CN105785986A - Automatic working equipment - Google Patents
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- CN105785986A CN105785986A CN201410809320.1A CN201410809320A CN105785986A CN 105785986 A CN105785986 A CN 105785986A CN 201410809320 A CN201410809320 A CN 201410809320A CN 105785986 A CN105785986 A CN 105785986A
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Abstract
The invention provides automatic working equipment capable of working in the boundary-crossing working mode. The automatic working equipment comprises a housing, a working module, a traveling module, an image acquisition device and a control module. The control module recognizes the boundary of the working region of the automatic working equipment according to images acquired by the image acquisition device. When the automatic working equipment is working in the boundary-crossing working mode, the working module is flush with the boundary or partially goes beyond the boundary to conduct the predetermined operation along the boundary. At the boundary of the working region, the automatic working equipment can be selected to run in the boundary-crossing working mode. Therefore, the working module is enabled to conduct the predetermined operation within the boundary region. The condition that the boundary region cannot be processed by the working module can be avoided. In this way, users no longer need to separately handle with the boundary region, so that both the labor force and the time are saved. Meanwhile, the user experience of the automatic working equipment is greatly improved.
Description
Technical field
The present invention relates to a kind of work equipment automatically, particularly relate to and a kind of there is the automatic work equipment across limit mode of operation.
Background technology
Automatic work equipment just can realize automatic work, such as automatic mower or automatic cleaner without manual operation, it is achieved that carries out mowing or dust out in the time of user's working or amusement, brings great advantage to the user.Automatic work equipment is generally walked in predetermined working region, and is back to the supplementary energy in specific manor (such as bus stop etc.) when electricity is relatively low, or returns to specific manor when completing work or being rainy.
The working region of existing automatic mower is generally by the boundary line arranging physics, and such as wire or hedge, the boundary line of automatic mower detecting physics is to determine working region.The process of border wiring is cumbersome, time and effort consuming, and is likely present non-grass areas in boundary line, or there is also the region that need to mow outside boundary line, and the method adopting physical boundary line is dumb, inconvenient.
Gradually, production firm recognizes such problem, by arranging image collecting device on automatic mower, image processing techniques identifies region, meadow and the boundary information of non-grass region, ground and both boundarys.Owing to automatic mower can only work in working region, and owing to safety demand leaves certain distance between the walking module of automatic mower and operational module, therefore the grass of distance border, meadow certain distance be in all the time cut less than state.Attractive in appearance for whole meadow, the grass that user has to boundary is left over individually processes, and adds user labour so that the Consumer's Experience sense of automatic mower declines.
Summary of the invention
Based on this, it is necessary to for the problems referred to above, it is provided that a kind of have when boundary works across the automatic work equipment of limit mode of operation.
A kind of work equipment automatically, walking and work automatically in working region, including, housing；Operational module, is housed in described housing, performs predetermined work；Walking module, supports described housing；Image collecting device, is arranged on the housing, obtains the image information of target area；Control module, connect and control described operational module, described walking module and described image collecting device, it is achieved work equipment is automatically walked and automatically works automatically；The image that described control module obtains according to described image collecting device, identifies the border of working region residing for described automatic work equipment；Wherein, described automatic work equipment has when boundary works across limit mode of operation, and in this mode, described operational module is concordant with border or partly exceeds working region, performs predetermined work along border
Preferably, described automatic work equipment has edgewise mode of operation when boundary works, and in this mode, described operational module, in working region, performs predetermined work along border.
Preferably, described automatic work equipment automatically selects across limit mode of operation or edgewise mode of operation according to boundary information.
Preferably, described boundary information includes the difference in height of working region and the intersection of non-active area.
Preferably, if the difference in height of the intersection of working region and non-active area is in preset range, then described automatic work equipment selects across limit mode of operation；If the difference in height of the intersection of working region and non-active area is in outside preset range, then described automatic work equipment selects edgewise mode of operation.
Preferably, described automatic work equipment also includes distance detection sensor, and described distance detection sensor is used for obtaining described boundary information.
Preferably, according to the image that described image collecting device obtains, in described control module analysis image, the texture in predetermined color and image, identifies whether described automatic work equipment is in the border of working region.
Preferably, the image division that described image collecting device is obtained by described control module is some subimage blocks, a sub regions of each subimage block correspondence target area；Described control module extracts the color of each pixel of at least one subimage block；Described main control module calculates predetermined color ratio shared in this subimage block and compares with the first preset value；Described main control module extracts the textural characteristics value of this subimage block and compares with the second preset value；Ratio shared by described main control module predetermined color in a subimage block of image meets or exceeds the first preset value and when predetermined texture value meets or exceeds the second preset value, judge that the subregion that this subimage block is corresponding is working region, if the ratio in this subimage block shared by predetermined color less than the second preset value, then judges that the subregion that this subimage block is corresponding is non-active area less than the first preset value or textural characteristics value.
