CN108931991A - The automatic follower method of mobile vehicle and has and follow barrier avoiding function mobile vehicle automatically - Google Patents
The automatic follower method of mobile vehicle and has and follow barrier avoiding function mobile vehicle automatically Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
A kind of automatic follower method of mobile vehicle and has and follow barrier avoiding function mobile vehicle automatically.Method includes obtaining mobile vehicle user information and ambient condition information；Path planning is carried out according to above- mentioned information, obtains route programming result；According to route programming result follow mobile vehicle user transport cargo advance and etc..Effect of the present invention: by identifying the mobile vehicle user for needing to follow and barrier, the distance between mobile vehicle and mobile vehicle user and barrier are measured simultaneously, to determine azimuth-range of the barrier relative to mobile vehicle, path planning is carried out according to the characteristic information and range information of mobile vehicle user and barrier, it can be achieved that mobile vehicle user is followed to transport cargo traveling automatically under the premise of success avoidance, mobile vehicle user can be made efficient, effortlessly transport cargo, the both hands of mobile vehicle user have been liberated simultaneously, it brings great convenience to people's lives.
Description
Technical field
The invention belongs to field of automation technology more particularly to a kind of automatic follower method of mobile vehicle and have automatically with
With barrier avoiding function mobile vehicle.
Background technique
Form with the development of current science and technology and the work of people or amusement gradually increases, and people are going on a journey or working
When need to carry the object of all size, type, and be all by the various carts of hand push in many cases come carry an object, at this moment
Not only need more manpower to pay, and people when cart moves ahead since both hands are all occupied, be difficult to do simultaneously not
Thing.For example, the luggage of oneself is deposited on luggage truck by passengers in terminal or railway station, luggage truck then push
To boarding lounge or the place of luggage delivery；In market, people are also that the commodity bought will be needed to be placed in trolley when doing shopping
It moves ahead.
People need both hands perhaps singlehanded cart advance are needing both hands to make a phone call or do other thing in the case of these
When, cart advance need to be stopped, and cause people cannot efficiently, effortlessly conveying articles, brought greatly not to people's lives
Just.
Summary of the invention
To solve the above-mentioned problems, the purpose of the present invention is to provide a kind of automatic follower method of mobile vehicle and with certainly
It is dynamic to follow barrier avoiding function mobile vehicle.
In order to achieve the above object, the automatic follower method of mobile vehicle provided by the invention include carry out in order it is following
Step:
Obtain the information of mobile vehicle user to be followed and the environmental information of surrounding；The letter of the mobile vehicle user
Breath includes the target range between image information, mobile vehicle and the mobile vehicle user of mobile vehicle user, the ring
Border information includes the complaint message on the mobile vehicle travel path；
Path planning is carried out according to described image information, the target range and the complaint message, obtains path rule
Check off fruit；
It follows mobile vehicle user to transport cargo according to the route programming result to advance.
It is described that path planning is carried out according to described image information, the target range and the complaint message, obtain road
The method of diameter program results includes:
Characteristics of image is extracted from described image information as target signature, and is identified in ambient enviroment with described
The object of target signature is as mobile vehicle user to be followed；
Identify the barrier orientation in the complaint message and the obstacle between the barrier and the mobile vehicle
Object distance；
According to target signature, the target range, the barrier orientation and the obstacle in described image information
Object distance carries out path planning, obtains route programming result.
The method also includes:
Ambient image around obtaining, and barrier closeness is determined according to the ambient image；
Obtain the walking speed of the mobile vehicle user；
According to the barrier closeness and/or the walking speed of the mobile vehicle user, the mobile vehicle is adjusted
Travel speed.
The method also includes:
When obtaining the departure time of the mobile vehicle user, and determining waiting according to the departure time and current time
Between；
If the waiting time is less than preset waiting time threshold value, the travel speed of the mobile vehicle is improved；
If the waiting time is more than or equal to the waiting time threshold value, the traveling speed of the mobile vehicle is reduced
Degree.
The method also includes:
The target range be more than or equal to preset first threshold or the mobile vehicle and the barrier it
Between distance be less than preset second threshold or the mobile vehicle in the case where load weight during traveling is reduced to shifting
Dynamic bearer user sends warning message；
The control information that mobile vehicle user sends is received, and traveling mode is switched according to the control information；The control
Information processed is the information for being used to control the mobile vehicle that mobile vehicle user issues after receiving the warning message；
The traveling mode includes autonomous follow the mode, artificial steer mode or artificially pushes mode.
