CN109685849A - A kind of the out-of-bounds determination method and system of mobile robot - Google Patents
A kind of the out-of-bounds determination method and system of mobile robot Download PDFInfo
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- CN109685849A CN109685849A CN201811615675.1A CN201811615675A CN109685849A CN 109685849 A CN109685849 A CN 109685849A CN 201811615675 A CN201811615675 A CN 201811615675A CN 109685849 A CN109685849 A CN 109685849A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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Abstract
A kind of the out-of-bounds determination method and system of mobile robot.The present invention passes through the global video image data that the image collecting device being arranged in above working region obtains working region, pass through the selection and identification to pixel in image, the mobile robot in automatic travelling device working region range and automatic identification image is selected or drawn particularly by midpoint picture, realizes the automatic judgement to mobile robot out-of-bounds.The present invention, which can be realized automatically under spacious environment, as a result, realizes that real-time out-of-bounds determine to the effective position of mobile robot and the building of working region map, and based on this, guarantees the safety of mobile robot operating efficiency and operation.
Description
Technical field
The present invention relates to mobile robot field more particularly to the out-of-bounds determination methods and system of a kind of mobile robot.
Background technique
With constantly improve for artificial intelligence technology, mobile robot starts to autonomy-oriented and intelligent development.By
The data of the sensors such as GPS, laser radar, camera, ultrasonic wave partially have indoor service/machine of sweeping the floor of locomotive function
People may be implemented to carry out self-positioning and working region map building in specific region.
However, outdoors or more spacious region, due to the missing for the characteristic point that can be used for positioning in region, Huo Zheyou
The problems such as positioning signal is weak in region only relies on the sensor being mounted in robot, it is difficult to ensure that robot can identify
The coordinate relationship of itself and working region out, it is difficult to ensure that stabilization is safely moved.In such a case, traditional based on view
In the mobile robot for feeling identification, since camera is generally installed in robot, it is limited to camera field of view angle and installation
The factors such as height, are only capable of solely identifying the regional area in front of robot, are difficult to obtain the complete information of working region.It is this
Under mode, robot be merely able to be judged according to the feature of regional area its whether out-of-bounds, to whether the judgement of out-of-bounds is inaccurate.
Further accurately to judge whether mobile robot exceeds the boundary of its working region, provide in the prior art
Another out-of-bounds determination method.It is in advance in the embedded boundary line that can generate signal in the boundary of robot work region, in machine
Setting can identify that the sensing device of boundary line signal determines the machine by the judgement to boundary line signal strength on device people
Whether device people surmounts boundary line.But this mode sunken cord in advance, installation and maintenance cost is higher, is unfavorable for user certainly
Row operation.User is inconvenient to replace after the abrasion of boundary line.
Summary of the invention
In order to solve the shortcomings of the prior art, the purpose of the present invention is to provide a kind of out-of-bounds of mobile robot to sentence
Determine method and system, the global video data of working region obtained by being mounted on the image collecting device above working region,
Mobile robot is detected and controlled with realizing, effective position can not be carried out under spacious environment by solving existing mobile robot
And the problem of map structuring.
Firstly, to achieve the above object, proposing a kind of out-of-bounds determination method of mobile robot, step includes: to obtain institute
State the image of the working region of mobile robot；The working region boundary of the mobile robot is obtained on the image；Identification institute
The mobile robot in image is stated, the oneself boundary or index point of mobile robot described in image are calculated；When the moving machine
When the oneself boundary or index point of device people reaches or exceed the working region boundary, the mobile robot out-of-bounds are determined.
Optionally, in the out-of-bounds determination method of the mobile robot, mobile robot described in image from one's side
Boundary be the boundary of its boundary rectangle, the boundary of external contact zone, mobile robot pixel region described in image fitting boundary.
Optionally, in the out-of-bounds determination method of the mobile robot, the horizontal edge of the boundary rectangle is parallel to described
The vertical edge of the axis of abscissas of image, the boundary rectangle is parallel to the axis of ordinates of described image.
