CN108802762A - A kind of obstacle avoidance apparatus and barrier-avoiding method of Intelligent luggage carrier - Google Patents
A kind of obstacle avoidance apparatus and barrier-avoiding method of Intelligent luggage carrier Download PDFInfo
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- CN108802762A CN108802762A CN201810475031.0A CN201810475031A CN108802762A CN 108802762 A CN108802762 A CN 108802762A CN 201810475031 A CN201810475031 A CN 201810475031A CN 108802762 A CN108802762 A CN 108802762A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
- A45C13/00—Details; Accessories
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention discloses the obstacle avoidance apparatus of an Intelligent luggage carrier, including：Obstacle detection module, for detecting whether there are obstacles in luggage case direction of advance；Obstacle analysis module, for judging that the barrier detected is fixed obstacle or moving obstacle；Obstacle monitoring modular, for when disturbance in judgement object is moving obstacle, monitoring the motion track of moving obstacle, and judge whether moving obstacle has active evacuation behavior；Obstacle avoidance module, for when barrier is fixed obstacle, control luggage case to take fixed avoidance strategy to avoid fixed obstacle；When barrier is moving obstacle, according to obstacle monitoring module monitors to moving obstacle motion track and moving obstacle whether have an evacuation behavior, control luggage case takes different mobile avoidance strategies to avoid moving obstacle.The present invention can recognize that the type of barrier, and different avoidance strategies is taken according to the type of barrier, realize intelligence degree height, safe Intelligent luggage carrier avoidance.
Description
Technical field
The present invention relates to intelligent case field more particularly to the obstacle avoidance apparatus and barrier-avoiding method of a kind of Intelligent luggage carrier.
Background technology
With the development of science and technology, the intelligence degree of Intelligent luggage carrier is also higher and higher, existing Intelligent luggage carrier can be with
Advanced automatically according to the control instruction of user.Then Intelligent luggage carrier is during advancing mobile, can inevitably encounter it is various not
Same barrier.The barrier-avoiding method of traditional Intelligent luggage carrier is by supersonic sounding avoidance, but this mode is lacked there are following
Point：
1, intelligence degree is low, is unable to the type of cognitive disorders object, cannot be directed to different types of barrier and carry out difference
Avoidance mode.
2, safety is low, and in face of the barrier of movement, pedestrian especially on the move, luggage case is in the overweight applicability of movement
It is poor, it is easy synkinematic barrier and collides.
Invention content
To solve above-mentioned technological deficiency, the present invention provides a kind of obstacle avoidance apparatus and barrier-avoiding method of Intelligent luggage carrier, can be with
The type of cognitive disorders object, and different avoidance strategies is taken according to the type of barrier, realize intelligence degree height, safety
High Intelligent luggage carrier avoidance.Specifically, the invention is realized by the following technical scheme：
On the one hand, the invention discloses a kind of obstacle avoidance apparatus of Intelligent luggage carrier, including：Obstacle detection module, for visiting
Survey whether there are obstacles in the luggage case direction of advance；Obstacle analysis module, for judging that the obstacle detection module is visited
The barrier measured is fixed obstacle or moving obstacle；Obstacle monitoring modular is sentenced for working as the obstacle analysis module
When the barrier that breaks is moving obstacle, the motion track of the moving obstacle is monitored, and judge the moving obstacle
Whether active evacuation behavior is had；Obstacle avoidance module, for when the barrier is fixed obstacle, controlling the luggage case and taking
Fixed avoidance strategy avoids the fixed obstacle；When the barrier is moving obstacle, mould is monitored according to the obstacle
Whether the motion track and the moving obstacle for the moving obstacle that block monitors have evacuation behavior, control the luggage
Case takes different mobile avoidance strategies to avoid the moving obstacle.
Preferably, the obstacle detection module includes：Ultrasound emission submodule is used for the ultrasound of emission detection barrier
Wave；Ultrasonic reception submodule, for receiving the ultrasonic wave for encountering the reflected ultrasound emission submodule transmitting of barrier,
And the distance of the barrier is obtained according to ultrasonic wave transmitting and the time difference received.
Preferably, the obstacle analysis module, according to the movement speed of the luggage case, direction and the institute repeatedly obtained
The time difference stated ultrasonic wave transmitting and received, judge that the barrier is fixed obstacle or moving obstacle.
