding the perform region for the third time, and said sequence also can be put upside down arbitrarily.
After the user arranged the specific region type, the user can select the specific region by the ad-hoc location that mouse 22 clicks on the image information.Ad-hoc location on the image information that host computer 18 recording users click by mouse 22, and show in real time the paths that ad-hoc locations that mouses 22 have clicked form by display 20, be convenient to the ad-hoc location that the user checks that it had been selected.Host computer 18 by mouse 22 whether the certain dialog box that shows of click right or display 20 judge whether the user finishes the selection of a specific region.After host computer 18 judges that the user is complete for the selection of this specific region, the zone that the ad-hoc location that host computer 18 is selected according to the ad-hoc location judgement of recording surrounds, thereby the scope of definite specific region.Mouse 22 is in the process that clicks, and host computer 18 is according to its signature identification of choosing of its location recognition that clicks, and records the signature identification of formed specific region.Host computer 18 mates the signature identification of global image and the signature identification of specific region, the specific region of identification user selection.The user can carry out the specific region of other types is arranged after the selection of finishing a specific region, and setting up procedure repeats no more as previously mentioned.Host computer 18 is set the perform region according to specific region and corresponding type identification, and the perform region of storage setting and the signature identification of perform region.
After the user finishes the work arranging of zone, can allow automatic mower 24 startup work in the garden.Host computer 18 can obtain the positional information of automatic mower 24 in the garden, and be obtained from the signature identification of motor mower 24 according to described positional information by the image in the garden of reception camera 16 transmission.The signature identification of host computer 18 record automatic mowers 24 is according to the walking path of the signature identification generation automatic mower 24 that records.Host computer 18 compares the signature identification of the perform region of the signature identification of automatic mower 24 and storage, when host computer 18 judges that automatic mower 24 is in particular job zone, generate particular job control signal, control automatic mower 24 is worked at a slow speed or repeated work.Host computer 18 is judged when automatic mower 24 is in the routine work zone, generation routine work control signal, and control automatic mower 24 routinely working method carries out work.Host computer 18 is judged when automatic mower 24 is in the boundary position of perform region, generate the turning control signal, control automatic mower 24 stops walking, the rotation preset angles, then walk on, thereby avoid automatic running device 10 to leave the working range that the user arranges.Simultaneously also walking path that automatic mower 24 is current and the walking path of record compare host computer 18.When judging that automatic mower 24 when the walking path of record is walked, sends the turning control signal, control automatic mower 24 stops walking, and then the rotation preset angles walks on, thus the zone walking that control automatic mower 24 was not being walked.Automatically control thus automatic mower 24 and in different perform region types, carry out different working methods, and avoid automatic mower 24 in same zone, repeatedly to work, improved the efficient of work, saved the time of work.
In the present invention, automatic running device 10 can be the various ways such as mower, suction cleaner, industrial robot.When automatic running device 10 is mower, also further comprise cutting mechanism, cutting mechanism comprises cutting motor and cutting blade.
Claims (24)
1. a border method to set up for automatic running device arranges the perform region, is characterized in that, described border method to set up comprises the steps:
The image in information collecting device acquisition monitoring zone;
Display device shows global image, and described global image covers guarded region;
Message input device is chosen the specific region in the described global image;
CPU (central processing unit) is set the perform region of automatic running device according to described specific region.
2. border according to claim 1 method to set up, it is characterized in that: described information collecting device comprises at least one camera.
3. border according to claim 2 method to set up, it is characterized in that: display device shows that the step of global image comprises, CPU (central processing unit) receives the image from a plurality of cameras, a plurality of Image Mosaics are become to cover the global image of guarded region according to the coincidence of the unique point on a plurality of images, the control display device shows global image.
4. border according to claim 1 method to set up, it is characterized in that: before the step of CPU (central processing unit) according to the perform region of described specific region setting automatic running device, described border method to set up comprises that also CPU (central processing unit) is the step of each assigned characteristics sign in the global image.
5. border according to claim 4 method to set up, it is characterized in that: described signature identification comprises station location marker at least.