The present invention also provides for a kind of method of automatic work equipment, and described automatic work equipment includes housing, image collecting device, controls module, operational module, the method comprise the steps that step one, described image capture device photographic subjects region form image；Step 2, described control module comes from the border of working region residing for dynamic work equipment according to described image recognition；Step 3, described automatic work equipment is when boundary works, it is possible to automatically select across limit mode of operation or edgewise mode of operation according to boundary information.
Preferably, described automatic work equipment is in when the mode of operation of limit, and described operational module is concordant with border or partly exceeds working region, performs predetermined work along border.
Preferably, when described automatic work equipment is in edgewise mode of operation, described operational module, in working region, performs predetermined work along border.
Preferably, step 3 detailed process is: if the difference in height of the intersection of working region and non-active area is in preset range, then described automatic work equipment selects across limit mode of operation；If the difference in height of the intersection of working region and non-active area is in outside preset range, then described automatic work equipment selects edgewise mode of operation.
Preferably, described automatic work equipment includes distance detection sensor, is used for obtaining described boundary information.
Preferably, described step 2 is the texture in described control module analysis image in predetermined color and image, identifies whether described automatic work equipment is in the border of working region.
Preferably, the image division that described image collecting device is obtained by described control module is some subimage blocks, a sub regions of each subimage block correspondence target area；Described control module extracts the color of each pixel of at least one subimage block；Described main control module calculates predetermined color ratio shared in this subimage block and compares with the first preset value；Described main control module extracts the textural characteristics value of this subimage block and compares with the second preset value；Ratio shared by described main control module predetermined color in a subimage block of image meets or exceeds the first preset value and when predetermined texture value meets or exceeds the second preset value, judge that the subregion that this subimage block is corresponding is working region, if the ratio in this subimage block shared by predetermined color less than the second preset value, then judges that the subregion that this subimage block is corresponding is non-active area less than the first preset value or textural characteristics value.
Compared with prior art, the automatic work equipment of the present invention has across limit mode of operation.Under the mode of operation of limit, the operational module of automatic work equipment is at least partially disposed at non-active area or at least concordant with border, thus work equipment can process the working region near border automatically.Borderline region need not individually be processed by user, saves labour and time, is greatly improved the Consumer's Experience sense of automatic work equipment.
Accompanying drawing explanation
The purpose of invention described above, technical scheme and beneficial effect by the following detailed description being capable of specific embodiments of the invention, can describe in combination with accompanying drawing and clearly obtain.
Identical label and symbol in accompanying drawing and description are used for representing identical or equivalent element.
Fig. 1 is the schematic diagram of one embodiment of the present invention automatic working system.
Fig. 2 is the axonometric chart of the automatic work equipment of the automatic working system shown in Fig. 1.
Fig. 3 is the module map of work equipment automatically shown in Fig. 2.
Fig. 4 is the schematic top plan view of work equipment automatically shown in Fig. 2.
Fig. 5 is that automatic work equipment shown in Fig. 2 is across limit mode of operation schematic diagram.
Fig. 6 is automatic work equipment edgewise mode of operation schematic diagram shown in Fig. 2.
Fig. 7 is the schematic flow sheet in boundary work of work equipment automatically shown in Fig. 2.
Fig. 8 is the module map of the Boundary Recognition unit shown in Fig. 3.
Fig. 9 is the shooting area schematic diagram of the automatic work equipment shown in Fig. 2.
Figure 10 is the pixel distribution schematic diagram of the image shown in Fig. 9.
Figure 11 is the schematic flow sheet of the first embodiment of working region determination methods.
Figure 12 is the schematic flow sheet of the second embodiment of working region determination methods.
1, automatic work equipment；161, right distance detection sensor；
3, bus stop；162, left distance detection sensor；
5, working region；17, energy module；
51, the border circle of working region；19, operational module；
7, non-active area；31, Boundary Recognition unit；
9, border；311, sub-zone dividing subelement；
11, housing；312, color extraction subelement；
12, module is controlled；313, accounting computation subunit；
13, walking module；314, accounting compares subelement；
131, right driving wheel；315, texture blending subelement；
132, left driving wheel；316, texture compares subelement；
133, auxiliary wheel；317, working region identifies subelement；
15, image collecting device；318, storing sub-units；
16, distance detection sensor；33, mode of operation selects unit；
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the present invention are described in detail, so that advantages and features of the invention can be easier to be readily appreciated by one skilled in the art, thus protection scope of the present invention being made apparent and clear and definite defining.Appended accompanying drawing only provides reference and explanation, is not used for the present invention is any limitation as.
Such as Fig. 1, the automatic work equipment 1 of a kind of embodiment is a part for automatic working system.