Preferably, the obstacle monitoring modular includes：Image acquisition submodule, the shifting for acquiring the moving obstacle
Motion video；Image procossing submodule, the mobile image of the moving obstacle for being obtained to described image acquisition submodule
Image procossing is carried out, the motion track of the moving obstacle is obtained；Image analysis submodule, for being handled according to described image
The motion track for the moving obstacle that submodule obtains, analyzes whether the moving obstacle has active evacuation behavior.
Preferably, the obstacle monitoring modular further includes：Distance measurement submodule, for detecting the luggage case apart from institute
The current distance for stating moving obstacle, when the current distance be less than default first apart from when, start described image and obtain submodule
Block acquires the mobile image of the moving obstacle.
Preferably, the obstacle monitoring modular further includes：Pedestrian detection submodule, in described image acquisition submodule
Before acquiring image, detect whether the moving obstacle is pedestrian by infrared detector；The obstacle avoidance apparatus of the luggage case
Further include：Voice reminder module, for when it is pedestrian that the pedestrian detection submodule, which detects the moving obstacle, to institute
It states pedestrian and reports evacuation prompting voice.
Preferably, the obstacle avoidance module includes：Fixed evacuation submodule, is fixed obstacle for working as the barrier
When, control fixed obstacle described in the luggage case haul off；First movement avoids submodule, is for working as the barrier
Moving obstacle, and when the moving obstacle is without behavior is actively avoided, according to the motion track of the moving obstacle, control
The luggage case avoids the moving obstacle；Second movement evacuation submodule, is moving obstacle for working as the barrier,
And the moving obstacle controls the luggage case and stops mobile or control the luggage case towards the shifting when having evacuation behavior
Dynamic barrier evacuation side is avoided in the opposite direction.
On the other hand, the invention also discloses a kind of barrier-avoiding methods of Intelligent luggage carrier, are applied to containing of the present invention
Intelligent luggage carrier obstacle avoidance apparatus Intelligent luggage carrier, the barrier-avoiding method of the Intelligent luggage carrier includes：
S100 detects whether there are obstacles in the luggage case direction of advance；
S200 judges the type of the barrier when detecting in the luggage case direction of advance there are when barrier；If
It is fixed obstacle, then enters step S500, if moving obstacle, then enters next step；
S300 monitors the motion track of the moving obstacle, and judge institute when the barrier is moving obstacle
State whether moving obstacle has active evacuation behavior；
Whether S400 has active evacuation behavior according to the motion track and the moving obstacle of the moving obstacle, control
Making the luggage case takes different mobile avoidance strategies to avoid the moving obstacle；
S500 controls the luggage case and fixed avoidance strategy is taken to avoid the fixed obstacle.
Preferably, the step S300 includes：
S310 acquires the mobile image of the moving obstacle；
S320 carries out image procossing to the mobile image of the moving obstacle, obtains the moving rail of the moving obstacle
Mark；
S330 analyzes whether the moving obstacle has actively evacuation row according to the motion track of the moving obstacle
For.
Preferably, further include before the step S310：
S305 detects current distance of the luggage case apart from the moving obstacle；It is preset when the current distance is less than
First apart from when, enter step S306；
S306 detects whether the moving obstacle is pedestrian by infrared detector, if so, S310 is entered step, and it is logical
Crossing voice broadcast reminds the pedestrian to pay attention to avoiding.
The present invention at least has with the next item down technique effect：
(1) obstacle avoidance apparatus of Intelligent luggage carrier of the invention can be with the barrier in identification intelligent luggage case direction of advance
Type, and according to different type, take different Robot dodge strategies, intelligence degree high.
(2) for moving obstacle, the present invention can also further monitor its motion track, judge whether it has and actively avoid
Behavior avoids synkinematic barrier from colliding to further make different avoid-obstacle behaviors accordingly.
(3) present invention is by acquiring the mobile image of moving obstacle, and image procossing is carried out to it, obtains moving rail
Mark is handled to analyze whether moving obstacle has active evacuation behavior convenient for subsequent avoidance.Based on visual image analysis
Evacuation behavior further illustrates that the Intelligent luggage carrier intelligence degree of the obstacle avoidance apparatus containing the present invention is high.
(4) present invention also detects luggage case at a distance from moving obstacle before opening Image Acquisition, only in movement
Distance can just open the image of camera shooting acquisition moving obstacle when being less than pre-determined distance, in this way, saving image collecting device
Electric energy decreases the workload of subsequent image processing, accelerates the time of evacuation analyzing processing.
