CN104797033A - Automatic working equipment - Google Patents
Automatic working equipment Download PDFInfo
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- CN104797033A CN104797033A CN201410020492.0A CN201410020492A CN104797033A CN 104797033 A CN104797033 A CN 104797033A CN 201410020492 A CN201410020492 A CN 201410020492A CN 104797033 A CN104797033 A CN 104797033A
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- China
- Prior art keywords
- automatic operation
- operation equipment
- supply apparatus
- illumination
- light supply
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
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- Circuit Arrangement For Electric Light Sources In General (AREA)
Abstract
The invention discloses a piece of automatic working equipment comprising a shell, a working module, a walking module, an energy module, an image acquisition device, a light source device, and a main control module. The light source device is automatically turned on and off. A first illumination threshold and a second illumination threshold are set in the main control module, and the first illumination threshold is smaller than the second illumination threshold. When the value of ambient illumination is smaller than the first illumination threshold, the light source device is automatically turned on under control of the main control module; and when the value of ambient illumination is larger than the second illumination threshold, the light source device is automatically turned off under control of the main control module. The automatic working equipment of the invention can work under different illumination conditions, and on-off of the light source device does not need manual operation.
Description
Technical field
The present invention relates to a kind of automatic operation equipment, particularly relate to a kind of automatic operation equipment with light supply apparatus.
Background technology
At present, along with the quickening of human lives's rhythm, the household equipment of automation more and more receives an acclaim in the whole world.This automatic operation equipment has operational module, walking module, energy module, image collecting device and main control module, thus makes automatic operation equipment can depart from the operation of people, within the specific limits walking also execution work automatically.People clean from house by this automatic operation equipment, turf-mown etc. is uninteresting and free the housework work of wasting time and energy, and save the time of people, for people's life brings facility.
Automatic operation equipment common on market does not generally have light supply apparatus.When automatic operation equipment is in the environment of insufficient light, image collecting device is difficult to collect abundant input information, and the input information that main control module cannot be given according to image collecting device carries out the control of automatic operation equipment.The work such as house is clean, turf-mown that user can only select to use automatic operation equipment to carry out under the enough environment of light, this causes inconvenience to user.
Summary of the invention
The technical problem to be solved in the present invention: the automatic operation equipment providing a kind of improvement, makes automatic operation equipment also can carry out operation under the environment of insufficient light, and user no longer needs environmentally light to determine whether using automatic operation equipment.
For achieving the above object, technical scheme of the present invention is: a kind of automatic operation equipment, and work of automatically walking in working region, comprising: housing; Operational module, performs predetermined work; Walking module, comprises the wheels be arranged on housing and the running motor driving described wheels; Energy module, for the operation of automatic operation equipment provides energy; Image collecting device, obtains the image information in described automatic operation equipment front; Light supply apparatus, performs illumination work; Main control module, connects described operational module, walking module, energy module, image collecting device and light supply apparatus and controls the work of described automatic operation equipment; It is characterized in that: be provided with the first illumination threshold and the second illumination threshold in described main control module, described first illumination threshold is less than described second illumination threshold; When ambient illumination values is less than described first illumination threshold, described in described master control module controls, light supply apparatus is opened automatically; When ambient illumination values is greater than described second illumination threshold, described in described master control module controls, light supply apparatus is closed automatically.
Preferably, described automatic operation equipment, is characterized in that: described ambient illumination values calculates acquisition by described main control module by carrying out integrated average to the initial environment brightness value in a period of time.
Preferably, described automatic operation equipment, is characterized in that: described initial environment brightness value is obtained by described image collecting device or an illuminance transducer.
Preferably, described automatic operation equipment, is characterized in that: the illumination zone of described light supply apparatus covers the acquisition range of described image collecting device.
Preferably, described automatic operation equipment, is characterized in that: described light supply apparatus is produce the lighting device of white light or the lighting device for producing infrared light.
Preferably, described automatic operation equipment, is characterized in that: described light supply apparatus provides energy by described energy module.
Compared with prior art, the situation that automatic operation equipment of the present invention can realize environmentally light automatically starts and/or closes light supply apparatus, allow automatic operation equipment can carry out work under the environment of different illumination, improve automatic operation equipment to the robustness of environment.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, the invention will be further described.
Fig. 1 is the automatic operation device systems schematic diagram that embodiment of the present invention provides.