This automatic working system is arranged on ground or other surfaces.In the present embodiment, ground is divided into working region 5 and non-active area 7, and the boundary line of working region 5 and non-active area 7 forms border 9.Working region 5 and non-active area 7 visually have difference.This automatic working system includes automatic work equipment 1, such as automatic mower or automatic cleaner, and bus stop 3.In the present embodiment, automatic work equipment 1 is automatic mower, and bus stop 3 is arranged on border 9.Automatic work equipment 1 is walked in the working region 5 that border 9 limits and works, and return bus stop 3 supplements energy when electricity is relatively low, returns bus stop 3 when completing work or being rainy.Border 9 can be surrounded by electric wire, barrier, dummy line, or is only the optical bounds line formed between meadow and non-meadow.
Such as Fig. 2, the axonometric chart of automatic work equipment 1 in this detailed description of the invention.Automatic work equipment 1 has housing 11 and the image collecting device 15 being arranged on housing 11.Image collecting device 15 shoots automatic work equipment 1 front region thus forming image.
In conjunction with Fig. 2 and Fig. 3, automatic work equipment 1 also includes controlling module 12, walking module 13, operational module 19, energy module 17.Control module 12 and connect and control walking module 13, operational module 19, energy module 17, image collecting device 15.
Control the image that module 12 obtains according to image collecting device 15, identify the border 9 of working region residing for automatic work equipment 1.Control module 12 and include Boundary Recognition unit 31 and mode of operation selection unit 33.Boundary Recognition unit 31, for identifying the border 9 between working region 5 and non-active area 7.Mode of operation selects unit 33 according to boundary information, and selecting automatic work equipment 1 is still along edge mode across edge mode in the pattern that boundary works.
Image collecting device 15 is arranged on the position that the front portion of housing 11 is top, it is preferred that be centrally located, and gathers the image of housing 11 front region, and this front region at least includes the target area on ground, front.In the present embodiment, the viewfinder range of image collecting device 15 is a fixed area, such as fixing angular field of view 90 degree to 120 degree.In other alternative embodiments, viewfinder range can also be movable, can choose in angular field of view that certain angle scope is as actual viewfinder range, as chosen 90 degree of scopes in the middle part of being positioned in angular field of view 120 degree as actual viewfinder range.
In one embodiment, shutter (not shown) also can be set above image collecting device 15, shutter is outwards horizontal-extending from the top of image collecting device 15, to avoid sun exposure image collecting device 15 to cause over-exposed, it can be also described image collecting device 15 rain cover.
Energy module 17 is for providing energy to the operation of automatic work equipment 1.The energy of energy module 17 can be gasoline, battery bag etc., and energy module 17 includes the rechargeable battery pack of setting in housing 11 in the present embodiment.When work, battery bag release electric energy works to maintain automatic work equipment 1 and walks.When inoperative, battery may be coupled to external power source with electric energy supplement.Especially, for more humane design, when detecting the electricity deficiency of battery, automatic work equipment 1 meeting searching bus stop 3 electric energy supplement voluntarily.
Walking module 13 includes wheels and drives the running motor of wheels.Wheels can have multiple method to set up.Usual wheels include the driving wheel that driven by running motor and auxiliary supports the auxiliary wheel of housing 11, and the quantity of driving wheel can be 1,2 or more, and auxiliary wheel correspondingly can also be set to 1,2 or multiple.As shown in Figure 4, arrow represents the moving direction of automatic work equipment 1.Using the moving direction of automatic work equipment 1 as front side, the side relative with front side is rear side, the respectively left and right sides, the both sides adjacent with side, front and back.In the present embodiment, the driving wheel of automatic work equipment 1 is 2, is respectively positioned at the right driving wheel 131 on right side and is positioned at the left driving wheel 132 in left side.Right driving wheel 131 and left driving wheel 132 are symmetrical arranged about the axis of automatic work equipment 1.Auxiliary wheel 133 is centrally located on axis.Right driving wheel 131 and left driving wheel 132 are preferably located at the rear portion of housing 11, and auxiliary wheel 133 is positioned at front portion.Certainly setting can also be replaced in other embodiments.
In the present embodiment, right driving wheel 131 and left driving wheel 132 each connect a driving motor, to realize differential output to control to turn to.Drive motor can be directly connected to driving wheel but it also may to set actuating device driving between motor and driving wheel, such as planet circular system etc. common in the art.In other examples, it is possible to driving wheel 2 is set, drive 1, motor, in this case, drive motor by the first right driving wheel 131 of actuator drives, by the second actuator drives left driving wheel 132.Namely same motor is by the different right driving wheels 131 of actuator drives and left driving wheel 132.