(5) obstacle avoidance apparatus of Intelligent luggage carrier of the invention also detects whether moving obstacle is capable by infrared detector
People can also carry out voice broadcast when it is pedestrian to detect barrier, and user is reminded to avoid in time, to further keep away
Exempt from luggage case and pedestrian impact, safety higher, while also enhancing user experience.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without having to pay creative labor, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is a kind of block diagram of the obstacle avoidance apparatus embodiment of Intelligent luggage carrier of the present invention；
Fig. 2 is a kind of block diagram of another embodiment of the obstacle avoidance apparatus of Intelligent luggage carrier of the present invention；
Fig. 3 is a kind of block diagram of another embodiment of the obstacle avoidance apparatus of Intelligent luggage carrier of the present invention；
Fig. 4 is a kind of flow chart of the obstacle avoidance apparatus barrier-avoiding method embodiment of Intelligent luggage carrier of the present invention；
Fig. 5 is a kind of flow chart of another embodiment of obstacle avoidance apparatus barrier-avoiding method of Intelligent luggage carrier of the present invention；
Fig. 6 is a kind of flow chart of another embodiment of obstacle avoidance apparatus barrier-avoiding method of Intelligent luggage carrier of the present invention.
Reference numeral：
10-- obstacle detection modules；20-- obstacle analysis modules；30-- obstacle monitoring modulars；40-- obstacle avoidance modules；50--
Voice reminder module；11-- ultrasound emission submodules；12-- ultrasonic reception submodules；31-- image acquisition submodules；32-- schemes
As processing submodule；33-- image analysis submodules；34-- distance measurement submodules；35-- pedestrian detection submodules；41-- is solid
Surely submodule is avoided；42-- first movements avoid submodule；The movement evacuation submodules of 42-- second.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that the described embodiments are only some of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
The present invention provides a kind of obstacle avoidance apparatus of Intelligent luggage carrier, and embodiment is as shown in Figure 1, include：Obstacle detection module
10, for detecting whether there are obstacles in luggage case direction of advance；Obstacle analysis module 20, for judging the obstacle detection
The barrier that module 10 detects is fixed obstacle or moving obstacle；Obstacle monitoring modular 30, for working as the obstacle
When analysis module 20 judges the barrier for moving obstacle, the motion track of the moving obstacle is monitored, and judges institute
State whether moving obstacle has active evacuation behavior；Obstacle avoidance module 40, for when the barrier is fixed obstacle, controlling
The luggage case takes fixed avoidance strategy to avoid the fixed obstacle；When the barrier is moving obstacle, according to
Whether the motion track and the moving obstacle for the moving obstacle that the obstacle monitoring modular 30 monitors have evacuation
Behavior controls the luggage case and different mobile avoidance strategies is taken to avoid the moving obstacle.
Intelligent luggage carrier, the control instruction intelligence of the control terminal according to user that can be intelligent move, luggage
Case is certain to encounter barrier, the obstacle avoidance apparatus of Intelligent luggage carrier of the invention then can be according to barrier during automatic moving
Hinder the difference of object and different Robot dodge strategies is taken to carry out avoidance.Specifically, can detect whether luggage case direction of advance has first
Barrier, if any, the further type of disturbance in judgement object can then take solid obstacle if it is fixed obstacle
The fixation avoidance strategy of object, for example turn to the left or to the right, without impinging on fixed obstacle.And for moving obstacle, then
Also further it can be monitored, obtain its motion track, see if there is active evacuation behavior, whether there is or not actively avoid behavior
Influence whether that the subsequent avoidance to the moving obstacle is handled.
In above-described embodiment, the obstacle detection module of Intelligent luggage carrier obstacle avoidance apparatus can pass through a variety of detection modes reality
It is existing, such as ultrasonic listening, infrared barrier detection etc..Specifically, we are so that ultrasound hinders as an example, as shown in Fig. 2, the obstacle
Detecting module includes：Ultrasound emission submodule 11 is used for the ultrasonic wave of emission detection barrier；Ultrasonic reception submodule 12 is used
The ultrasonic wave of the reflected ultrasound emission submodule transmitting of barrier is encountered in reception, and is emitted according to the ultrasonic wave
The distance of the barrier is obtained with the time difference of reception.That is ultrasonic transmission device and reception are installed on luggage case
Device, ultrasonic transmission device launch ultrasonic wave, which, which encounters barrier, can then reflect, and are received and fill by ultrasonic wave
It sets and receives.But also barrier can be substantially calculated at a distance from luggage case according to transmitting and the time difference received, such as
This can detect whether luggage case direction of advance has barrier, and can in advance be carried out according to the distance of barrier and answer countermeasure
Slightly, convenient for the subsequent avoidance reply processing of control luggage case.
