Summary of the invention
Based on this, it is necessary to provide a kind of and can shoot on a large scale and automatic running device that False Rate is low.
A kind of automatic running device, including body and the running gear that is installed on body, also includes:
Image collecting device, is located on body, and described image collecting device includes two or more photographic head, usesIn the image information gathering external environment condition；
Image mosaic circuit, for the image information of two camera collections being overlapped, cutting to be to be formedStitching image information；
Control device, for controlling the direction of travel of described running gear according to described stitching image information.
Wherein in an embodiment, two or more photographic head lays respectively at described body front and relatively describedThe both sides that body is symmetrical.
Wherein in an embodiment, described image mosaic circuit includes:
Modular converter, for being respectively converted into different images by the image information of two or more camera collectionData；
Concatenation module, for described different view data being overlapped by logical operations, and cutting weightFolded view data is to form stitching image information.
Wherein in an embodiment, described running gear includes driving wheel and driven pulley, described control deviceControl the direction of travel of described driving wheel according to described stitching image information, described driving wheel drives driven pulley rowWalk.
Wherein in an embodiment, described image collecting device also includes active connection, and two or more is taken the photographAs head is all connected with described body by active connection, described active connection is used for adjusting two or more and takes the photographAcquisition angles as head.A kind of automatic running device, including body and the running gear that is installed on body,Also include:
Image collecting device, is located on body, and described image collecting device includes two or more photographic head, usesIn the image information gathering external environment condition；
Control device, for the image information of two or more camera collection is analyzed respectively, and will divideAnalysis result carries out the direction of travel merging to control described running gear.
Wherein in an embodiment, two or more photographic head lays respectively at described body front and relatively describedThe both sides that body is symmetrical.
Wherein in an embodiment, described running gear includes driving wheel and driven pulley, described control deviceControl the direction of travel of described driving wheel according to described image information, described driving wheel drives driven pulley walking.
Wherein in an embodiment, described image collecting device also includes active connection, and two or more is taken the photographAs head is all connected with described body by active connection, described active connection is used for adjusting two or more and takes the photographAcquisition angles as head.
Above-mentioned automatic running device, gathers the image information of external environment condition by installing two or more photographic head,Then the image information of two or more camera collection be overlapped by image mosaic circuit, cutting is with shapeBecome stitching image information, i.e. on a large scale global image, or control device to two or more camera collectionImage information be analyzed respectively, and analysis result is carried out the walking merging to control described running gearDirection, so need not wide-angle camera of sampling, so not havinging pattern distortion, False Rate is low.
Detailed description of the invention
Refer to Fig. 1～Fig. 3, the external structure schematic diagram of automatic running device and regarding in respectively one embodimentTerritory scope schematic diagram.In the present embodiment, mainly say using hay mover as a kind of automatic running deviceBright, it will be understood that in other embodiments, it is also possible to be other automatic running devices, such as automatic dust absorptionDevice, robot etc..
This automatic running device includes that body 100, running gear 200, image collecting device 300, image are spelledConnection circuit 400 and control device 500.Wherein, running gear 200 and image collecting device 300 are installed on machineOn body 100, it is internal that image mosaic circuit 400 and control device 500 are positioned at body 100.
Hay mover needs to judge external environment condition (especially some borderline regions) during work,Identify region, meadow and non-grass region, ground and time adjust direction of travel, it is to avoid the phenomenon cut of mistake occurs.OneThe coverage of individual photographic head is very limited, if but visual range is expanded and i.e. uses wide-angle camera, thatThe effective visual range of photographic head will reduce accordingly, and so image of shooting can produce distortion, thusCause erroneous judgement.In the present embodiment, image collecting device 300 includes two photographic head 310, outside being used for gatheringThe image information of portion's environment, so there is no need to use wide-angle camera.
The visual angle of photographic head 310 and the orientation of installation determine the size of its gaze area.In the present embodiment,Two photographic head 310 lay respectively at described body front and the both sides of the most described body symmetry.To imageBe identified judging when whether image-region is region, meadow, need to be to the gaze area of photographic head 310 atReason.
In the present embodiment, image collecting device 300 also includes active connection 320, two photographic head 310All being connected with body 100 by active connection 320, active connection 320 is for adjusting two photographic headThe acquisition angles of 310.