Optionally, in the out-of-bounds determination method of the mobile robot, judge the oneself boundary of the mobile robot
Whether reach or beyond working region boundary the step of is as follows: judging the abscissa range of the boundary rectangle and described
The ordinate range of boundary rectangle determines the mobile machine whether in the working region if in the working region
The non-out-of-bounds of people；Otherwise determine the mobile robot out-of-bounds.
Optionally, in the out-of-bounds determination method of the mobile robot, judge that the index point of the mobile robot is
No the step of reaching or exceeding the working region boundary, is as follows: calculating the index point of the oneself boundary of the mobile robot；
Judge that the coordinate of the index point whether in the working region, determines the mobile machine if in the working region
The non-out-of-bounds of people；Otherwise determine the mobile robot out-of-bounds.
Optionally, in the out-of-bounds determination method of the mobile robot, judge that the index point of the mobile robot is
No the step of reaching or exceeding the working region boundary, is as follows: calculating the index point of the oneself boundary of the mobile robot；
Respectively by the expression formula Simultaneous Equations of each segment boundary in the coordinate of the index point and the working region boundary, to simultaneous
Each solving equations；If simultaneous the equation group there are real solution if determine the mobile robot out-of-bounds；Otherwise
Determine described in the non-out-of-bounds of the mobile robot.
Optionally, in the out-of-bounds determination method of the mobile robot, judge the oneself boundary of the mobile robot
Whether reach or beyond working region boundary the step of be as follows: judge the mobile robot oneself boundary and the work
Make zone boundary with the presence or absence of intersection point, there are intersection points then to determine the mobile robot out-of-bounds；Otherwise determine the mobile machine
The non-out-of-bounds of people.
Optionally, in the out-of-bounds determination method of the mobile robot, judge the oneself boundary of the mobile robot
The step of whether there is intersection point with the working region boundary is as follows: obtaining the expression of each oneself boundary of the robot
Formula obtains the expression formula of each segment boundary in the working region boundary；To the table of each oneself boundary of the robot
Up to formula, respectively by the expression formula Simultaneous Equations of itself and each segment boundary in the working region boundary, to the side of simultaneous
Journey group solves；If simultaneous the equation group there are real solution if determine the mobile robot oneself boundary and the work
There are intersection points for zone boundary；Otherwise the oneself boundary for determining the mobile robot and the working region boundary are without intersection point.
Optionally, in the out-of-bounds determination method of the mobile robot, as long as judging any of the mobile robot
There are intersection points for oneself boundary and the working region boundary, then stop that remaining oneself boundary is sentenced to the mobile robot
It is disconnected, directly determine the mobile robot out-of-bounds.
Optionally, in the out-of-bounds determination method of the mobile robot, as long as solving appointing for the mobile robot
The real solution of the equation group of any segment boundary institute simultaneous in one oneself boundary and the working region boundary, then stop to remaining
The judgement on the boundary directly determines the mobile robot out-of-bounds.
Secondly, to achieve the above object, it is also proposed that a kind of out-of-bounds decision-making system of mobile robot, described image acquisition dress
The complete image that can obtain the working region of the mobile robot is set, the system is arranged to perform above-mentioned out-of-bounds and sentences
Determine method.
Optionally, in the out-of-bounds decision-making system of the mobile robot, described image acquisition device is arranged on described
The top of the working region of mobile robot.
Beneficial effect
The present invention passes through the global video image data that the image collecting device being arranged in above working region obtains working region,
By the selection and identification to pixel in image, automatic travelling device working region model is selected or drawn particularly by midpoint picture
The mobile robot in simultaneously automatic identification image is enclosed, realizes the automatic judgement to mobile robot out-of-bounds.The present invention can as a result,
It is automatically realized under spacious environment to the effective position of mobile robot and the building of working region map, and based on this realization
Real-time out-of-bounds determine to guarantee the safety of mobile robot operating efficiency and operation.