It is provided by the invention have follow the mobile vehicle of barrier avoiding function to include: automatically
It mobile vehicle car body and the information acquisition unit being mounted on mobile vehicle car body, path planning unit and follows
Traveling unit；
Wherein information acquisition unit is made of camera and ultrasonic sensor, laser or infrared sensor, for obtaining
The information of mobile vehicle user to be followed and the environmental information of surrounding；The information of the mobile vehicle user includes the shifting
Move the target range between image information, mobile vehicle and the mobile vehicle user of bearer user, the environmental information packet
Include the complaint message on the mobile vehicle travel path；
Path planning unit uses processor, described image information, the mesh for acquiring according to information acquisition unit
Subject distance and the complaint message carry out path planning, obtain route programming result, and output is followed traveling unit；
Traveling unit is followed, for driving mobile vehicle to follow the mobile vehicle user according to the route programming result
Cargo is transported to advance.
The path planning unit includes:
Object-recognition unit is followed, for extracting characteristics of image as target signature from described image information, and is known
There Chu not be the object of the target signature as mobile vehicle user to be followed in ambient enviroment；
Obstacle determination unit, for identification the barrier orientation in the complaint message and the barrier and the shifting
Obstacle distance between dynamic load body；
Avoidance planning unit, for according to the target signature in described image information, the target range, the barrier
Orientation and the obstacle distance carry out path planning, obtain route programming result.
The mobile vehicle further include:
Environment information acquisition unit for the ambient image around obtaining, and determines barrier according to the ambient image
Closeness；
User velocity acquiring unit, for obtaining the walking speed of the mobile vehicle user；
Speed control unit, for the walking speed according to the barrier closeness and/or the mobile vehicle user,
Adjust the travel speed of the mobile vehicle.
It is provided by the invention to follow barrier avoiding function mobile vehicle to include: mobile vehicle car body and be mounted on movement with automatic
Processor, memory on carrier car body and storage are in the memory and the computer that can run on the processor
Program, the processor are realized when executing the computer program such as the step of any one of claim 1 to 5 the method.
Computer-readable recording medium storage provided by the invention has computer program, and the computer program is by processor
It is realized when execution such as the step of any one of claim 1 to 5 the method.
The automatic follower method of mobile vehicle provided by the invention and with following barrier avoiding function mobile vehicle to have such as automatically
It is lower the utility model has the advantages that
The present invention measures mobile vehicle and carries with mobile by identifying the mobile vehicle user for needing to follow and barrier
The distance between body user and barrier, to determine azimuth-range of the barrier relative to mobile vehicle, according to mobile vehicle
The characteristic information and range information of user and barrier carry out path planning, can be achieved to follow automatically under the premise of success avoidance
Mobile vehicle user transports cargo and advances, can make mobile vehicle user efficiently, effortlessly transport cargo, while having liberated movement
The both hands of bearer user, bring great convenience to people's lives.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the automatic follower method flow chart of mobile vehicle that the embodiment of the present invention one provides；
Fig. 2 is the automatic follower method flow chart of mobile vehicle provided by Embodiment 2 of the present invention；
Fig. 3 is the automatic follower method flow chart of mobile vehicle that the embodiment of the present invention three provides；
Fig. 4 is that having for the offer of the embodiment of the present invention four follows barrier avoiding function mobile vehicle to constitute schematic diagram automatically；
Fig. 5 is that having for the offer of the embodiment of the present invention five follows barrier avoiding function mobile vehicle to constitute schematic diagram automatically.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
As shown in Figure 1, the executing subject of the automatic follower method of mobile vehicle provided in this embodiment includes but is not limited to have
Have and follow the devices such as trolley, van, luggage truck, the robot of barrier avoiding function automatically, the mobile vehicle follows automatically
Method includes the following steps carried out in order:
Step 101, the information of mobile vehicle user to be followed and the environmental information of surrounding are obtained；The mobile vehicle
The information of user include target between image information, mobile vehicle and the mobile vehicle user of mobile vehicle user away from
From the environmental information includes the complaint message on the mobile vehicle travel path；
It, can be by the control plane that is mounted on mobile vehicle car body when user needs to transport cargo using mobile vehicle
Plate is turned on, while required traveling mode can also be selected on the panel.Mobile vehicle in the present embodiment is advanced
Mode may include: autonomous follow the mode, artificial steer mode or artificially push mode.Wherein, in autonomous follow the mode,
Mobile vehicle independently can follow mobile vehicle user to advance after the mobile vehicle user that needs follow has been determined, without
It needs artificially to control；In artificial steer mode, mobile vehicle user can be set by external remote controler or mobile terminal
The traveling mode of application software control mobile vehicle in standby, such as control mobile vehicle turn left, turn around or stop to move ahead
Deng；In artificial promotion mode, mobile vehicle does not have the function of autonomous operation, can only be pushed by mobile vehicle user oneself,
This mode is primarily adapted for use in that autonomous follow the mode breaks down, barrier is more or the more difficult contexture by self of walking path
Situation.