Fig. 2 is the module map of the automatic operation equipment that embodiment of the present invention provides.
Fig. 3 is the field of illumination schematic diagram of automatic operation equipment first execution mode of the present invention.
Fig. 4 is the stereogram of automatic operation equipment first execution mode of the present invention.
Fig. 5 is the stereogram of automatic operation equipment second execution mode of the present invention.
Fig. 6 is the vertical view of automatic operation equipment the 3rd execution mode of the present invention.
Fig. 7 is that the light supply apparatus that embodiment of the present invention provides is opened and the flow chart of automatically closing automatically.
Wherein,
1, automatic operation equipment; 3, base station; 5, working region;
9, boundary line; 11, housing; 13, wheels;
131, revolver; 132, rightly to take turns; 133, auxiliary wheel;
15, image collecting device; 17, light supply apparatus; 171, left light supply apparatus;
172, right light supply apparatus; 19, operational module; 21, energy module;
23, walking module; 30, main control module; 301, storage part;
302, calculating part; 303, control part; D, blind area;
Embodiment
Detailed description for the present invention and technology contents, coordinate accompanying drawing to be described as follows, appended accompanying drawing only provides reference and explanation, is not used for being limited the present invention.
Figure 1 shows that the automatic operation device systems schematic diagram of one embodiment of the invention.Automatic operation device systems be arranged on ground or other on the surface, in the present embodiment, ground region is divided into working region 5 and non-active area, and boundary line between working region 5 and non-active area forms boundary line 9.Working region 5 is the working range of automatic operation equipment 1, and boundary line 9 can be surrounded by electric wire, barrier or dummy line.Automatic operation device systems comprises automatic operation equipment 1 and base station 3.Automatic operation equipment 1 can be automatic mower, automatic cleaner, automatic lawn mower etc.In the present embodiment, automatic operation equipment 1 is automatic mower, and base station 3 is arranged in the periphery sides boundary line 9 of working region.
Composition graphs 2 and Fig. 4, automatic operation equipment 1 has housing 11 and the image collecting device 15 that is arranged on housing 11 and light supply apparatus 17, image collecting device 15 gathers the image of automatic operation equipment 1 front region, and light supply apparatus 17 irradiates the image-capture field of image collecting device 15.
Automatic operation equipment 1 also comprises walking module 23, operational module 19, energy module 21 and main control module 30.Described main control module 30 is all connected with walking module 23, energy module 21, operational module 19, light supply apparatus 17 and image collecting device 15, controls the work of automatic operation equipment.
Main control module 30 can ambient light illumination situation residing for automatic operation equipment 1, automatically opens or/and close light supply apparatus 17.Main control module 30 comprises storage part 301, calculating part 302 and control part 303.
Storage part 301 stores data required in calculating and control procedure.The data comprised in storage part 301 have: the first illumination threshold V preset
owith the second illumination threshold V
c, n initial environment brightness value v of sampling in a period of time t
i(i=1,2 ... n).First illumination threshold V
owith the second illumination threshold V
cconcrete numerical value be arrange according to the demand of the normal Working Control degree of image collecting device 15, the first illumination threshold V
obe less than the second illumination threshold V
c.The image collecting device 15 of dissimilar or different accuracy is different to the demand of illumination in course of normal operation, therefore, and corresponding first illumination threshold V
owith the second illumination threshold V
cconcrete numerical value also can difference to some extent.Such as, when image collecting device 15 selects Sony HDR-PJ790E, the first illumination threshold V
obe set to 6lux or 8lux, the second illumination threshold V
cbe set to 12lux or 15lux; When image collecting device 15 selects Sony SNC-CH140, the first illumination threshold V
obe set to 0.3lux or 0.5lux, the second illumination threshold V
cbe set to 2lux or 5lux.
Calculating part 302 is according to initial environment brightness value v in storage part 301
i, by specific computational methods, calculate the brightness value V of environment residing for automatic operation equipment 1.Preferably, ad hoc approach adopts integrated average: by n the initial environment brightness value v to sampling
i(i=1,2 ... n) carry out sum-average arithmetic, obtain the ambient illumination values of t time period
ad hoc approach also can adopt the computational methods of other types, such as, utilizes interpolation method to ask for and obtains v
n-1/2and v
n+1/2, then obtain ambient illumination values by the method for average
concrete time t and number n, is arranged voluntarily according to image collecting device 15, and such as, special time is 1 second, and the number gathering initial environment brightness value is 25 or 50.