6. border according to claim 4 method to set up, it is characterized in that: the mode that message input device is chosen the specific region is the specific signature identification of input.
7. border according to claim 1 method to set up, it is characterized in that: before the step of CPU (central processing unit) according to the perform region of described specific region setting automatic running device, described border method to set up also is included as the step that the specific region arranges the type identification of expression specific region type.
8. border according to claim 7 method to set up, it is characterized in that: CPU (central processing unit) is set the perform region of automatic running device according to described specific region and corresponding type identification.
9. border according to claim 8 method to set up, it is characterized in that: described specific region type comprises the conventional load zone and forbids that perform region, described perform region are the zone that the border in conventional load zone and the border of forbidding the perform region surround.
10. border according to claim 1 method to set up is characterized in that: described message input device is a kind of in mouse, touch-screen, keyboard, speech recognition equipment, human-computer interaction device, writing pencil or the handwriting pad.
11. border according to claim 1 method to set up is characterized in that: described automatic running device is automatic mower or automatic cleaner.
12. border according to claim 1 method to set up is characterized in that: described information collecting device and automatic running device are separated from each other.
13. a border arranges system, can the perform region be set for automatic running device, it is characterized in that: described border arranges system and comprises:
Information collecting device, the image in acquisition monitoring zone;
CPU (central processing unit) receives the image that information collecting device transmits, and generates the global image that covers guarded region;
Display device is electrically connected with CPU (central processing unit), according to the described global image of the control display of CPU (central processing unit);
Message input device is electrically connected with CPU (central processing unit), operationally chooses the specific region in the described global image, and passes to CPU (central processing unit);
The perform region of automatic running device is set in the specific region that described CPU (central processing unit) is chosen according to message input device.
14. border according to claim 13 arranges system, it is characterized in that: described information collecting device comprises at least one camera.
15. border according to claim 14 arranges system, it is characterized in that: CPU (central processing unit) receives the image from a plurality of cameras, a plurality of Image Mosaics is become to cover the global image of guarded region according to the coincidence of the unique point on a plurality of images.
16. border according to claim 13 arranges system, it is characterized in that: CPU (central processing unit) is each assigned characteristics sign in the global image, and stores described signature identification.
17. border according to claim 16 arranges system, it is characterized in that: described signature identification comprises station location marker at least.
18. border according to claim 16 arranges system, it is characterized in that: the mode that message input device is chosen the specific region is the specific signature identification of input.
19. border according to claim 13 arranges system, it is characterized in that: described border arranges the type identification that system can arrange for the specific region expression specific region type.
20. border according to claim 19 arranges system, it is characterized in that: CPU (central processing unit) is set the perform region of automatic running device according to described specific region and corresponding type identification.
21. border according to claim 20 arranges system, it is characterized in that: described specific region type comprises the conventional load zone and forbids that perform region, described perform region are the zone that the border in conventional load zone and the border of forbidding the perform region surround.
22. border according to claim 13 arranges system, it is characterized in that: described message input device is a kind of in mouse, touch-screen, keyboard, speech recognition equipment, human-computer interaction device, writing pencil or the handwriting pad.
23. border according to claim 13 arranges system, it is characterized in that: described automatic running device is automatic mower or automatic cleaner.