Operational module 19 is used for performing specific work.As shown in Figure 4, in the present embodiment, operational module 19 is specially cutting part, such as cutting blade.Operational module 19 is by cutting motor (not shown) driving work.Operational module 19 is centrally located on the axis of automatic work equipment 1, is arranged at below housing 11, between auxiliary wheel and driving wheel.Operational module 19 in the course of the work, amasss by rotating the circular cutting surfaces formed as shown in Figure 4.The distance at distance driving wheel 132 or 131 edge, cut edge of operational module 19 is L.The concrete numerical value of distance L can be varied from according to different operational modules 19 and walking module 13, but the distance that must not require lower than safety.
Shown in Fig. 1, when automatic work equipment 1 works along border 9, owing to there is the safe distance of L between ply edge and cut edge, in working region 5, the circle grass in the L distance on distance border 9 is all without being cut, i.e. the border circle 51 of working region in figure.In an embodiment of the present invention, automatic work equipment 1 has across limit mode of operation when boundary 9 works.With reference to Fig. 5, under the mode of operation of limit, automatic work equipment 1 can stride across border 9 certain distance, and namely operational module 19 part exceeds working region 5, or operational module 19 flushes with boundary line 9.Owing to the position of operational module 19 extends, therefore operational module 19 can cut to the grass in the border circle 51 of working region.Thus, the meadow that the border of working region is enclosed in 51 need not be carried out individual processing by user, saves labour and time, is greatly improved the Consumer's Experience sense of automatic work equipment 1.
In one embodiment, automatic work equipment 1 not only has when boundary works across limit mode of operation, also has edgewise mode of operation.With reference to Fig. 6, under edgewise mode of operation, automatic work equipment 1 is only walked along border 9 and is worked in working region 5.
When boundary works, automatic work equipment 1 is based primarily upon boundary information, automatically selects edgewise mode of operation still across limit mode of operation.Boundary information includes whether the difference in height of intersection between working region 5 and non-active area 7 is in default scope.
When automatic work equipment 1 is in boundary work, if the difference in height between working region 5 and non-active area 7 is in default scope, then work equipment 1 selects across limit mode of operation automatically；If the difference in height between working region 5 and non-active area 7 is in outside default scope, then work equipment 1 selects edgewise mode of operation automatically.Automatic work equipment 1 can select across limit mode of operation or edgewise mode of operation according to difference in height, ensures that the safety when meadow, border is processed of the automatic work equipment 1.The preset range of concrete difference in height, is varied from according to different automatic work equipments 1.Normally walking or/and the operational module normal operation of automatic work equipment 1 as long as difference in height does not affect automatic work equipment 1, its height difference just belongs within preset range.
Concrete process is, controls module 12 and the difference in height between working region 5 and non-active area 7 and preset range are compared judgement.If difference in height is in preset range, controlling module 12 and send instruction to walking module 13, control walking module 13 and stride across the distance that border 9 is certain, automatic work equipment 1 is working under the mode of operation of limit.If difference in height is in outside preset range, controlling module 12 and do not send the instruction across limit to walking module 13, automatic work equipment 1 is still walked along border 9 and is worked.
Difference in height between working region 5 and non-active area 7 can obtain in several ways.Difference in height according to the residing specific working environment of automatic work equipment 1, when dispatching from the factory preset or when being initially powered up, just can be stored in control module 12 by user.Difference in height can also be obtained automatically by automatic work equipment 1.In one embodiment, automatic work equipment 1 is furnished with distance detection sensor 16.Distance detection sensor 16 is used for detecting specific range, and then the distance value of detection is transferred to control module 12 again, is obtained difference in height by controlling module 12 by calculating.Distance detection sensor body type can be the distance measuring sensors such as electro-optical distance measurement sensor, laser range sensor, ultrasonic distance-measuring sensor.
Distance detection sensor 16 can be arranged on housing 11 left side or/and the edge on the right, it is also possible to is arranged on the hub centre place of driving wheel.When working region 5 is smooth, it is possible to only arranging apart from detection sensor 16 by the side of non-active area 7 at automatic work equipment 1, the distance of side, working region 5 can be preset when dispatching from the factory or start shooting.Distance detection sensor 16 predominantly detects non-active area 7 and detects when the distance M2, the distance M1 between working region 5 and specified reference point between sensor 16 can dispatch from the factory or start shooting preset to distance.M2 and M1 is poor, it is possible to obtain the difference in height of working region 5 and non-active area 7 intersection.
With reference to Fig. 5 and Fig. 6, in one embodiment, automatic work equipment 1 is respectively provided with distance detection sensor 162 and 161 on the left side of housing 11 and edge, the right.Distance detection sensor 162 detects non-active area 7 and distance M2 between, and distance detection sensor 161 detects working region 5 and distance M1 between.M2 and M1 is poor, so that it may with the difference in height being obtained with working region 5 and non-active area 7 intersection.