Image mosaic circuit 400 for the image information that two photographic head 310 gather is overlapped, cuttingTo form stitching image information.Specifically, image mosaic circuit 400 includes modular converter 410 and splicing mouldBlock 420.Wherein, modular converter 410 is for being respectively converted into the image information that two photographic head 310 gatherFirst view data and the second view data.Concatenation module 420 is used for described first figure by logical operationsAs data and the second view data are overlapped and overlapping with the second view data in cutting the first view dataSignal or cutting the second view data in the view data overlapping with the first view data.Here spliced mapSeem to be exactly the seamless global images that are spliced of two photographic head 310.
Being appreciated that in other embodiments, image collecting device 300 can include multiple photographic head, figureAs splicing circuit 400 for the image information of the plurality of camera collection is overlapped, cutting to be to be formedStitching image information.Particularly as follows: the image information of multiple camera collections is respectively converted into different imagesData；By logical operations, described different view data is overlapped, and the view data that cutting is overlappingTo form stitching image information.
Image control apparatus 500 for controlling the walking side of running gear 200 according to described stitching image informationTo.Running gear 200 includes driving wheel 210 and driven pulley 220, controls device 500 according to described spliced mapAs information controls the direction of travel of driving wheel 210, driving wheel 210 drives driven pulley 220 to walk.
Specifically, controlling device and can first extract the characteristics of image of described image stitching information, characteristics of image is generalIncluding color characteristic and textural characteristics, then calculate the characteristics of image of described stitching image information and the mark prestoredSimilarity between quasi-characteristics of image, and according to the region, meadow in similarity identification external environment condition and non-meadowRegion, controls the direction of travel of running gear 200 finally according to recognition result.
As in figure 2 it is shown, this automatic running device is in the process of walking, if recognizing I region is non-grass areaTerritory, III region are region, meadow, and the front that I region and III region have a common boundary is that region, non-grass ground is then to right avertenceTurn；Recognize II region be non-grass ground region, IV region be region, meadow, and II region and IV regionFront is that region, non-grass ground deflects the most to the left；Recognizing front is that region, meadow then straight line is advanced forward.
Refer to Fig. 4, for the structural representation of the automatic running device of another embodiment.
This automatic running device includes body 600, driving wheel 610, driven pulley 620, photographic head 630, figureAs splicing circuit (not shown), control device (not shown) and cutter sweep 700.Wherein, driving wheel610, driven pulley 620 and photographic head 630 are installed on body 100, described image mosaic circuit, controlIt is internal that device and cutter sweep 700 are positioned at body 600.
In other embodiments, described control device be additionally operable to control this automatic running device return charging station andTime be charged, so there to be enough power supply energies to support needing work when, improve useReliability, and be easy to manage automatic running device.
In other embodiments, described control device is additionally operable to control the duty of cutter sweep 700.ToolBody ground, controls cutter sweep 700 and works, at this certainly when this automatic running device is positioned at meadow regional workDynamic walking arrangement controls cutter sweep 700 during returning charging station and quits work.
It addition, also provide for a kind of automatic running device, including body and the running gear that is installed on body,Also including: image collecting device, being located on body, described image collecting device includes two or more photographic head,For gathering the image information of external environment condition；Control device, for the image to two or more camera collectionInformation is analyzed respectively, and analysis result carries out the direction of travel merging to control described running gear.
Specifically, the image information of two or more camera collection is the most each carried out point by described control deviceAnalysis (i.e. need not carry out being spliced to form stitching image information), and analysis result is merged.Here fusionRefer to: the analysis result being analyzed different images information respectively can control described running gear togetherDirection of travel.
Above-mentioned automatic running device, gathers the image information of external environment condition by installing two or more photographic head,Then the image information of two or more camera collection be overlapped by image mosaic circuit, cutting is with shapeBecome stitching image information, i.e. on a large scale global image, or control device to two or more camera collectionImage information be analyzed respectively, and analysis result is carried out the walking merging to control described running gearDirection, so need not wide-angle camera of sampling, so not havinging pattern distortion, False Rate is low.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes more 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 this areaThose of ordinary skill for, without departing from the inventive concept of the premise, it is also possible to make some deformation andImproving, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be with appendedClaim is as the criterion.