The present invention can directly be moved by carrying out simple geometric operation and judgement to the pixel in image in real time
The positional relationship on the boundary of the corresponding working region of mobile robot.Operand very little needed for the present invention, and pass through external square
The mode of shape to the judgements of mobile robot out-of-bounds there are surplus, be suitable for self-travel type grass-removing robot etc. to hardware limitation compared with
Application scenarios more, more demanding to control security.Also, since operation is simple, operation delay is smaller, using of the invention
Mobile robot, cooperation communication module can easily realize the real-time, interactive of mobile robot and control system, from walking
The real-time of control is more preferable, also safer.
Further, the judgement of mobile robot out-of-bounds can be further simplified in the present invention, only by mobile machine
Accurate judgement can be realized in the algebraic operation on people's index point and its working region boundary.Cooperation is for working region boundary surplus
Setting, the present invention can guarantee work of the mobile robot in working region while further simplified system operand
Industry effect.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, and with it is of the invention
Embodiment together, is used to explain the present invention, and is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is a kind of mobile robot and its control system provided by the present invention；
Fig. 2 is a kind of mode that working region target point is chosen in the present invention；
Fig. 3 is a kind of mode that object boundary line in working region is chosen in the present invention；
Fig. 4 is a kind of implementation for dividing meadow region from image；
Fig. 5 is a kind of schematic diagram for the implementation being modified in the present invention to the working region boundary of selection；
Fig. 6 is a kind of implementation for obtaining mobile robot oneself boundary in the present invention；
Fig. 7 is the schematic diagram on present invention mobile robot oneself boundary obtained and working region boundary；
Fig. 8 determine the mobile robot whether a kind of schematic diagram of mode of out-of-bounds；
Fig. 9 is a kind of mode that surplus is set when choosing object boundary line in working region in the present invention.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Fig. 1 is shown using a kind of mobile robot of the invention, is had from walking unit 1, communication unit and work
Industry device 2.To realize the control to the mobile robot, the present invention is also provided with Image Acquisition in the top of its working region 3
Device 4 constitutes the control system to the mobile robot.Wherein, the mobile robot can for grass-removing robot or
Person other have the robot for outdoor environment from walking function.The grass-removing robot is also provided with map structuring
Unit and path planning unit, the image for the working region for being used to be arrived according to image acquisition device is to grass-removing robot
The map of working region is constructed, and is planned according to operating path of the map of working region to grass-removing robot, with
Realize the driving to grass-removing robot.
The working method of the system is as follows: image collecting device 4 acquires the complete of the working region of the mobile robot
The oneself boundary of image, working region boundary and mobile robot to mobile robot in image generates.Mobile machine
It is artificial make during, the image of the working region obtained of control system real-time monitoring image collecting device 4, in real-time judgment image
Mobile robot whether out-of-bounds.When determining mobile robot out-of-bounds, corresponding control signal is generated, and will by communication unit
The control signal is transmitted to mobile robot.Institute is driven according to the control signal from walking unit in mobile robot as a result,
It states mobile robot and adjusts it from walking states, to guarantee mobile robot operation, operation in working region always.Moving machine
Also synchronous its apparatus for work that controls when suitable of device people carries out operation.
Specifically, can be generated and be moved according to described image by following mode under a kind of implementation of the invention
The working region boundary of mobile robot:
Firstly, the image of the working region of the mobile robot is obtained, by image display device, e.g., display or touch
Screen shows the image；Then, clicked or drawn lines by mouse or to touch screen operation, chooses the target point in described image
And/or object boundary line；Finally, the working region side is generated according to each target point and/or object boundary line of selection
Boundary.Wherein, the target point is pixel corresponding with the aiming spot in image, and the object boundary line is in image
The line of multiple pixels corresponding with the object boundary line position.