Obstacle analysis module is mainly used to the type of disturbance in judgement object.Different types of barrier subsequently has different places
Reason strategy, and about the classification of barrier, then it can carry out simple classification according to actual demand.For example judge the obstacle detected
Whether object is pedestrian or non-pedestrian, be then that pedestrian takes different Robot dodge strategies according to barrier.Certainly, classify and be more
Unified point, it is exactly briefly according to barrier that barrier can be divided into two class of fixed obstacle and moving obstacle by we
Whether move and judges processing to carry out classification.Specifically, the obstacle analysis module, according to the mobile speed of the luggage case
Degree, direction and repeatedly obtain the ultrasonic wave transmitting and receive time difference, judge the barrier be fixed obstacle also
It is moving obstacle.It can be subjected to displacement, can also change at a distance from barrier, in moving process in luggage case moving process
Constantly emit ultrasonic wave to the barrier, and receive reflected ultrasonic wave, according to transmitting and the time difference received, can obtain
During before and after case section of withdrawing baggage is mobile, the luggage case is at a distance from barrier.Wherein, the distance after movement can conduct
Our disturbance in judgement objects whether be fixed obstacle standard, if the barrier is fixed obstacle, according to shifting
The speed of dynamic luggage case and direction, in conjunction with the luggage case before mobile at a distance from barrier, can substantially calculate it is mobile after with
Then the distance of barrier is compared at a distance from the barrier and luggage case after the movement that practical ultrasound calculates, sees again
Whether the two is consistent, then illustrates to be fixed obstacle if consistent, and if inconsistent, illustrate that the barrier also occurs
Displacement, then it may determine that it is moving obstacle to go out the barrier.
Judge barrier for after moving obstacle, we are again specifically monitored the moving obstacle, whether see it
There is active evacuation behavior, because if if the moving obstacle has evacuation behavior, if the evacuation that our luggage case is taken
Direction avoids direction just relatively with the moving obstacle, then may knock, therefore, it is also desirable to according to the moving disorder
The motion track of object and whether there is mobile evacuation behavior to take different mobile avoidance strategies.Specifically, as shown in Fig. 2, institute
Stating obstacle monitoring modular 30 includes：Image acquisition submodule 31, the mobile image for acquiring the moving obstacle；At image
Submodule 32 is managed, the mobile image of the moving obstacle for being obtained to described image acquisition submodule 31 carries out at image
Reason, obtains the motion track of the moving obstacle；Image analysis submodule 33, for handling submodule 32 according to described image
The motion track of the moving obstacle obtained, analyzes whether the moving obstacle has active evacuation behavior.
Motion track and the evacuation behavior for using machine vision monitoring moving obstacle among the above, specifically, can pass through
At least a pair of of binocular camera for being installed on luggage case obtains the image of the moving obstacle, and certainly, we only obtain one
Image can not analyze motion track and evacuation behavior, and therefore, this requires us to be carried out by continuous N images
Processing and analysis, to judge that the moving obstacle includes the motion track of moving direction, in conjunction with the shifting of luggage case itself
Dynamic direction, can tentatively judge whether the moving obstacle has active evacuation behavior.For example, monitoring that moving obstacle changes
The original direction of motion, the direction of motion will not bump against with luggage case, then it may determine that going out the moving obstacle has master
Dynamic evacuation behavior.In this case, luggage case then may be used the constant strategy of the direction of travel for keeping original and carry out avoidance, real
It is that moving obstacle actively avoids mobile luggage case on border.And for moving obstacle without actively avoiding behavior, then, just
It controls luggage case and carries out automatic obstacle avoidance, at this moment it is necessary to combine the motion track of the moving obstacle, so as to adjust luggage case
Moving direction so that luggage case will not bump against with the moving obstacle.
Preferably, another embodiment of the present invention, based on any of the above embodiments, as shown in figure 3, the obstacle
Monitoring modular 30 further includes：Distance measurement submodule 34, for detecting the luggage case apart from the current of the moving obstacle
Distance, when the current distance be less than default first apart from when, start described image acquisition submodule 31 and acquire the mobile barrier
Hinder the mobile image of object.By the setting distance measurement submodule 34 on luggage case, the barrier is detected at a distance from luggage case,
When the distance is less than preset value, then carry out at the subsequent Image Acquisition to the moving obstacle and image analysis
Reason, in this way, saving the electric energy of image capture device, decreases the generation of useless photo, greatly reduces at subsequent image
The workload of reason improves the efficiency of analyzing processing.Moreover, after moving obstacle is apart from luggage case certain distance, shooting
The quality of photo also just can be more preferable.