In one embodiment, it is also possible to one or more distance detection sensor 16 is set in the front portion of housing 11 or rear portion.When automatic work equipment 1 runs to corner, border, anterior or rear portion distance detection sensor 16 can detect whether the difference in height of front or behind is within the scope of preset height difference.If work equipment 1 was in across limit mode of operation originally automatically, when difference in height is in preset range, automatic work equipment 1 can be made directly turning；When outside difference in height is in preset range, automatic work equipment 1 needs to be transferred to edgewise mode of operation across limit mode of operation turned by original, or automatically work equipment 1 (when front height difference the exceedes preset range) segment distance that needs to draw back is turned again, or work equipment 1 (when rearward height difference the exceedes preset range) segment distance that needs to march forward is turned again automatically.
With reference to Fig. 7, in another embodiment, it is provided that the method for work of a kind of automatic work equipment, comprise the following steps:
Step S301: image collecting device 15 photographic subjects region forms image；
Step S302: control module 12 according to image information, identify the border 9 of working region 5 residing for automatic work equipment 1；
Step S303: when automatic work equipment 1 is in boundary work, controls module 12 and judges whether the difference in height on border is in preset range；If difference in height is in preset range, then enter step S305；If difference in height is not in preset range, then enter step S304；
Step S304: work equipment 1 is when boundary work automatically, selects edgewise mode of operation；
Step S305: work equipment 1 is when boundary work automatically, selects across limit mode of operation.
Above-mentioned steps S301～S305 circulates execution.
Between working region 5 and non-active area 7, the recognition methods on border 9 has a variety of.If border 9 is surrounded by electric wire, then by electricity class or magnetic class sensor just recognizable border 9.If border 9 is only the optical bounds line formed between meadow and non-meadow, then pass through the acquired image of image collecting device 15 by specific image algorithm identification border 9.Image algorithm is mainly analyzed the every terms of information in the image of image collecting device 15 shooting and is judged the attribute of the various piece in target area, identifies working region 5 and non-active area 7, thus judging both borders 9.
In one embodiment, border 9 is mainly through controlling what Boundary Recognition unit 31 in module 12 identified.With reference to Fig. 8, Boundary Recognition unit 31 includes sub-zone dividing subelement 311, color extraction subelement 312, accounting computation subunit 313, accounting compares subelement 314, texture blending subelement 315, texture compares subelement 316, working region identifies subelement 317 and storing sub-units 318.
With reference to Fig. 9, the target area that the viewfinder range of image collecting device 15 includes is the DCIJ region of rectangle, and DCIJ region is positioned at the ground of the dead ahead of automatic work equipment 1.DCIJ region and automatic work equipment 1 interval a small distance, form blind area d.The axis of the axis in DCIJ region and the housing 11 of automatic work equipment 1 overlaps, and the width in DCIJ region is slightly larger than the width of automatic work equipment 1.So ensure that automatic work equipment 1 can gather the image information on its dead ahead ground nearby, judge its attribute for controlling module 12.
Whole viewfinder ranges of image collecting device 15 can more than DCIJ region, such as also include the region on more than ground, in this case, control module 12 in the complete image that be gathered by image collecting device 15, to extract corresponding to the predetermined pattern block in DCIJ region and carry out surface attributes analysis；Whole viewfinder ranges of image collecting device 15 can also be exactly equal to DCIJ region, and the complete image that now image collecting device 15 gathers is the predetermined image block corresponding to DCIJ region.
In one embodiment, through controlling the process of module 12, predetermined image block is divided into middle part, left part and three subimage blocks of right part, corresponds respectively to the subregion in target area.Middle part corresponds to the front dead center of automatic work equipment 1 and the zone line a that automatic work equipment 1 is wide；Left part is corresponding to the left field b on the left of the front of automatic work equipment 1, centrally located region a；Right part is corresponding to the right side area c on the right side of the front of automatic work equipment 1, centrally located region a.Between target area and automatic work equipment 1, there is the blind area d that an image collecting device does not cover.
In one embodiment, module 12 is controlled by analyzing colouring information and the texture information of various piece in image, it is judged that whether position corresponding to various piece is the meadow as working region.As working region, the color on meadow is green, and texture is natural irregular pattern；And as non-active area, other ground color such as ground, soil or cement are frequently not green, even if color is green, it typically is the article of artificial, thus having well-regulated texture.Therefore, control module 12 and identifying certain part colours for green, and crossgrained, then judge that this part is meadow, if color is not green or texture has rule, be then non-meadow.
Please also refer to Fig. 9 and Figure 10, described color extraction subelement 312 extracts the color of at least one each pixel of subimage block and judges whether each pixel is predetermined color.
An embodiment, color extraction subelement 312 extracts the color of each pixel in middle part, left part and right part respectively, and especially, color extraction subelement 312 extracts each pixel three primary colors (RGB) component；Having the numerical range of the three primary color components of described predetermined color in described storing sub-units 318, color extraction subelement 312 compares the numerical range of the three primary color components of a pixel and the three primary color components of predetermined color；If the three primary color components of a pixel respectively falls in the numerical range of the three primary color components of predetermined color, color extraction subelement 312 then judges that the color of this pixel is predetermined color.