It can specifically, generating the working region boundary according to each target point and/or object boundary line of selection
Selection is realized by following mode:
Clicked in Fig. 2 or Fig. 3 in draw lines by way of obtain each target point and/or object boundary line, e.g., in figure
The target point or object boundary line that ABCDEDG is indicated, then according to selection be sequentially connected with each boundary point and/or
Object boundary line.Since the boundary line that connection is formed is general and irregular, it is easy because of the shake in operating process or to choosing
There is the irregular curve of burr or complexity in the inclined side of the discrimination power of capture vegetarian refreshments, therefore, generally also needs the side formed to connection
Boundary line is smoothed, and is modeled with facilitating to working region, to simplify the operand of out-of-bounds judgement.Connection is formed
Boundary line is smoothed can generally be realized and carrying out fitting linearly or nonlinearly to boundary line, after fitting, can be divided
Section obtains the expression formula on the working region boundary.The fitting operation, is fitted including the use of least square method, or
It is fitted by discrete point analytic expression.Working region boundary after fitting can refer to shown in Fig. 4, and surrounding is smooth, expression formula
It can arrange as following form:
(1)
(2)
(3)
(4)
(5)
(6)
(7)
In addition, by taking the application scenarios of grass-removing robot as an example.In view of including in image data acquired in image collecting device
It is not the part of the non-active area on meadow, once it user misoperation or because clicks, the accuracy of identification that draw lines is inadequate and causes
With having arrived non-grass region is chosen in above-mentioned steps, it will very big hidden danger is brought to the cutting operation of grass-removing robot.
It therefore, can also be by following mode to the working region boundary of acquisition under a kind of implementation of the invention
Automatically corrected:
The modified first step obtains the image of robot work region；
Modified second step pre-processes the image in the mobile work robot region, is partitioned into meadow region.Its
Preprocess method includes: the threshold value T for presetting a certain characteristic quantity of meadow pixel, if a certain pixel meets the model of threshold value T
It encloses, is then considered as the target area i.e. pixel in meadow region；If pixel does not meet threshold range, it is considered as background area or non-
The pixel in meadow region；The characteristic quantity includes that the RGB feature of image, HSV feature, HSI feature, entropy feature or texture are special
In sign any one and combinations thereof；
Modified third step chooses the single or multiple pixels on the region of meadow as sub-pixel, sets certain merging
Criterion, if color value difference can merge in a certain range, successively to neighboring pixel using at algorithm of region growing
Reason, is partitioned into meadow region in the picture, obtains treated image as shown in Figure 4；
Modified 4th step, if user draws pretreated meadow bounds, then carries out mistake and mention shown in similar Fig. 5
Show, and judge automatically the intersection point of out-of-bounds part Yu pre-segmentation meadow region, chooses the meadow boundary between intersection point as workspace
Domain boundary.Shown in Fig. 5, A point is judged outside the region of meadow by the comparison with meadow region, I, J are respectively AH, AB and meadow
The intersection point on boundary, the meadow boundary fragment IJ that pretreatment can be used to obtain at this time replace dotted line AI, AJ as revised workspace
The automatic amendment to working region boundary is realized in domain boundary line.
Under a kind of preferable implementation, above-mentioned working region boundary can also remain with certain surplus, for movement
Robot, which is expert at when going to the boundary, realizes the operation such as turning, and non-active area will not be touched by guaranteeing mobile robot.By
This can further improve the safety of this system.The surplus can be realized by following mode:
Behind the working region boundary line for obtaining mobile robot, centered on the certain point in working region, to above-mentioned work
Regional edge boundary line carries out inside contracting operation, i.e., centered on the point, certain distance is shunk to the direction in working region boundary line.
Thus obtained new working region is smaller than original working region boundary, the region between the boundary of working region obtained twice
As for the margin range of the transfer robot ambulation.
In addition, the surplus can also be realized by mode shown in Fig. 9: in the working region for obtaining mobile robot
Behind boundary line, for the every bit on the boundary line, A point as shown in Figure 9 does the boundary line in the tangent line L1 of the point, is somebody's turn to do
Tangent line L1 A point vertical line L2, according to the distance l of setting, to border inner selected point A ' as updated on vertical line L2
There are the total working region boundary of surplus, A ' is the point after A point inside contracts.