Control part 303 is by comparing the first illumination threshold V
owith the second illumination threshold V
cwith the size of ambient illumination values V, control the unlatching of light supply apparatus 17 or/and close.When ambient illumination values V is less than the first illumination threshold V
otime, control part 303 controls light supply apparatus 17 and opens; When ambient illumination values V is greater than the second illumination threshold V
ctime, control part 303 controls light supply apparatus 17 and closes.Control part 303 also control walking module 13, image collecting device 15, operational module 19 and energy module 21.
Operational module 19 is for performing predetermined work.In the present embodiment, operational module 19 is specially cutting module, comprises the cutting part (not shown) for mowing and the cutting motor (not shown) driving cutting part.
Energy module 21 provides energy for giving the operation of automatic operation equipment 1.Energy module 21 can be gasoline, power brick etc.Energy module 21 is included in the rechargeable battery pack arranged in housing 11 in the present embodiment.When work, power brick release electric energy is to maintain the work of automatic operation equipment 1.When inoperative, power brick can connect external power source with electric energy supplement.Especially, for designing more intelligently, in time detecting power brick electricity deficiency, automatic operation equipment 1 can search out base station 3 makeup energy voluntarily.
Walking module 23 comprises wheels 13 and drives the running motor (not shown) of wheels 13.Wheels 13 can have multiple method to set up.Usual wheels 13 comprise the auxiliary wheel 133 of driving wheel and the supplemental support housing 11 driven by running motor, and the quantity of driving wheel can be 1,2 or more.The normal direct of travel defining automatic operation equipment 1 is herein the front of automatic operation equipment 1, a side relative with front is the rear of automatic operation equipment 1, based on the front and rear direction of the automatic operation equipment 1 of definition, automatic operation equipment 1 also comprises the arranged on left and right sides between forward and backward side.As shown in Figure 3, in the present embodiment, the driving wheel of automatic operation equipment 1 is 2, lays respectively at the revolver 131 in left side and is positioned at the right of right side and takes turns 132.Revolver 131 and rightly take turns 132 and be symmetrical arranged about the axis of automatic running device 1.Revolver 131 and rightly take turns the rear that 132 are preferably located in housing 11, auxiliary wheel 133 is positioned at front, certainly also can replace position in other embodiments or change wheel number to reset position.
In the present embodiment, revolver 131 and rightly take turns 132 and connect a CD-ROM drive motor separately, exports to control to turn to realize differential.CD-ROM drive motor directly can connect driving wheel, also can establish transmission device between CD-ROM drive motor and driving wheel, as planet circular system etc. common in the art.In other examples, also can arrange driving wheel 2, CD-ROM drive motor 1, in this case, CD-ROM drive motor, by the first actuator drives revolver 131, takes turns 132 by the second actuator drives is right.Namely same motor is by different actuator drives revolvers 131 with rightly take turns 132.
As shown in Figure 3 and Figure 4, image collecting device 15 is arranged on top position, the front portion of housing 11, preferably to arrange between two parties, gathers the image of housing 11 front region.In the present embodiment, the acquisition range of image collecting device 15 is a fixed area, as fixing angular field of view 90 degree to 120 degree.In other embodiment, viewfinder range also can be movable, and certain angle scope in angular field of view of can choosing, as actual viewfinder range, is positioned at 90 degree of scopes at middle part as actual viewfinder range as chosen in angular field of view 120 degree.
The acquisition range of image collecting device 15 comprises the DCIJ region of rectangle in Fig. 3, and DCIJ region is positioned at the ground in the dead ahead of automatic running device 1, and and a bit of distance in automatic running device 1 interval, formed blind area d.The axis of the axis in DCIJ region and the housing 11 of automatic running device 1 overlaps, and the width in DCIJ region is slightly larger than the width of automatic running device 1.
As shown in Figure 3 and Figure 4, light supply apparatus 17 is arranged on the front upper of image collecting device 15, preferably arranges between two parties, irradiates the image-capture field of image collecting device 15.In the present embodiment, the front end of light supply apparatus 17 is concordant with the front end of image collecting device 15, the central axis of light supply apparatus 17 and the central axis of image collecting device 15 are parallel to each other, the acquisition range of the range of exposures overlay image harvester 15 of light supply apparatus 17.As shown in Figure 3, the range of exposures of light supply apparatus 17 comprises the EMNF region of rectangle, the acquisition range DCIJ region of EMNF region overlay image collecting device 15, and the length in EMNF region and width are greater than or equal to length and the width in DCIJ region.