Further, an application software can also be installed on the mobile terminal device, and on mobile vehicle car body
Wireless signal transceiver is installed, mobile vehicle user can use the application software and send control instruction to mobile vehicle, with
Mobile vehicle is controlled to run according to the control instruction.Also, mobile vehicle user can select suitable before opening mobile vehicle
The mobile vehicle of carrying article size, can also be whether frangible, moisture-proof according to carrying object situations such as are closed, selection has special goods
The mobile vehicle of object defencive function.
It should be noted that the mobile terminal device in the present embodiment includes the equipment such as mobile phone, tablet computer, computer,
These equipment have the function of wireless receiving and dispatching information and use application software, herein without limitation.
When people's routine use mobile vehicle transports cargo, needs to be slowed down according to the ambient conditions of surrounding, turn round
Or the operation such as turn around, therefore in mobile vehicle use process in the present embodiment, it is also desirable to the environmental information of surrounding is obtained,
Whether there is barrier obstruction in mobile vehicle traveling process with determination, to prevent accident.In the present embodiment, environment is believed
Breath includes complaint message of the mobile vehicle on travel path, and complaint message can be the information such as image, the distance of barrier.
Simultaneously during mobile vehicle follows automatically, it is thus necessary to determine that mobile vehicle user to be followed.Meanwhile mobile load
The information of body user may include the mesh between the image information and mobile vehicle and mobile vehicle user of mobile vehicle user
Subject distance.
In airport building or railway station, the luggage of oneself is placed on mobile load by the passenger as mobile vehicle user
On body car body, then controls mobile vehicle and follow the walking of oneself and move.
When obtaining image information, it can be shot, be needed by the camera being mounted on mobile vehicle car body
Bright, one or more can be used in camera here, herein without limitation to the quantity of camera.It is in camera
In the case where one, it can be set to the camera with rotation function, rotated a circle, mobile vehicle can be taken
One week panoramic picture of surrounding；Camera can also be all installed in each direction simultaneously, these cameras can be fixed,
It is also possible to that there is rotation function, by installing multiple cameras, can completely, clearly gets mobile vehicle and advance
The image information of ambient enviroment in the process.
When obtaining the target range between mobile vehicle and mobile vehicle user, can be surveyed by way of laser ranging
Amount, can also be by the modes such as ultrasonic, infrared, herein without limitation.
Step 102, path planning is carried out according to described image information, the target range and the complaint message, obtained
To route programming result；
Target between image information, mobile vehicle and the mobile vehicle user for getting mobile vehicle user away from
From and mobile vehicle travel path on complaint message after, according to image information, target range and complaint message carry out
Path planning obtains route programming result, so that mobile vehicle can advance according to the route programming result.
Further, step 102 specifically includes the following steps:
Step 1021, characteristics of image is extracted from described image information as target signature, and identifies ambient enviroment
In with the target signature object as mobile vehicle user to be followed；
After the image information for getting mobile vehicle user, the characteristics of image in image information is extracted, to pass through
These characteristics of image determine the feature of mobile vehicle user.Feature extraction refers to extracting image information, feature using processor
Extract the result is that the point on image is divided into different subsets, these subsets tend to belong to isolated point, continuous curve or
The continuous region of person.
In the present embodiment, image characteristics extraction may include four seed types: color characteristic, textural characteristics, shape feature
And spatial relation characteristics.Color characteristic is a kind of global characteristics, describes the table of object corresponding to image or image-region
Surface properties.General color characteristic is the feature based on pixel, and the images or the pixel of image-region of belonging to all at this time have respectively
From contribution.Global color feature can be extracted by color histogram method.Color set is a kind of approximation to color histogram,
Image is converted to the color space (such as HSV space) of vision equilibrium from RGB color first, and by color space quantization at
Several handles.Then, several regions, certain for quantifying color space of each region are divided the image into the automatic cutting techniques of color
A color component indexes, to be binary color index collection by image expression.It is more different in images match
The spatial relationship of the distance between color of image collection and color area.