Specifically, can be generated and be moved according to described image by following mode under a kind of implementation of the invention
The oneself boundary of mobile robot generates its index point, for realizing to robot out-of-bounds compared with above-mentioned working region boundary
The judgement of situation:
Firstly, obtaining the image of the working region of the mobile robot；Then, mobile robot described in described image is identified
Corresponding pixel region calculates the boundary rectangle of the pixel region, the fitting boundary of external contact zone or the pixel region,
The boundary rectangle, external contact zone or fitting boundary are the oneself boundary of the mobile robot.
Optionally, the image of above-mentioned acquisition can be using its bottom edge or top margin as axis of abscissas, with its left or right side vertical edge
For axis of ordinates, each of figure pixel is indicated in a manner of pixel coordinate.Alternatively, can also be a as needed, scheming
It selects a line as axis of abscissas as in, selects another straight line normal thereto in image as axis of ordinates, realization pair
The coordinate representation of each pixel in image.
Refering to what is shown in Fig. 6, the oneself boundary of the mobile robot is one by taking the boundary rectangle of the pixel region as an example
It can be obtained by following step under kind implementation.Firstly, being set according to the template being set in advance, such as according to realization
Mobile robot pixel Color Range, on the left of Fig. 6 in searching machine people obtain its pixel region as shown in the white of right side.
Robot zone x, y maximum Xmax, Ymax minimum value Xmin, Ymin, i.e., the transverse and longitudinal coordinate model of the described mobile robot are taken respectively
It encloses.It will do in x maxima and minima position perpendicular to x-axis straight line, do in y maxima and minima position perpendicular to y respectively
The straight line of axis.The enclosed region that four straight lines surround, that is, the abscissa range and the closed region of ordinate range are
Region corresponding to robot.Thus to obtain the boundary rectangle abcd of mobile robot pixel region, boundary rectangle abcd's
Four sides are respectively parallel to the axis of abscissas and axis of ordinates of image.Thus the four side expression formulas or fitting of robot zone are calculated
The expression formula on four side of robot out are as follows:
(8)
(9)
(10)
(11)
The oneself boundary of mobile robot can pass through in an implementation mode by taking the external contact zone of the pixel region as an example
Following step obtains.According to the template being set in advance, such as according to the color for realizing the mobile robot pixel set
Range, the searching machine people in figure.Several pixels in robot zone are taken respectively, connect the pixel, or the pixel are done outer
Polygon is connect, each side area encompassed for the polygon being consequently formed is the oneself boundary of mobile robot.
The oneself boundary of mobile robot can lead in an implementation mode by taking the fitting boundary of the pixel region as an example
Following step is crossed to obtain.According to the template being set in advance, such as according to the color for realizing the mobile robot pixel set
Color range, the searching machine people in figure.Linear fit or nonlinear fitting are carried out to the boundary of the pixel region where robot
Operation, the oneself boundary that its boundary line is the mobile robot is obtained after fitting.
The oneself boundary of above-mentioned each mode mobile robot obtained does not meet moving machine comprising some originally
The pixel of device people's feature, that is, retain for the equal opposed robots of oneself boundary of mobile robot itself that aforesaid way obtains
It has a margin.The surplus can be in working region edge in mobile robot ontology but not touch working region boundary line also
When detect in time mobile robot i.e. by out-of-bounds and when control mobile robot turn to or change its walking states.As a result,
The space turned to for it can be kept, and avoids its boundary from scanning out working region and brings danger.
For convenience of to mobile robot, whether out-of-bounds judge, based on the oneself boundary of above-mentioned mobile robot, also
Its index point R(Xr, Yr can further be obtained), as the main investigation point for judging out-of-bounds.The index point may be selected to be described
The center of gravity institute of the geometric center of the oneself boundary of mobile robot, the oneself boundary regional scope of the mobile robot is in place
It sets or the intersection point of two longer strings of cornerwise intersection point of the oneself boundary or the oneself boundary.Also optional
The intersection point of this two long axis of mobile robot oneself boundary is selected, or is arbitrarily selected within the scope of the oneself boundary of the mobile robot
It selects a little as the index point.Mobile robot is represented in the relative position of working region with the index point.