Preferably, based on any of the above embodiments, the obstacle monitoring modular 30 further includes：Pedestrian detection submodule
Block 35, for before described image acquisition submodule 31 acquires image, the moving obstacle to be detected by infrared detector
Whether it is pedestrian；The obstacle avoidance apparatus of the luggage case further includes：Voice reminder module, for working as the pedestrian detection submodule 35
When to detect the moving obstacle be pedestrian, report evacuation to the pedestrian and remind voice.
In the present embodiment, detection is also further classified for moving obstacle, whether judges the moving obstacle
It is pedestrian, because general pedestrian more likely carries out active evacuation, but also can be by carrying out information exchange biography with pedestrian
It is reminded up to evacuation.Specifically, can detect whether the moving obstacle is pedestrian by infrared detector, for pedestrian, then lead to
Pedestrian in front of voice reminder is crossed to avoid in time.Certainly, in addition, equally can also acquire the movement of the image analysis pedestrian or non-pedestrian
The mobile image of barrier analyzes its motion track by a series of images, judges whether there is active evacuation behavior.Actively avoid
Behavior generally can tentatively be judged by motion track, the motion track before changing, and the moving rail changed
Mark will not cause to bump against with luggage case, then illustrate that the pedestrian or moving obstacle take active evacuation behavior.
Another embodiment of the present invention, based on any of the above embodiments, as shown in figure 3, the obstacle avoidance module 40
Including：Fixed evacuation submodule 41, for when the barrier is fixed obstacle, controlling the luggage case haul off institute
State fixed obstacle；First movement avoids submodule 42, is moving obstacle for working as the barrier, and the moving disorder
When object is without behavior is actively avoided, according to the motion track of the moving obstacle, controls the luggage case and avoid the mobile barrier
Hinder object；Second movement evacuation submodule 43, is moving obstacle for working as the barrier, and the moving obstacle has evacuation
When behavior, control that the luggage case stops mobile or to control the luggage case towards moving obstacle evacuation direction opposite
Direction is avoided.
In the present embodiment, for fixed obstacle, the mode of steering is taken to avoid fixed obstacle, and for movement
Barrier then needs whether to have the behavior of active evacuation according to the moving obstacle and take different evacuation modes, specifically, right
In the moving obstacle without evacuation behavior, then luggage case is needed actively to avoid, it is therefore desirable to according to the moving rail of moving obstacle
Mark, control luggage case turn to, and avoid bumping against with the moving direction of moving obstacle.And for there is the mobile barrier for actively avoiding behavior
Hinder object, then since the moving obstacle has active evacuation behavior, then the luggage case can be allowed to take time out to, or keeps originally
Direction of travel is constant, here since moving obstacle has active evacuation behavior, even if luggage case takes time out to or keeps
Originally direction of travel is constant will not cause to collide, and certainly, we can also take to the moving obstacle and avoid direction phase
Anti- direction is avoided, the case where both thus will not more causing to bump against.
Another embodiment of intelligence row avoidance Lee's case of the present invention, the obstacle avoidance apparatus of the luggage case mainly by miniature webcam,
The compositions such as infrared detection module and ultrasonic listening module.
1) miniature webcam：Miniature webcam can take pictures to mobile pedestrian, in same angle to same a line
People takes pictures and position versus, to judge the direction of behavior movement in advance.
2) ultrasonic listening module：It is made of transmitting module and receiving module.Emit ultrasonic wave, ultrasonic wave encounters barrier
It reflects, receiving module judged to meet the distance of barrier according to reflection and the time received.
3) infrared detection module：Infrared detection module can further confirm that the people or fixation that met barrier is mobile
Barrier.
In addition, being additionally provided on the luggage case：
Wireless transmitter module：Wireless transmitter module emits signal, and user has the chip for receiving signal, by calculating signal hair
It penetrates and receiving time, measuring and calculating and user distance.
Drive module：It drives Intelligent luggage carrier walking and turns to.
GPS module：Intelligent luggage carrier can be positioned, and to the route guidance outside intelligent baggage room.