Textural characteristics are also a kind of global characteristics, it describes the superficiality of object corresponding to image or image-region
Matter.But since texture is a kind of characteristic of body surface, it can not reflect the essential attribute of object completely, so only sharp
High-level picture material can not be obtained with textural characteristics.Different from color characteristic, textural characteristics are not based on pixel
Feature, it needs to carry out statistics calculating in the region comprising multiple pixels.In pattern match, this zonal feature
With biggish superiority, will not due to part deviation and can not successful match.As a kind of statistical nature, textural characteristics are normal
There is stronger resistivity with rotational invariance, and for noise.Characteristics of image can be extracted by gray level co-occurrence matrixes,
This mode depends on four energy, inertia, entropy and correlation parameters.Tamura textural characteristics are based on the mankind to texture
Visual perception psychological study proposes 6 attribute, it may be assumed that roughness, contrast, direction degree, line picture degree, regularity and rough degree.
Autoregression texture model (simultaneous auto-regressive, SAR) is the one of Markov random field (MRF) model
Kind application example.
In Shape Feature Extraction, characteristics of image can be extracted by boundary characteristic method.Pass through the description to boundary characteristic
To obtain the form parameter of image.Wherein, Hough transform is according to point-line duality, using image overall characteristic by side
Edge pixel connects compositing area closed boundary；Edge direction histogram method differential image first acquires image border, then,
The histogram about edge size and Orientation is made, usual way is construction gradient of image and gray scale direction matrix.
Spatial relationship refers to mutual spatial position or relative direction relationship between the multiple targets split in image,
These relationships can also be divided into connection/syntople, overlapping/overlapping relation and comprising/containment relationship etc..Usual spatial positional information
Two classes: relative tertiary location information and absolute spatial position information can be divided into.Former relationship is it is emphasised that between target
Relative case, such as upper and lower left-right relation, latter relationship is it is emphasised that the distance between target size and orientation.It is aobvious and easy
See, relative tertiary location can be released by absolute spatial position, but it is often fairly simple to express relative tertiary location information.
Further, the use of spatial relation characteristics can reinforce the description separating capacity to picture material, but spatial relationship
Feature is often more sensitive to the rotation, reversion, dimensional variation of image or target etc..Therefore, in practical application, just with space
Information be often it is inadequate, cannot effectively and accurately express scene information.In order to guarantee the accuracy of image characteristics extraction, at this
In embodiment in addition to use space relationship characteristic, extraction characteristics of image can also be cooperated by other feature.By extracting
The characteristics of image come, can be searched in ambient enviroment and identify the object with this feature as mobile vehicle user, with
It is advanced according to mobile vehicle user.
Step 1022, identify barrier orientation in the complaint message and the barrier and the mobile vehicle it
Between obstacle distance；
In mobile vehicle traveling process, can be potentially encountered various barriers, these barriers may be the people of walking,
It may be the object furnished on travel path, such as billboard, dustbin etc..Therefore, mobile vehicle is it needs to be determined that barrier phase
Direction or distance for self-position, according to these information avoiding obstacles.
Optionally, ultrasonic sensor can be installed on mobile vehicle in the present embodiment, and ultrasonic signal is converted
At other energy signals, such as electric signal.Ultrasonic wave is the mechanical wave that vibration frequency is higher than 20KHz, it has frequency height, wavelength
It is short, diffraction phenomenon is small, especially good directionality, ray can be become and the features such as direction propagation.Ultrasonic wave is to liquid, solid
Penetration capacity is very big, especially in the opaque solid of sunlight.Ultrasonic wave, which encounters impurity or interface, can generate significant reflection,
Reflection echo is formed, Doppler effect can be generated by encountering mobiles.
Optionally, infrared sensor can also be installed on mobile vehicle in the present embodiment, infrared sensor is with infrared
Line is medium, and using the fuel factor of infra-red radiation, the sensing element on infrared sensor causes temperature to increase after absorbing radiation energy,
And then certain related physical parameters is made to change, determine what infrared sensor was absorbed by the variation of measure physical parameters
Infra-red radiation.When radiation value is more than certain threshold value, then illustrates that the distance between mobile vehicle and barrier are relatively close, need in time
Evacuation.