Relative position based on above process working region boundary obtained and robot in the working region, this hair
The bright operation effectiveness to guarantee robot guarantees the safety letter of its operation simultaneously, also further can judge machine according to above-mentioned image
People whether out-of-bounds, with the walking states and job state of timely straightener device people.
For example, as shown in Figure 7.The working region boundary that ABDCEFG is surrounded is obtained by above-mentioned mode respectively, and
The oneself boundary for the mobile robot that abcd is surrounded.Then whether the oneself boundary of above-mentioned mobile robot is reached or is exceeded
The range that the working region is demarcated is judged.Under a kind of specific decision procedure, robot can be determined by calculating
Whether there are the modes of intersection point to determine whether out-of-bounds with working region boundary ABDCEFG by four side abcd: such as there is intersection point, then goes out
Boundary need to control robot and return to working region；Intersection point is such as not present, non-out-of-bounds then can be after the original Route Work that renews.With machine
The side people ab and working region boundary, can be by as shown in following equations groups with the presence or absence of for intersection point, and successively calculating formula (1) is extremely
Formula (7) whether there is real solution, such as there is real solution, then there are intersection points for the side robot ab and boundary, and real solution is such as all not present,
Then intersection point is not present in the side robot ab and boundary.
(12)
(13)
(14)
(15)
(16)
(17)
(18)
Remaining each side and working region boundary that similar mode successively determines robot are with the presence or absence of intersection point.To save operation
Amount can then stop subsequent calculating once calculating there are an intersection point, determine that robot reaches boundary.
Alternatively, the process that above-mentioned Simultaneous Equations solve may also indicate that are as follows: judge the abscissa model of the boundary rectangle
It encloses and whether the ordinate range of the boundary rectangle is in the working region, institute is determined if in the working region
State the non-out-of-bounds of mobile robot；Otherwise determine the mobile robot out-of-bounds.
Alternatively, can also be directly using the index point of above-mentioned mobile robot as the foundation for determining out-of-bounds: the index point
Coordinate in the working region, then determine the non-out-of-bounds of the mobile robot；Otherwise determine the mobile robot out-of-bounds.
Alternatively, refering to what is shown in Fig. 8, be similar to above-mentioned Simultaneous Equations process: respectively by the coordinate R(Xr, Yr of the index point) with
The expression formula Simultaneous Equations of each segment boundary in the working region boundary, to each solving equations of simultaneous；If connection
There are real solutions then to determine the mobile robot out-of-bounds for the vertical equation group；Otherwise determine that the mobile robot does not go out
Boundary.The expression formula Simultaneous Equations of AB segment boundary in the coordinate of the index point and the working region boundary indicate are as follows:
(19)
The present invention can realize the real-time control to mobile robot by the processing to working region image as a result,.This hair
Bright control mode, operand is small, and timeliness is high, at low cost, is easy to user's use.
Those of ordinary skill in the art will appreciate that: the foregoing is only a preferred embodiment of the present invention, and does not have to
In the limitation present invention, although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art
For, still can to foregoing embodiments record technical solution modify, or to part of technical characteristic into
Row equivalent replacement.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should all include
Within protection scope of the present invention.
Claims (12)
1. a kind of out-of-bounds determination method of mobile robot, which is characterized in that step includes:
Obtain the image of the working region of the mobile robot；
The working region boundary of the mobile robot is obtained on the image；
It identifies the mobile robot in described image, calculates the oneself boundary or index point of mobile robot described in image；
When the oneself boundary of the mobile robot or index point reach or exceed the working region boundary, the shifting is determined
Mobile robot out-of-bounds.