Processor：It is connected with each module, the modules of Comprehensive Control Intelligent luggage carrier.
Specifically, Intelligent luggage carrier in voluntarily traveling process, needs intelligent avoiding obstacles.Specific avoidance process
It is as follows：
First, ultrasonic wave transmitting module sends out ultrasonic wave, and ultrasonic wave, which encounters barrier, to be reflected, and receiving module is to super
Sound wave is received, can be by repeatedly being measured away from discrete time, to sentence to judge luggage case with a distance from barrier
Break and the relative velocity of luggage case and barrier.
When (for example setpoint distance is 5 meters) with a certain distance from luggage case has from barrier, infrared detection module is opened,
Infrared detection module judges that current barrier is pedestrian or general object.If it is general object, boot release turns to
Pattern, slowly avoiding obstacles.If judging that current barrier is pedestrian, it is then turned on miniature video camera module, camera is to row
People continuously takes pictures.Multiple pictures are subjected to processing analysis to CPU again.There are two types of situations for photo analysis：First, pedestrian is without obviously keeping away
Movement is allowed, then boot release steering pattern, actively avoids pedestrian.Second, multiple serial-grams show that pedestrian has and actively keep away
Allow the action of luggage case.CPU according to continuous multiple pictures intelligent decision pedestrian to which direction deflect, Intelligent luggage carrier to
The direction opposite to pedestrian deflects.Cause what is bumped against to ask to avoid luggage case and pedestrian from avoiding other side to same direction simultaneously
Topic.
Based on the same technical idea, the invention also discloses a kind of barrier-avoiding method of Intelligent luggage carrier, applied to containing
The luggage case of the obstacle avoidance apparatus of Intelligent luggage carrier described in any of the above-described embodiment of the present invention, specifically, as shown in figure 4, described
The barrier-avoiding method of luggage case includes：
S100 detects whether there are obstacles in the luggage case direction of advance；
S200 judges the type of the barrier when detecting in the luggage case direction of advance there are when barrier；If
It is fixed obstacle, then enters step S500, if moving obstacle, then enters next step；
S300 monitors the motion track of the moving obstacle, and judge institute when the barrier is moving obstacle
State whether moving obstacle has active evacuation behavior；
Whether S400 has active evacuation behavior according to the motion track and the moving obstacle of the moving obstacle, control
Making the luggage case takes different mobile avoidance strategies to avoid the moving obstacle；
S500 controls the luggage case and fixed avoidance strategy is taken to avoid the fixed obstacle.
In this method embodiment, when having barrier on detecting luggage case direction of advance, the obstacle can be further detected
The type of object, different obstacle identities can take different Robot dodge strategies.And for moving obstacle, then it can also further supervise
Its motion track is surveyed, whether it has active evacuation behavior to discriminatory analysis, does not take different evacuation modes to be divided into accordingly, such as
This so that Intelligent luggage carrier is more intelligent, and safer during traveling.
Another embodiment of the barrier-avoiding method of Intelligent luggage carrier of the present invention, as shown in figure 5, including：
S100 detects whether there are obstacles in the luggage case direction of advance；
S200 judges the type of the barrier when detecting in the luggage case direction of advance there are when barrier；If
It is fixed obstacle, then enters step S500, if moving obstacle, then enters next step；
S310 acquires the mobile image of the moving obstacle；
S320 carries out image procossing to the mobile image of the moving obstacle, obtains the moving rail of the moving obstacle
Mark；
S330 analyzes whether the moving obstacle has actively evacuation row according to the motion track of the moving obstacle
For；
Whether S400 has active evacuation behavior according to the motion track and the moving obstacle of the moving obstacle, control
Making the luggage case takes different mobile avoidance strategies to avoid the moving obstacle；
S500 controls the luggage case and fixed avoidance strategy is taken to avoid the fixed obstacle.
In the present embodiment, it is based on machine vision technique, acquires the mobile image of moving obstacle, and carry out at image to it
Reason analysis obtains its motion track, and whether the discriminatory analysis moving obstacle, which has, actively avoids behavior.It should so as to basis
Whether moving obstacle has active evacuation behavior, and different mobile avoidance strategies is taken in conjunction with its motion track, to more
The avoidance of safe and intelligent.