Step 1023, according in described image information target signature, the target range, the barrier orientation and
The obstacle distance carries out path planning, obtains route programming result.
After getting the target signature in image information, target range, barrier orientation and obstacle distance, root
Path planning is carried out according to these information, obtains the correct line for following mobile vehicle user to advance.
Further, since the electric energy of mobile vehicle is battery supply, and mobile vehicle is in use, and battery removes
Need to supply includes needed for the functions such as control panel is shown, video camera is taken pictures, sensor detects, path planning calculates, alarms
Electricity, it is also necessary to the driving electricity that mobile vehicle is advanced automatically is provided, therefore, can also be with when carrying out path planning
The current battery capacity of mobile vehicle is taken into account.It is currently electric for measuring mobile vehicle by setting a power threshold
The height of amount, to carry out reasonable path planning.If current electric quantity is higher than preset power threshold, illustrate mobile vehicle electricity
It is higher, it can choose that barrier is less but the farther away mode in path of required traveling；If current electric quantity is lower than the power threshold,
Illustrate that mobile vehicle electricity is lower, can choose the travel path that path is shorter but barrier may be more of required traveling.It is logical
It crosses and is reasonably planned in conjunction with driving path of the electricity to mobile vehicle, can prevent mobile vehicle from stopping suddenly in the process of running
Only, guarantee the using effect and usage experience of mobile vehicle user.
Step 103, it follows mobile vehicle user to transport cargo according to the route programming result to advance.
Route programming result is sent in the motor driver of mobile vehicle, is advised with controlling mobile vehicle according to the path
Check off fruit is advanced.
Above scheme, the mobile vehicle user for needing to follow by mobile vehicle identification and barrier, while measuring movement
The distance between carrier and mobile vehicle user and barrier, to determine azimuth-range of the barrier relative to mobile vehicle,
Path planning is carried out according to the characteristic information and range information of mobile vehicle user and barrier, it is real under the premise of success avoidance
Now follow automatically mobile vehicle user transport cargo advance, can make mobile vehicle user efficiently, effortlessly transport cargo, simultaneously
Both hands have been liberated, have been brought great convenience to people's lives.
As shown in Fig. 2, the automatic follower method of mobile vehicle provided by Embodiment 2 of the present invention the following steps are included:
Step 201, the ambient image of surrounding is obtained, and barrier closeness is determined according to the ambient image；
While mobile vehicle follows mobile vehicle user to advance forward, the ambient image of available surrounding passes through
To the ambient image carry out image characteristics extraction, obtain the barrier or pedestrian in environment locating for mobile vehicle quantity or
Person's area, the travel path area of the area of barrier and mobile vehicle, which is divided by, just can be obtained barrier closeness.
Optionally, the quantity of barrier, barrier whether well evacuation, one in the movement speed of barrier be can be combined with
A or multiple data volumes calculate barrier closeness, herein without limitation.
Step 202, the walking speed of the mobile vehicle user is obtained；
While mobile vehicle follows mobile vehicle user to advance forward, the walking speed of available mobile vehicle user
Degree, to be adjusted correspondingly by the speed of service of the walking speed to mobile vehicle.
Step 203, according to the barrier closeness and/or the walking speed of the mobile vehicle user, described in adjustment
The travel speed of mobile vehicle.
After the walking speed that barrier closeness and/or mobile vehicle user has been determined, break the barriers closeness
And/or the walking speed of mobile vehicle user adjusts the travel speed of mobile vehicle.Illustratively, when the closeness of barrier
When greater than preset closeness threshold value, illustrate that the barrier on current road is more, can suitably reduce the row of mobile vehicle
Into speed.When the walking speed of mobile vehicle user is very fast, the travel speed of mobile vehicle can also be suitably improved.
Further, mobile vehicle user can also adjust following for mobile vehicle by adjusting the walking speed of oneself
Speed.Illustratively, if the barrier on current road is less, mobile vehicle user can accelerate walking speed, move in this way
Dynamic load body is certain in order to guarantee the target range between mobile vehicle user, then can follow speed by motor driven to be promoted
Degree.
Further, similar to the aforementioned embodiment, the method can also include the following steps:
When obtaining the departure time of the mobile vehicle user, and determining waiting according to the departure time and current time
Between；
If the waiting time is less than preset waiting time threshold value, the travel speed of the mobile vehicle is improved；
If the waiting time is more than or equal to the waiting time threshold value, the traveling speed of the mobile vehicle is reduced
Degree.