24. border according to claim 13 arranges system, it is characterized in that: described information collecting device and automatic running device are separated from each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210079236XA CN103324192A (en) | 2012-03-23 | 2012-03-23 | Boundary setting method and boundary setting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210079236XA CN103324192A (en) | 2012-03-23 | 2012-03-23 | Boundary setting method and boundary setting system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103324192A true CN103324192A (en) | 2013-09-25 |
Family
ID=49192998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210079236XA Pending CN103324192A (en) | 2012-03-23 | 2012-03-23 | Boundary setting method and boundary setting system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103324192A (en) |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103760852A (en) * | 2014-01-08 | 2014-04-30 | 深圳先进技术研究院 | Extensible floor sweeping multi-robot method and system |
| CN103760853A (en) * | 2014-01-08 | 2014-04-30 | 深圳先进技术研究院 | Extensible floor sweeping multi-robot method and system |
| CN103901890A (en) * | 2014-04-09 | 2014-07-02 | 中国科学院深圳先进技术研究院 | Outdoor automatic walking device based on family courtyard and system and method for controlling outdoor automatic walking device based on family courtyard |
| CN104238418A (en) * | 2014-07-02 | 2014-12-24 | 北京理工大学 | Interactive reality system and method |
| CN104699101A (en) * | 2015-01-30 | 2015-06-10 | 深圳拓邦股份有限公司 | Robot mowing system capable of customizing mowing zone and control method thereof |
| CN106843230A (en) * | 2017-03-24 | 2017-06-13 | 上海思岚科技有限公司 | It is applied to the virtual wall system and its implementation of mobile device |
| CN106997202A (en) * | 2017-03-24 | 2017-08-01 | 上海思岚科技有限公司 | The implementation method of virtual wall is set by mobile applications |
| CN107203207A (en) * | 2016-03-18 | 2017-09-26 | 本田技研工业株式会社 | Unmanned traveling Operation Van |
| CN107203206A (en) * | 2016-03-18 | 2017-09-26 | 本田技研工业株式会社 | Unmanned traveling Operation Van |
| CN107912125A (en) * | 2017-12-20 | 2018-04-17 | 苏州科瓴精密机械科技有限公司 | Robot and its control method |
| CN107966725A (en) * | 2016-10-19 | 2018-04-27 | 惠州市蓝微电子有限公司 | A kind of mowing method of intelligent grass-removing |
| CN108228739A (en) * | 2016-12-15 | 2018-06-29 | 苏州宝时得电动工具有限公司 | Ground drawing generating method, device and the automatic working system of automatic working system |
| WO2018214978A1 (en) * | 2017-05-26 | 2018-11-29 | 苏州宝时得电动工具有限公司 | Positioning device and method and automatically moving apparatus |
| CN109083058A (en) * | 2017-06-14 | 2018-12-25 | 苏州宝时得电动工具有限公司 | Automatic suction and blowing device |
| CN109658432A (en) * | 2018-12-27 | 2019-04-19 | 南京苏美达智能技术有限公司 | A kind of the boundary generation method and system of mobile robot |
| CN109685849A (en) * | 2018-12-27 | 2019-04-26 | 南京苏美达智能技术有限公司 | A kind of the out-of-bounds determination method and system of mobile robot |
| CN109673242A (en) * | 2019-03-01 | 2019-04-26 | 重庆润通智能装备有限公司 | Intelligent grass-removing mowing control method and mowing control system |
| WO2019096263A1 (en) * | 2017-11-16 | 2019-05-23 | 南京德朔实业有限公司 | Intelligent mowing system |
| WO2019184083A1 (en) * | 2018-03-29 | 2019-10-03 | 五邑大学 | Robot scheduling method |
| CN110612492A (en) * | 2018-06-20 | 2019-12-24 | 灵动科技（北京）有限公司 | Self-driven unmanned mower |
| CN111538343A (en) * | 2020-06-22 | 2020-08-14 | 天津联汇智造科技有限公司 | System, method and storage medium for robot to set traffic rules |
| CN111683517A (en) * | 2018-02-13 | 2020-09-18 | 罗伯特·博世有限公司 | Autonomous agricultural system and method for operating an agricultural system |