In one embodiment, storing sub-units 318 has default tone value (Hue) scope of predetermined color, color extraction subelement 312 is after extracting a pixel three primary color components, the RGB component obtained is further converted into HSV (tone Hue, saturation Saturation, brightness Value) value, and judge that its tone value is whether within default tone value scope, it is that the color of this pixel is predetermined color.
In present embodiment, described predetermined color is green.
Accounting computation subunit 313 calculates the ratio (hereinafter referred to as accounting) that the pixel of predetermined color is shared in a subimage block.
Specifically, in a subimage block, accounting computation subunit 313 by the number of the pixel of the predetermined color number divided by pixel total in this subimage block, obtains the pixel of the predetermined color accounting in this subimage block.
Having the first preset value in described storing sub-units 318, described accounting compares subelement 314 and compares the accounting of predetermined color and the first preset value in this subimage block, it is judged that both sizes.
Texture blending subelement 315 extracts the textural characteristics value of this subimage block.
The dispersion of at least one parameter of one all pixel of subimage block can embody the difference degree between each value of this parameter.If target area is green paint, then in its image, the dispersion of a parameter is only small, even for 0.Due to the crossgrained on meadow, the dispersion of the difference value of a parameter of an all pixel of subimage block can more than or equal to a default dispersion, thus embodying the scrambling of this subimage block texture.Therefore, in present embodiment, described textural characteristics value is parameter discrete degree, such as color dispersion, gray scale dispersion, brightness dispersion etc..
Texture compares subelement 316 and compares the textural characteristics value of this subimage block with the second preset value to judge whether textural characteristics value reaches the second preset value.In present embodiment, described second preset value is for presetting dispersion.
It is working region that working region identifies that the accounting of the subelement 317 predetermined color in this subimage block meets or exceeds the subregion that the first preset value and textural characteristics value judge when meeting or exceeding the second preset value that this subimage block is corresponding.
Below for color dispersion, the detailed process of texture analysis is illustrated.Dispersion and default difference value are preset in the storage of described storing sub-units 318.
After color extraction subelement 312 judges whether each pixel is predetermined color, the pixel of all predetermined colors is labeled as 1 by texture blending subelement 315, and the pixel of non-predetermined color is labeled as 0；Texture blending subelement 315 calculates the gradient difference score value of the mark value of two often adjacent pixels, and judges that whether this gradient difference score value is be more than or equal to default difference value, such as 1；Texture blending subelement 315 calculates the dispersion of all gradient difference score values be more than or equal to this default difference value in this subregion, and the modes such as extreme difference, mean deviation or standard deviation specifically can be adopted to calculate dispersion.
In one embodiment, texture blending subelement 315 calculates the gradient difference score value of the tone value of two often adjacent pixels, and judges that whether this gradient difference score value is be more than or equal to default difference value；Texture blending subelement 315 calculates the dispersion of all gradient difference score values be more than or equal to this default difference value in this subregion, and the modes such as extreme difference, mean deviation or standard deviation specifically can be adopted to calculate dispersion.
Texture compares subelement 316 and compares this dispersion with default dispersion to judge whether this dispersion reaches to preset dispersion.
In one embodiment, Boundary Recognition unit 31 also can first carry out texture analysis, carry out colour recognition again, as long as the accounting of the predetermined color in a subimage block meets or exceeds the first preset value and textural characteristics value meets or exceeds the second preset value, described Boundary Recognition unit 31 then identifies that the subregion that this subimage block is corresponding is working region 5.The differentiating method of above-mentioned working region 5 and non-active area 7 is merely exemplary, and under similar thinking, Boundary Recognition unit 31 can also use other algorithm to be processed to image distinguish working region 5 and non-active area 7.Such as predetermined block is divided into more subregion to improve the degree of accuracy of location recognition, to change the shape of predetermined block, as fan-shaped to contain broader visual field etc. in become.
Below the process of the direction of travel that the automatic work equipment 1 in an embodiment controls automatic work equipment 1 according to the working region judged result of at least one subregion is illustrated.
With reference to Figure 11, the present invention also provides for the working region determination methods of a kind of automatic work equipment 1, and the first preferred embodiment of working region of the present invention determination methods comprises the following steps:
Step S101: image collecting device 15 shoots the image in automatic work equipment 1 objects ahead region.
Step S102: the image division that image collecting device 15 is shot by Boundary Recognition unit 31 is some subimage blocks.In present embodiment, some subimage blocks are divided into middle part, left part and three subimage blocks of right part, correspond respectively to zone line a, the left field b in target area and right side area c.