Specifically, when at the train station or airport building transport luggage when, can be filled by the scanning on mobile vehicle
When setting the ticket of identification mobile vehicle user or the departure time of air ticket, and determining waiting according to departure time and current time
Between, if waiting time is less than preset waiting time threshold value, improve the travel speed of mobile vehicle；If waiting time be greater than or
Equal to waiting time threshold value, then the travel speed of mobile vehicle is reduced.
Further, in actual use, can all there be corresponding ticketing spot on air ticket or ticket, in scanning air ticket
Or when ticket, photos and sending messages can also be obtained out simultaneously, and photos and sending messages may include ticketing spot, departure time and ticketing spot out
Position can determine waiting time according to departure time and current time, currently can also have the time how long to advance with determination
To ticketing spot；Simultaneously according to the position of ticketing spot and preset airport building map or railway station map, determine from current
Position reaches the path of ticketing spot position, finally marches to ticketing spot according to the autonomous path.
Above scheme, by obtaining the walking speed of mobile vehicle user and the ambient image of surrounding, and according to environment
Image determines barrier closeness, adjusts movement further according to the walking speed of barrier closeness and/or mobile vehicle user
The travel speed of carrier, to guarantee that mobile vehicle can be according to the speed of travel of mobile vehicle user and current during traveling
Barrier situation in environment adjusts the travel speed of oneself, improve mobile vehicle and use environment, mobile vehicle user it
Between fitness, while the probability that mobile vehicle encounters barrier and slows down can also be reduced, improve the peace that mobile vehicle is advanced
Full property and reliability.
As shown in figure 3, the embodiment of the present invention three provide the automatic follower method of mobile vehicle the following steps are included:
Step 301, the target range be more than or equal to preset first threshold or the mobile vehicle with it is described
The distance between barrier is less than the feelings of preset second threshold or the mobile vehicle load weight reduction during traveling
Warning message is sent to mobile vehicle user under condition.
It, may be because of pedestrian's interference, mobile vehicle user conversion speed or barrier in mobile vehicle operational process
The factors such as stop and changes traveling mode or the position of the path planning of script, in order to avoid this kind of situation, setting
The distance between mobile vehicle and mobile vehicle user threshold value are first threshold, measure mobile vehicle and shifting by first threshold
Target range between dynamic bearer user is far and near.If target range is more than or equal to the first threshold, illustrate between the two
Distance farther out, mobile vehicle may exceed the domain of walk of mobile vehicle user, in this case to mobile vehicle
User sends warning message, has exceeded normal range (NR) to report to mobile vehicle user its mobile vehicle, has needed to pay attention to.
Meanwhile default second threshold, for measuring the distance between mobile vehicle and barrier, if mobile vehicle and obstacle
The distance between object is less than preset second threshold, then distance is close between explanation and barrier, the avoidance of possible mobile vehicle
System breaks down, then alert notice mobile vehicle user artificially pushes mobile vehicle.
There are when certain distance traveling between mobile vehicle and mobile vehicle user, the luggage of mobile vehicle user oneself
Or cargo is placed on mobile vehicle, may be taken away by other people, and mobile vehicle user may not have found at that time, examine
Consider such case, weighing unit is installed on mobile vehicle, the weight of cargo on mobile vehicle is detected by weighing unit,
While mobile vehicle is advanced, if detecting that load weight significantly reduces, and the weight of reduction is greater than preset weight threshold,
Then mobile vehicle its cargo carried during traveling may be taken away by people, send out warning message, to remind mobile carry
Body user pays attention to.
It should be noted that the mode that the mobile vehicle in the present embodiment sounds an alarm can be, pacify on mobile vehicle
The devices such as alarm lamp, loudspeaker are filled, alarm is carried out by modes such as ring loudspeaker, flashing lights, notifies mobile vehicle user；It can also pass through
Wirelessly to mobile terminal device send message, specifically can be send short messages to mobile terminal device, make a phone call or
Mobile vehicle user is reminded by the application software in mobile terminal device；It simultaneously can also be to the remote controler of control mobile vehicle
Information is sent, the alarms measure such as makes vibration, flashing light, make a sound by remote controler, reminds mobile vehicle user.