| CN112824937A (en) * | 2019-11-20 | 2021-05-21 | 苏州宝时得电动工具有限公司 | Route generation method and device and mower |
| CN112904862A (en) * | 2016-04-15 | 2021-06-04 | 苏州宝时得电动工具有限公司 | Navigation device, equipment and self-moving robot |
| WO2021188028A1 (en) * | 2020-03-18 | 2021-09-23 | Husqvarna Ab | Robotic working tool system and method |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030030398A1 (en) * | 2001-08-13 | 2003-02-13 | Stephen Jacobs | Mapped robot system |
| US20030208304A1 (en) * | 1998-05-11 | 2003-11-06 | Ehud Peless | Area coverage with an autonomous robot |
| EP1508845A2 (en) * | 2003-08-20 | 2005-02-23 | Samsung Electronics Co., Ltd. | Method of constructing artificial mark for autonomous driving, apparatus and method of determining position of intelligent system using artificial mark and intelligent system employing the same |
| CN1823673A (en) * | 2005-02-25 | 2006-08-30 | 三星光州电子株式会社 | Robot cleaner and a method for controlling the same |
| CN101093503A (en) * | 2006-06-20 | 2007-12-26 | 三星电子株式会社 | Method, apparatus, and medium for building grid map in mobile robot and method, apparatus, and medium for cell decomposition that uses grid map |
| CN101101203A (en) * | 2006-07-05 | 2008-01-09 | 三星电子株式会社 | Apparatus, method, medium and mobile robot using characteristic point for dividing area |
| CN101480795A (en) * | 2008-01-11 | 2009-07-15 | 三星电子株式会社 | Method and apparatus for planning path of mobile robot |
| JP2010061355A (en) * | 2008-09-03 | 2010-03-18 | Murata Machinery Ltd | Route planning method, route planning device, and autonomous mobile device |
| JP2010086015A (en) * | 2008-09-29 | 2010-04-15 | Micro-Star Internatl Co Ltd | Method for planning travel route of self-propelled apparatus |
| US20100228394A1 (en) * | 2009-03-06 | 2010-09-09 | Dong Hoon Yi | Mobile robot and controlling method of the same |
-
2012
- 2012-03-23 CN CN201210079236XA patent/CN103324192A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030208304A1 (en) * | 1998-05-11 | 2003-11-06 | Ehud Peless | Area coverage with an autonomous robot |
| US20030030398A1 (en) * | 2001-08-13 | 2003-02-13 | Stephen Jacobs | Mapped robot system |
| EP1508845A2 (en) * | 2003-08-20 | 2005-02-23 | Samsung Electronics Co., Ltd. | Method of constructing artificial mark for autonomous driving, apparatus and method of determining position of intelligent system using artificial mark and intelligent system employing the same |
| CN1823673A (en) * | 2005-02-25 | 2006-08-30 | 三星光州电子株式会社 | Robot cleaner and a method for controlling the same |
| CN101093503A (en) * | 2006-06-20 | 2007-12-26 | 三星电子株式会社 | Method, apparatus, and medium for building grid map in mobile robot and method, apparatus, and medium for cell decomposition that uses grid map |
| CN101101203A (en) * | 2006-07-05 | 2008-01-09 | 三星电子株式会社 | Apparatus, method, medium and mobile robot using characteristic point for dividing area |
| CN101480795A (en) * | 2008-01-11 | 2009-07-15 | 三星电子株式会社 | Method and apparatus for planning path of mobile robot |
| JP2010061355A (en) * | 2008-09-03 | 2010-03-18 | Murata Machinery Ltd | Route planning method, route planning device, and autonomous mobile device |
| JP2010086015A (en) * | 2008-09-29 | 2010-04-15 | Micro-Star Internatl Co Ltd | Method for planning travel route of self-propelled apparatus |
| US20100228394A1 (en) * | 2009-03-06 | 2010-09-09 | Dong Hoon Yi | Mobile robot and controlling method of the same |
Non-Patent Citations (2)
| Title |
|---|
| M. W. M. GAMINI DISSANAYAKE等: "A Solution to the Simultaneous Localization and Map Building (SLAM) Problem", 《IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION》, vol. 17, no. 3, 30 June 2001 (2001-06-30), pages 229 - 241 * |