Another embodiment of the barrier-avoiding method of Intelligent luggage carrier of the present invention, based on any of the above embodiments, such as Fig. 6
It is shown, including：
S100 detects whether there are obstacles in the luggage case direction of advance；
S200 judges the type of the barrier when detecting in the luggage case direction of advance there are when barrier；If
It is fixed obstacle, then enters step S500, if moving obstacle, then enters next step；
S305 detects current distance of the luggage case apart from the moving obstacle；It is preset when the current distance is less than
First apart from when, enter step S306；
S306 detects whether the moving obstacle is pedestrian by infrared detector, if so, S310 is entered step, and it is logical
Crossing voice broadcast reminds the pedestrian to pay attention to avoiding；
S310 acquires the mobile image of the moving obstacle；
S320 carries out image procossing to the mobile image of the moving obstacle, obtains the moving rail of the moving obstacle
Mark；
S330 analyzes whether the moving obstacle has actively evacuation row according to the motion track of the moving obstacle
For；
Whether S400 has active evacuation behavior according to the motion track and the moving obstacle of the moving obstacle, control
Making the luggage case takes different mobile avoidance strategies to avoid the moving obstacle；
S500 controls the luggage case and fixed avoidance strategy is taken to avoid the fixed obstacle.
In the present embodiment, after detecting barrier, the type of the first cognitive disorders object of meeting then takes fixed obstacle
Common turning avoidance.And for moving obstacle, then can first detect the moving obstacle at a distance from luggage case, when away from
After with a distance from less than preset first, then by infrared detector detect whether the moving obstacle is pedestrian, if pedestrian, then
Image capture module can be opened and carry out Image Acquisition, meanwhile, remind pedestrian to pay attention to avoiding by voice reminder module.It in this way can be with
The probability that pedestrian actively avoids is improved, so that it is safer in luggage case traveling process, certainly, not for moving obstacle
After the case where being pedestrian, the equally distance in the moving obstacle apart from luggage case are less than default first distance, it can also open automatically
The mobile image that image capture device obtains moving obstacle is opened, by a series of image of analyzing processing, obtains movement barrier
Hinder the motion track of object, and judge whether it has and actively avoid pedestrian, to take different avoidance strategies accordingly.Specifically,
For fixed obstacle, the mode of steering is taken to avoid fixed obstacle, and for moving obstacle, then need basis should
Whether moving obstacle has the behavior of active evacuation and takes different evacuation modes, specifically, for the movement without evacuation behavior
Barrier then needs luggage case actively to avoid, it is therefore desirable to and according to the motion track of moving obstacle, control luggage case turns to,
It avoids bumping against with the moving direction of moving obstacle.And for there is the moving obstacle for actively avoiding behavior, then due to the movement
Barrier has active evacuation behavior, then the luggage case can be allowed to take time out to, or keeps original direction of travel constant, here
Since moving obstacle has active evacuation behavior, even if luggage case takes time out to or keeps original direction of travel constant
It will not cause to collide, certainly, we can also take to the moving obstacle evacuation side and avoid in the opposite direction,
The case where thus will not more causing the two to bump against.
The obstacle avoidance apparatus embodiment of the Intelligent luggage carrier barrier-avoiding method embodiment of the present invention and the Intelligent luggage carrier of the present invention
Corresponding, the technical detail of the device of the invention embodiment is equally applicable to the embodiment of the method for the present invention, is repeated to reduce, no
It repeats again.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of obstacle avoidance apparatus of Intelligent luggage carrier, which is characterized in that including：
Obstacle detection module, for detecting whether there are obstacles in luggage case direction of advance；
Obstacle analysis module, for judging that the barrier that the obstacle detection module detects is fixed obstacle or mobile barrier
Hinder object；
Obstacle monitoring modular is used for when the obstacle analysis module judges the barrier for moving obstacle, described in monitoring
The motion track of moving obstacle, and judge whether the moving obstacle has active evacuation behavior；
Obstacle avoidance module, for when the barrier is fixed obstacle, controlling the luggage case and fixed avoidance strategy being taken to keep away
Open the fixed obstacle；When the barrier is moving obstacle, arrived according to the obstacle monitoring module monitors described in
Whether the motion track of moving obstacle and the moving obstacle have evacuation behavior, control the luggage case and take different shiftings
Dynamic avoidance strategy avoids the moving obstacle.
2. a kind of obstacle avoidance apparatus of Intelligent luggage carrier according to claim 1, which is characterized in that the obstacle detection module
Including：
Ultrasound emission submodule is used for the ultrasonic wave of emission detection barrier；
Ultrasonic reception submodule, for receiving the ultrasound for encountering the reflected ultrasound emission submodule transmitting of barrier
Wave, and the time difference for emitting and receiving according to the ultrasonic wave obtain the distance of the barrier.