As shown in Figure 5, in this second embodiment, light supply apparatus 17 is arranged on the front upper of image collecting device 15, preferably arranges between two parties, irradiates the image-capture field of image collecting device 15.In the present embodiment, the front end of light supply apparatus 17 is ahead of the front end of image collecting device 15, the central axis of light supply apparatus 17 and the central axis of image collecting device 15 are parallel to each other, the acquisition range of the range of exposures overlay image harvester 15 of light supply apparatus 17.
As shown in Figure 6, in the third embodiment, light supply apparatus 17 is two, is arranged on the anterior upper position of housing 11, and is installed on the left and right sides of image collecting device 15 respectively symmetrically, irradiates the image-capture field of image collecting device 15.In the present embodiment, left light supply apparatus 171 or advanced (not shown) concordant with the front end of image collecting device 15 with the front end of right light supply apparatus 172, the central axis of left light supply apparatus 171 and right light supply apparatus 172 and the central axis of image collecting device 15 are parallel to each other, the acquisition range of left light supply apparatus 171 and the superimposed range of exposures overlay image harvester 15 of right light supply apparatus 172.
In above-described embodiment, the relative installation of light supply apparatus 17 and image collecting device 15 is all optimal way, can be also the periphery that multiple light supply apparatus 17 is arranged in image collecting device 15, as long as can irradiate the acquisition range of image collecting device 15.In above-described embodiment, it is optimal way that range of exposures covers acquisition range, and certainly, in other enforceable execution modes, it is also passable that range of exposures is slightly less than acquisition range.
In above-described embodiment, in order to not produce interference to the color of image that image collecting device 15 collects, preferably, light supply apparatus 17 is the light supply apparatus of white light type, and reference color temperature is 3000K ~ 6000K.Certainly, other can not produce to color of image the light supply apparatus disturbed also is available.
In above-described embodiment, when image collecting device 15 is built-in can respond to the element of Infrared time, light supply apparatus 17 can replace with produce ultrared infrared light-emitting device.Infrared light-emitting device can be LED infrared lamp, microarray LED infrared lamp, halogen optical filtering type infrared lamp, laser infrared lamp etc.
In above-described embodiment, the power supply of described light supply apparatus 17 is provided by above-mentioned energy module 21, does not need to arrange separately power supply to provide the energy source of light supply apparatus 17 in addition again.
Please refer to Fig. 7, a kind of method that the present invention also provides automatic control light source apparatus 17 to open and close.Automatic control light source apparatus opening and closing method of the present invention, comprises the following steps:
Step S101: obtained the initial environment brightness value v in the acquisition range DCIJ region of image collecting device 15 by image collecting device 15 or an illuminance transducer (not shown).
Step S102: main control module 30 obtains ambient illumination values V by specific computational methods, ambient illumination values V is used for and the first illumination threshold V
oor/and the second illumination threshold V
crelatively.In the present invention, preferably adopt integrated average: in special time t, obtain specific n initial environment brightness value v by step S101
i(i=1,2 ..., n), ambient illumination values
ad hoc approach also can adopt the computational methods of other types, such as, utilizes interpolation method to ask for and obtains v
n-1/2and v
n+1/2, then obtain ambient illumination values by the method for average
concrete time t and number n, is arranged voluntarily according to image collecting device, and such as special time t is 1s, and the number n gathering initial environment brightness value is 25 or 50.
First illumination threshold V
owith the second illumination threshold V
csetting, normally work according to image collecting device and to arrange the demand of illumination illumination, the image collecting device of dissimilar or different accuracy is to the first illumination threshold V of light supply apparatus
owith the second illumination threshold V
cdifference to some extent, the first illumination threshold V
obe less than the second illumination threshold V
c.Such as, when image collecting device 15 selects Sony HDR-PJ790E, the first illumination threshold V
obe set to 6lux or 8lux, the second illumination threshold V
cbe set to 12lux or 15lux; When image collecting device 15 selects Sony SNC-CH140, the first illumination threshold V
obe set to 0.3lux or 0.5lux, the second illumination threshold V
cbe set to 2lux or 5lux.