| 沈林成等: "《移动机器人自主控制理论与技术》", 30 April 2011, article "移动机器人同时定位与构图的数据关联技术", pages: 248-265 * |
Cited By (37)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103760852A (en) * | 2014-01-08 | 2014-04-30 | 深圳先进技术研究院 | Extensible floor sweeping multi-robot method and system |
| CN103760853A (en) * | 2014-01-08 | 2014-04-30 | 深圳先进技术研究院 | Extensible floor sweeping multi-robot method and system |
| CN103901890A (en) * | 2014-04-09 | 2014-07-02 | 中国科学院深圳先进技术研究院 | Outdoor automatic walking device based on family courtyard and system and method for controlling outdoor automatic walking device based on family courtyard |
| CN104238418A (en) * | 2014-07-02 | 2014-12-24 | 北京理工大学 | Interactive reality system and method |
| CN104699101A (en) * | 2015-01-30 | 2015-06-10 | 深圳拓邦股份有限公司 | Robot mowing system capable of customizing mowing zone and control method thereof |
| WO2016119486A1 (en) * | 2015-01-30 | 2016-08-04 | 深圳拓邦股份有限公司 | Robot mowing system capable of customizing mowing region and control method thereof |
| CN107203206B (en) * | 2016-03-18 | 2020-10-30 | 本田技研工业株式会社 | Unmanned operation vehicle |
| CN107203207A (en) * | 2016-03-18 | 2017-09-26 | 本田技研工业株式会社 | Unmanned traveling Operation Van |
| CN107203206A (en) * | 2016-03-18 | 2017-09-26 | 本田技研工业株式会社 | Unmanned traveling Operation Van |
| CN112904862A (en) * | 2016-04-15 | 2021-06-04 | 苏州宝时得电动工具有限公司 | Navigation device, equipment and self-moving robot |
| CN107966725A (en) * | 2016-10-19 | 2018-04-27 | 惠州市蓝微电子有限公司 | A kind of mowing method of intelligent grass-removing |
| US11442448B2 (en) | 2016-12-15 | 2022-09-13 | Positec Power Tools (Suzhou) Co., Ltd. | Self-moving device, method for providing alarm about positioning fault in same, self-moving device, and automatic working system |
| CN108228739A (en) * | 2016-12-15 | 2018-06-29 | 苏州宝时得电动工具有限公司 | Ground drawing generating method, device and the automatic working system of automatic working system |
| CN106843230A (en) * | 2017-03-24 | 2017-06-13 | 上海思岚科技有限公司 | It is applied to the virtual wall system and its implementation of mobile device |
| WO2018171735A1 (en) * | 2017-03-24 | 2018-09-27 | 上海思岚科技有限公司 | Virtual wall system for use in mobile device, and implementation method thereof |
| US11275380B2 (en) | 2017-03-24 | 2022-03-15 | Shanghai Slamtec Co., Ltd. | Virtual wall system for mobile devices and implementation method thereof |
| CN106843230B (en) * | 2017-03-24 | 2019-11-19 | 上海思岚科技有限公司 | Virtual wall system and its implementation applied to mobile device |
| CN106997202A (en) * | 2017-03-24 | 2017-08-01 | 上海思岚科技有限公司 | The implementation method of virtual wall is set by mobile applications |
| WO2018214978A1 (en) * | 2017-05-26 | 2018-11-29 | 苏州宝时得电动工具有限公司 | Positioning device and method and automatically moving apparatus |
| US11448775B2 (en) | 2017-05-26 | 2022-09-20 | Positec Power Tools (Suzhou) Co., Ltd | Positioning apparatus and method and self-moving device |
| CN109083058A (en) * | 2017-06-14 | 2018-12-25 | 苏州宝时得电动工具有限公司 | Automatic suction and blowing device |
| CN109083058B (en) * | 2017-06-14 | 2020-07-14 | 苏州宝时得电动工具有限公司 | Automatic blowing and sucking device |
| WO2019096263A1 (en) * | 2017-11-16 | 2019-05-23 | 南京德朔实业有限公司 | Intelligent mowing system |
| CN110168466A (en) * | 2017-11-16 | 2019-08-23 | 南京德朔实业有限公司 | Intelligent mowing system |
| WO2019120145A1 (en) * | 2017-12-20 | 2019-06-27 | 苏州科瓴精密机械科技有限公司 | Robot and control method therefor |
| CN107912125A (en) * | 2017-12-20 | 2018-04-17 | 苏州科瓴精密机械科技有限公司 | Robot and its control method |