Step S103: Boundary Recognition unit 31 extracts the color of each pixel of at least one subimage block.
In present embodiment, Boundary Recognition unit 31 extracts three primary colors (RGB) component of each pixel of each subimage block.
Step S104: whether the color of each pixel of Boundary Recognition unit 31 identified sub-images block is predetermined color.
Step S105: Boundary Recognition unit 31 calculates predetermined color accounting in this subimage block.
In present embodiment, described predetermined color is green, has the numerical range of the color component of predetermined color, particularly three primary color components in Boundary Recognition unit 31.If the color component of a pixel respectively falls in the numerical range of the color component of predetermined color, then color extraction subelement 312 judges that the color of this pixel is predetermined color.In a subimage block, accounting computation subunit 313 by the number of the green pixel number divided by pixel total in this subimage block, obtains the pixel of the green accounting in this subimage block.
Step S106: Boundary Recognition unit 31 judges whether the ratio shared in this subimage block of predetermined color meets or exceeds the first preset value.It is then enter step S107, otherwise enters step S110.
Step S107: Boundary Recognition unit 31 extracts the textural characteristics value of this subimage block.
In present embodiment, described textural characteristics value is parameter discrete degree, and described second preset value is for presetting dispersion.Boundary Recognition unit 31 has default dispersion and default difference value, texture blending subelement 315 calculates the gradient difference of at least one parameter of two pixels often adjacent in a subimage block, judge that whether this gradient difference is more than default difference value, calculates the dispersion of all gradient differences more than this default difference value in this subimage block.
Step S108: Boundary Recognition unit 31 judges whether the textural characteristics value of this subimage block meets or exceeds the second preset value.It is then enter step S109, otherwise enters step S110.
Step S109: if the accounting of predetermined color meets or exceeds the first preset value and textural characteristics value meets or exceeds the second preset value in this subimage block, Boundary Recognition unit 31 then identifies that the subregion that this subimage block is corresponding is working region 5.
Step S110: if the accounting of predetermined color is less than the first preset value and textural characteristics value less than the second preset value in this subimage block, Boundary Recognition unit 31 then identifies that the subregion that this subimage block is corresponding is non-active area 7.
Refer to Figure 12, the second preferred embodiment of working region determination methods comprises the following steps:
Step S201: image collecting device 15 shoots the image on ground, automatic work equipment 1 front.
Step S202: the image division that image collecting device 15 is shot by Boundary Recognition unit 31 is some subimage blocks.In present embodiment, some subimage blocks are divided into middle part, left part and three subimage blocks of right part, correspond respectively to zone line a, left field b and right side area c.
Step S203: Boundary Recognition unit 31 extracts the textural characteristics value of each subimage block.
In present embodiment, described textural characteristics value is parameter discrete degree, and described second preset value is for presetting dispersion.Boundary Recognition unit 31 has default dispersion and default difference value, texture blending subelement 315 calculates the gradient difference of at least one parameter of two pixels often adjacent in a subimage block, judge that whether this gradient difference is more than default difference value, calculates the dispersion of all gradient differences more than this default difference value in this subimage block.
Step S204: Boundary Recognition unit 31 judges whether the textural characteristics value of this subimage block meets or exceeds the second preset value.It is then enter step S205, otherwise enters step S210.
Step S205: Boundary Recognition unit 31 extracts the color of each pixel of at least one subimage block.
In present embodiment, Boundary Recognition unit 31 extracts three primary colors (RGB) component of each pixel of each subimage block.
Step S206: whether the color of each pixel of Boundary Recognition unit 31 identified sub-images block is predetermined color.
Step S207: Boundary Recognition unit 31 calculates predetermined color accounting in this subimage block.
In present embodiment, described predetermined color is green, has the numerical range of the color component of predetermined color, particularly three primary color components in Boundary Recognition unit 31.If the color component of a pixel respectively falls in the numerical range of the color component of predetermined color, then color extraction subelement 312 judges that the color of this pixel is predetermined color.In a subimage block, accounting computation subunit 313 by the number of the green pixel number divided by pixel total in this subimage block, obtains the pixel of the green accounting in this subimage block.
Step S208: Boundary Recognition unit 31 judges whether the ratio shared in this subimage block of predetermined color meets or exceeds the first preset value.It is then enter step S209, otherwise enters step S210.
Step S209: if the accounting of predetermined color meets or exceeds the first preset value and textural characteristics value meets or exceeds the second preset value in this subimage block, Boundary Recognition unit 31 then identifies that subregion corresponding to this part is working region 5.