2. the out-of-bounds determination method of mobile robot as described in claim 1, which is characterized in that mobile machine described in image
The oneself boundary of people is the boundary of its boundary rectangle, the boundary of external contact zone, mobile robot pixel region described in image
Fitting boundary.
3. the out-of-bounds determination method of mobile robot as claimed in claim 2, which is characterized in that the horizontal edge of the boundary rectangle
It is parallel to the axis of abscissas of described image, the vertical edge of the boundary rectangle is parallel to the axis of ordinates of described image.
4. the out-of-bounds determination method of mobile robot as claimed in claim 3, which is characterized in that judge the mobile robot
Oneself boundary whether reach or beyond working region boundary the step of is as follows:
Whether the ordinate range of the abscissa range and the boundary rectangle that judge the boundary rectangle is in the workspace
In domain, the non-out-of-bounds of the mobile robot are determined if in the working region；Otherwise determine the mobile robot out-of-bounds.
5. the out-of-bounds determination method of mobile robot as described in claim 1, which is characterized in that judge the mobile robot
Index point whether reach or beyond working region boundary the step of is as follows:
Calculate the index point of the oneself boundary of the mobile robot；
Judge that the coordinate of the index point whether in the working region, determines the movement if in the working region
The non-out-of-bounds of robot；Otherwise determine the mobile robot out-of-bounds.
6. the out-of-bounds determination method of mobile robot as described in claim 1, which is characterized in that judge the mobile robot
Index point whether reach or beyond working region boundary the step of is as follows:
Calculate the index point of the oneself boundary of the mobile robot；
It is right respectively by the expression formula Simultaneous Equations of each segment boundary in the coordinate of the index point and the working region boundary
Each solving equations of simultaneous；
If simultaneous the equation group there are real solution if determine the mobile robot out-of-bounds；Otherwise determine the mobile machine
The non-out-of-bounds of people.
7. the out-of-bounds determination method of mobile robot as described in claim 1, which is characterized in that judge the mobile robot
Oneself boundary whether reach or beyond working region boundary the step of is as follows:
With the presence or absence of intersection point, there are intersection points then to determine for the oneself boundary for judging the mobile robot and the working region boundary
The mobile robot out-of-bounds；Otherwise determine the non-out-of-bounds of the mobile robot.
8. the out-of-bounds determination method of mobile robot as claimed in claim 7, which is characterized in that judge the mobile robot
Oneself boundary and working region boundary the step of whether there is intersection point it is as follows:
The expression formula for obtaining each oneself boundary of the robot obtains each segment boundary in the working region boundary
Expression formula；
To the expression formula of each oneself boundary of the robot, respectively by itself and each section of side in the working region boundary
The expression formula Simultaneous Equations on boundary, to the solving equations of simultaneous；
If simultaneous the equation group there are real solution if determine the mobile robot oneself boundary and the working region
There are intersection points on boundary；Otherwise the oneself boundary for determining the mobile robot and the working region boundary are without intersection point.
9. the out-of-bounds determination method of mobile robot as claimed in claim 8, which is characterized in that as long as judging the moving machine
There are intersection points for any bar oneself boundary of device people and the working region boundary, then stop to the mobile robot remaining itself
The judgement on boundary directly determines the mobile robot out-of-bounds.
10. the out-of-bounds determination method of mobile robot as claimed in claim 8, which is characterized in that as long as solving the shifting
The real solution of the equation group of any segment boundary institute simultaneous in any bar oneself boundary of mobile robot and the working region boundary,
Then stop the judgement remaining boundary, directly determines the mobile robot out-of-bounds.
11. a kind of out-of-bounds decision-making system of mobile robot, including image collecting device, which is characterized in that described image acquisition
Device can obtain the complete image of the working region of the mobile robot, and the system is arranged to perform the right and wants
Seek 1 to 10 out-of-bounds determination method.
12. the out-of-bounds decision-making system of mobile robot as claimed in claim 11, which is characterized in that described image acquisition device
It is arranged on the top of the working region of the mobile robot.
Priority Applications (1)
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