| CN111683517A (en) * | 2018-02-13 | 2020-09-18 | 罗伯特·博世有限公司 | Autonomous agricultural system and method for operating an agricultural system |
| WO2019184083A1 (en) * | 2018-03-29 | 2019-10-03 | 五邑大学 | Robot scheduling method |
| CN110612492A (en) * | 2018-06-20 | 2019-12-24 | 灵动科技（北京）有限公司 | Self-driven unmanned mower |
| CN109685849A (en) * | 2018-12-27 | 2019-04-26 | 南京苏美达智能技术有限公司 | A kind of the out-of-bounds determination method and system of mobile robot |
| CN109658432A (en) * | 2018-12-27 | 2019-04-19 | 南京苏美达智能技术有限公司 | A kind of the boundary generation method and system of mobile robot |
| CN109673242A (en) * | 2019-03-01 | 2019-04-26 | 重庆润通智能装备有限公司 | Intelligent grass-removing mowing control method and mowing control system |
| CN112824937A (en) * | 2019-11-20 | 2021-05-21 | 苏州宝时得电动工具有限公司 | Route generation method and device and mower |
| CN112824937B (en) * | 2019-11-20 | 2024-05-28 | 苏州宝时得电动工具有限公司 | Route generation method and device and mower |
| WO2021188028A1 (en) * | 2020-03-18 | 2021-09-23 | Husqvarna Ab | Robotic working tool system and method |
| CN111538343A (en) * | 2020-06-22 | 2020-08-14 | 天津联汇智造科技有限公司 | System, method and storage medium for robot to set traffic rules |
| CN111538343B (en) * | 2020-06-22 | 2020-09-25 | 天津联汇智造科技有限公司 | System, method and storage medium for robot to set traffic rules |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103324192A (en) | Boundary setting method and boundary setting system | |
| CN103324191A (en) | Control method and control system executing same | |
| EP3957447B1 (en) | Systems and methods for configurable operation of a robot based on area classification | |
| US11656082B1 (en) | Method for constructing a map while performing work | |
| CN103002729B (en) | The wireless dog fence system of custom-shaped and method | |
| CN204515530U (en) | Automatic running gear | |
| US20180255704A1 (en) | Zone control system for a robotic vehicle | |
| US9497901B2 (en) | Boundary definition system for a robotic vehicle | |
| RU2312579C2 (en) | Domestic network using self-mobile robot (versions) | |
| EP3237984B1 (en) | Area exclusion for operation of a robotic vehicle | |
| CN113296495B (en) | Path forming method and device of self-mobile equipment and automatic working system | |
| KR20180039437A (en) | Cleaning robot for airport and method thereof | |
| KR20170087384A (en) | Apparatus and System for Remotely Controlling a Robot Cleaner and Method thereof | |
| EP3686704B1 (en) | Method for generating a representation and system for teaching an autonomous device operating based on such representation | |
| CN103891305A (en) | Remote control system, remote control method, communication device and program | |
| CN103919663B (en) | Blind person's outdoor environment cognitive method | |
| US20230113061A1 (en) | System and method for rf based robot localization | |
| CN110069057A (en) | A kind of obstacle sensing method based on robot | |
| CN115248039A (en) | Multi-robot-multi-person cooperation control method, device and system | |
| CN110033497A (en) | Region labeling method, apparatus, electronic equipment and computer readable storage medium | |
| CN106383458A (en) | Universal wireless control method and system for electrical equipment | |
| CN205608416U (en) | Intelligence house service robot system based on remote control | |
| KR101736134B1 (en) | System and method for driving robot using action block | |
| CN114521841A (en) | Cleaning area management method, system, intelligent terminal, robot and storage medium | |
| KR101769867B1 (en) | System and method for driving robot using user terminal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20130925 |