Step S210: if the accounting of predetermined color is less than the first preset value and textural characteristics value less than the second preset value in this subimage block, Boundary Recognition unit 31 then identifies that the subregion that this subimage block is corresponding is non-active area 7.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that, for the person of ordinary skill of the art, without departing from the inventive concept of the premise, it is also possible to making some deformation and improvement, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (15)
1. an automatic work equipment, walking and work automatically in working region, including:
Housing；
Operational module, is housed in described housing, performs predetermined work；
Walking module, supports described housing；
Image collecting device, is arranged on the housing, obtains the image information of target area；
Control module, connect and control described operational module, described walking module and described image collecting device, it is achieved work equipment is automatically walked and automatically works automatically；
The image that described control module obtains according to described image collecting device, identifies the border of working region residing for described automatic work equipment；
It is characterized in that, described automatic work equipment has when boundary works across limit mode of operation, and in this mode, described operational module is concordant with border or partly exceeds working region, performs predetermined work along border.
2. automatic work equipment according to claim 1, it is characterised in that described automatic work equipment has edgewise mode of operation when boundary works, in this mode, described operational module, in working region, performs predetermined work along border.
3. automatic work equipment according to claim 2, it is characterised in that described automatic work equipment automatically selects across limit mode of operation or edgewise mode of operation according to boundary information.
4. automatic work equipment according to claim 3, it is characterised in that described boundary information includes the difference in height of working region and the intersection of non-active area.
5. automatic work equipment according to claim 4, it is characterised in that if the difference in height of the intersection of working region and non-active area is in preset range, then described automatic work equipment selects across limit mode of operation；If the difference in height of the intersection of working region and non-active area is in outside preset range, then described automatic work equipment selects edgewise mode of operation.
6. automatic work equipment according to claim 4, it is characterised in that described automatic work equipment also includes distance detection sensor, and described distance detection sensor is used for obtaining described boundary information.
7. the automatic work equipment according to claim 1 to 6 any one, it is characterized in that, according to the image that described image collecting device obtains, in described control module analysis image, the texture in predetermined color and image, identifies whether described automatic work equipment is in the border of working region.
8. automatic work equipment according to claim 7, it is characterised in that the image division that described image collecting device is obtained by described control module is some subimage blocks, a sub regions of each subimage block correspondence target area；Described control module extracts the color of each pixel of at least one subimage block；Described main control module calculates predetermined color ratio shared in this subimage block and compares with the first preset value；Described main control module extracts the textural characteristics value of this subimage block and compares with the second preset value；Ratio shared by described main control module predetermined color in a subimage block of image meets or exceeds the first preset value and when predetermined texture value meets or exceeds the second preset value, judge that the subregion that this subimage block is corresponding is working region, if the ratio in this subimage block shared by predetermined color less than the second preset value, then judges that the subregion that this subimage block is corresponding is non-active area less than the first preset value or textural characteristics value.
9. a method of work for automatic work equipment, described automatic work equipment includes housing, image collecting device, controls module, operational module, it is characterised in that described method includes:
Step one, is formed image by described image capture device photographic subjects region；
Step 2, described control module comes from the border of working region residing for dynamic work equipment according to described image recognition；
Step 3, described automatic work equipment is when boundary works, it is possible to automatically select across limit mode of operation or edgewise mode of operation according to boundary information.
10. the method for work of automatic work equipment according to claim 9, it is characterised in that described automatic work equipment is in when the mode of operation of limit, described operational module is concordant with border or partly exceeds working region, performs predetermined work along border.
11. the method for work of automatic work equipment according to claim 9, it is characterised in that when described automatic work equipment is in edgewise mode of operation, described operational module, in working region, performs predetermined work along border.
12. the method for work of automatic work equipment according to claim 9, it is characterised in that step 3 detailed process is: if the difference in height of the intersection of working region and non-active area is in preset range, then described automatic work equipment selects across limit mode of operation；If the difference in height of the intersection of working region and non-active area is in outside preset range, then described automatic work equipment selects edgewise mode of operation.
13. the method for work of automatic work equipment according to claim 9, it is characterised in that described automatic work equipment includes distance detection sensor, is used for obtaining described boundary information.
14. the method for work of automatic work equipment according to claim 9, described step 2 is the texture in described control module analysis image in predetermined color and image, identifies whether described automatic work equipment is in the border of working region.
15. the method for work of automatic work equipment according to claim 14, it is characterised in that the image division that described image collecting device is obtained by described control module is some subimage blocks, a sub regions of each subimage block correspondence target area；Described control module extracts the color of each pixel of at least one subimage block；Described main control module calculates predetermined color ratio shared in this subimage block and compares with the first preset value；Described main control module extracts the textural characteristics value of this subimage block and compares with the second preset value；Ratio shared by described main control module predetermined color in a subimage block of image meets or exceeds the first preset value and when predetermined texture value meets or exceeds the second preset value, judge that the subregion that this subimage block is corresponding is working region, if the ratio in this subimage block shared by predetermined color less than the second preset value, then judges that the subregion that this subimage block is corresponding is non-active area less than the first preset value or textural characteristics value.
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