Step S103: main control module 30 compares ambient illumination values V and the first illumination threshold V
osize.Environment average illumination value V is less than or equal to the first illumination threshold V
o, represent current surround lighting and do not met the image collecting device 15 normally required illumination of work, need to start light supply apparatus 17.Work as V<V
otime, enter step S104; As V>=V
otime, enter step S105.
Step S104: main control module 30 controls light supply apparatus 17 and automatically opens, for image collecting device 15 provides light supply.After unlatching completes, then reenter step S103.
Step S105: main control module 30 compares ambient illumination values V and the second illumination threshold V
csize.Environment average illumination value V is greater than the second illumination threshold V
c, represent current surround lighting and fully met the image collecting device 15 normally required illumination of work, in order to energy-conservation, need to close light supply apparatus 17.Work as V>V
ctime, enter step S106; As V≤V
ctime, enter step S103.
Step S106: main control module 30 controls light supply apparatus 17 and automatically closes.After closedown completes, then reenter step S103.
What it may occur to persons skilled in the art that is; the concrete steps of the automatic control light source apparatus opening and closing method in the present invention can have other version; the concrete structure of automatic operation equipment 1 also can have a lot of versions; but the technical characteristics of the used technical solution and the present invention same or similar, all should be covered by scope.
Claims (7)
1. an automatic operation equipment, work of automatically walking in working region, comprising:
Housing;
Operational module, performs predetermined work;
Walking module, comprises the wheels be arranged on housing and the running motor driving described wheels;
Energy module, for the operation of automatic operation equipment provides energy;
Image collecting device, obtains the image information in described automatic operation equipment front;
Light supply apparatus, performs illumination work;
Main control module, connects described operational module, walking module, energy module, image collecting device and light supply apparatus and controls the work of described automatic operation equipment;
It is characterized in that:
Be provided with the first illumination threshold and the second illumination threshold in described main control module, described first illumination threshold is less than described second illumination threshold; When ambient illumination values is less than described first illumination threshold, described in described master control module controls, light supply apparatus is opened automatically; When ambient illumination values is greater than described second illumination threshold, described in described master control module controls, light supply apparatus is closed automatically.
2. automatic operation equipment according to claim 1, is characterized in that: described ambient illumination values calculates acquisition by described main control module by carrying out integrated average to the initial environment brightness value in a period of time.
3. automatic operation equipment according to claim 2, is characterized in that: described initial environment brightness value is obtained by described image collecting device or an illuminance transducer.
4. automatic operation equipment according to claim 1, is characterized in that: the front end of the front end relative image harvester of described light supply apparatus is concordant or advanced.
5. automatic operation equipment according to claim 1, is characterized in that: the illumination zone of described light supply apparatus covers the acquisition range of described image collecting device.
6. automatic operation equipment according to claim 1, is characterized in that: described light supply apparatus is produce the lighting device of white light or the lighting device for producing infrared light.
7. automatic operation equipment according to claim 1, is characterized in that: described light supply apparatus provides energy by described energy module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410020492.0A CN104797033A (en) | 2014-01-17 | 2014-01-17 | Automatic working equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410020492.0A CN104797033A (en) | 2014-01-17 | 2014-01-17 | Automatic working equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104797033A true CN104797033A (en) | 2015-07-22 |
Family
ID=53561432
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410020492.0A Pending CN104797033A (en) | 2014-01-17 | 2014-01-17 | Automatic working equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104797033A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107041054A (en) * | 2017-06-02 | 2017-08-11 | 浪潮金融信息技术有限公司 | Lamp light control method and device |
| CN113163126A (en) * | 2020-01-03 | 2021-07-23 | 苏州宝时得电动工具有限公司 | Image acquisition system and method |
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2014
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| US20070135966A1 (en) * | 2005-12-12 | 2007-06-14 | Honda Motor Co., Ltd. | Legged mobile robot |
| CN101406757A (en) * | 2007-10-12 | 2009-04-15 | 鹏智科技(深圳)有限公司 | Human-shaped interactive toy |
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| CN107041054A (en) * | 2017-06-02 | 2017-08-11 | 浪潮金融信息技术有限公司 | Lamp light control method and device |
| CN113163126A (en) * | 2020-01-03 | 2021-07-23 | 苏州宝时得电动工具有限公司 | Image acquisition system and method |
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Application publication date: 20150722 |
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