3. a kind of obstacle avoidance apparatus of Intelligent luggage carrier according to claim 2, which is characterized in that the obstacle analysis mould
Block is sentenced according to the time difference of the movement speed of the luggage case, direction and the ultrasonic wave transmitting and reception that repeatedly obtain
The barrier that breaks is fixed obstacle or moving obstacle.
4. a kind of obstacle avoidance apparatus of Intelligent luggage carrier according to claim 1, which is characterized in that the obstacle monitoring modular
Including：
Image acquisition submodule, the mobile image for acquiring the moving obstacle；
The mobile image of image procossing submodule, the moving obstacle for being obtained to described image acquisition submodule carries out
Image procossing obtains the motion track of the moving obstacle；
Image analysis submodule, the motion track for handling the moving obstacle that submodule obtains according to described image,
Analyze whether the moving obstacle has active evacuation behavior.
5. a kind of obstacle avoidance apparatus of Intelligent luggage carrier according to claim 4, which is characterized in that the obstacle monitoring modular
Further include：
Distance measurement submodule, for detecting current distance of the luggage case apart from the moving obstacle, when described current
Distance be less than default first apart from when, start the mobile image that described image acquisition submodule acquires the moving obstacle.
6. a kind of obstacle avoidance apparatus of Intelligent luggage carrier according to claim 5, which is characterized in that the obstacle monitoring modular
Further include：
Pedestrian detection submodule, for before described image acquisition submodule acquires image, institute to be detected by infrared detector
State whether moving obstacle is pedestrian；
The obstacle avoidance apparatus of the luggage case further includes：
Voice reminder module, for when it is pedestrian that the pedestrian detection submodule, which detects the moving obstacle, to described
Pedestrian reports evacuation and reminds voice.
7. according to a kind of obstacle avoidance apparatus of Intelligent luggage carrier of claim 1-6 any one of them, which is characterized in that the avoidance
Module includes：
Fixed evacuation submodule, for when the barrier is fixed obstacle, controlling described in the luggage case haul off
Fixed obstacle；
First movement avoids submodule, is moving obstacle for working as the barrier, and the moving obstacle is without actively keeping away
Give way for when, according to the motion track of the moving obstacle, control the luggage case and avoid the moving obstacle；
Second movement evacuation submodule, is moving obstacle for working as the barrier, and the moving obstacle has evacuation to go
For when, control the luggage case and stop mobile or control the luggage case towards the opposite side in moving obstacle evacuation direction
To being avoided.
8. a kind of barrier-avoiding method of Intelligent luggage carrier, which is characterized in that be applied to contain claim 1-7 any one of them intelligence
The Intelligent luggage carrier of the obstacle avoidance apparatus of energy luggage case, the barrier-avoiding method of the Intelligent luggage carrier include：
S100 detects whether there are obstacles in the luggage case direction of advance；
S200 judges the type of the barrier when detecting in the luggage case direction of advance there are when barrier；Gu if
Determine barrier, then enter step S500, if moving obstacle, then enters next step；
S300 monitors the motion track of the moving obstacle, and judge the shifting when the barrier is moving obstacle
Whether dynamic barrier has active evacuation behavior；
Whether S400 has active evacuation behavior according to the motion track and the moving obstacle of the moving obstacle, controls institute
Stating luggage case takes different mobile avoidance strategies to avoid the moving obstacle；
S500 controls the luggage case and fixed avoidance strategy is taken to avoid the fixed obstacle.
9. a kind of barrier-avoiding method of Intelligent luggage carrier according to claim 8, which is characterized in that the step S300 packets
It includes：
S310 acquires the mobile image of the moving obstacle；
S320 carries out image procossing to the mobile image of the moving obstacle, obtains the motion track of the moving obstacle；
S330 analyzes whether the moving obstacle has active evacuation behavior according to the motion track of the moving obstacle.
10. a kind of barrier-avoiding method of Intelligent luggage carrier according to claim 9, which is characterized in that in the step S310
Further include before：
S305 detects current distance of the luggage case apart from the moving obstacle；When the current distance is less than default first
Apart from when, enter step S306；
S306 detects whether the moving obstacle is pedestrian by infrared detector, if so, entering step S310, and passes through language
Sound, which is reported, reminds the pedestrian to pay attention to avoiding.
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