Further, it can also be moved in mobile vehicle, using the mobile terminal device of mobile vehicle application program, control
Private network is established between the remote controler of carrier, guarantees the quality of wireless communication.Or it after mobile vehicle opens use, is moving
It is connected automatically by way of bluetooth between dynamic load body and its controller, mobile terminal device, sends information, do not sending message
When bluetooth is automatically closed, guarantee the cruise duration of battery.
Step 302, the control information that mobile vehicle user sends is received, and according to the control information switch line progressive die
Formula；The control information is that the movement that is used to control that mobile vehicle user issues after receiving the warning message carries
The information of body；The traveling mode includes autonomous follow the mode, artificial steer mode or artificially pushes mode.
After user receives warning message, mobile vehicle user takes certain measure according to current situation.Example
Such as, it checks whether luggage is taken away by others, whether encounters barrier and does not avoid and whether apart from the mobile vehicle feelings such as farther out
Condition, mobile vehicle user can switch the operational mode of mobile vehicle according to current situation, can choose artificial steer mode
Or mode is artificially pushed, guarantee the normal operation of mobile vehicle by artificially adjusting.
Above scheme, when larger by the target range between mobile vehicle and mobile vehicle user, mobile vehicle with
When the distance between barrier is smaller and mobile vehicle is when load weight is reduced suddenly during traveling, uses to mobile vehicle
Family sends warning message, the control letter for controlling mobile vehicle that mobile vehicle user issues after receiving warning message
Breath, mobile vehicle receives the control information that mobile vehicle user sends, and switches traveling mode according to the control information, makes to move
Carrier still can normally advance in the longer-distance situation of mobile vehicle user, ensure mobile vehicle and the peace of pedestrian
Entirely, while carrying cargo security of mobile vehicle user during using mobile vehicle is improved, ensure that mobile vehicle is used
The property safety at family.
As shown in figure 4, the having of providing of the embodiment of the present invention four follow automatically the mobile vehicle 400 of barrier avoiding function for
Device including the automatic trolley for following function, van, luggage truck, robot comprising: mobile vehicle car body and installation
Information acquisition unit 401, path planning unit 402 on mobile vehicle car body and follow traveling unit 403；
Wherein information acquisition unit 401 is made of camera and ultrasonic sensor, laser or infrared sensor, for obtaining
Take the information of mobile vehicle user to be followed and the environmental information of surrounding；The information of the mobile vehicle user includes described
Target range between the image information of mobile vehicle user, mobile vehicle and the mobile vehicle user, the environmental information
Including the complaint message on the mobile vehicle travel path；
Path planning unit 402 uses processor, described image information for being acquired according to information acquisition unit 401,
The target range and the complaint message carry out path planning, obtain route programming result, and export single to traveling is followed
Member 403；
Traveling unit 403 is followed, for driving mobile vehicle to follow the mobile vehicle according to the route programming result
User transports cargo and advances.
Further, the path planning unit 402 includes:
Object-recognition unit 4021 is followed, for extracting characteristics of image from described image information as target signature,
And identify the object in ambient enviroment with the target signature as mobile vehicle user to be followed；
Obstacle determination unit 4022, for identification the barrier orientation in the complaint message and the barrier and institute
State the obstacle distance between mobile vehicle；
Avoidance planning unit 4023, for according to the target signature in described image information, the target range, the barrier
Hinder object space position and the obstacle distance to carry out path planning, obtains route programming result.
Further, the mobile vehicle further include:
Environment information acquisition unit for the ambient image around obtaining, and determines barrier according to the ambient image
Closeness；
User velocity acquiring unit, for obtaining the walking speed of the mobile vehicle user；
Speed control unit, for the walking speed according to the barrier closeness and/or the mobile vehicle user,
Adjust the travel speed of the mobile vehicle.
Further, the mobile vehicle further include:
Time determination unit, for obtaining the departure time of the mobile vehicle user, and according to the departure time and
Current time determines waiting time；
Raise speed unit, if improving the mobile vehicle less than preset waiting time threshold value for the waiting time
Travel speed；
Deceleration unit reduces the shifting if being more than or equal to the waiting time threshold value for the waiting time
The conduct speed of dynamic load body.
Further, the mobile vehicle can also include:
Alarm unit, for sending warning message in following any situation:
The target range is more than or equal between preset first threshold, the mobile vehicle and the barrier
Distance is less than preset second threshold, the mobile vehicle load weight during traveling and reduces；
Mode switch element for receiving the control information of mobile vehicle user transmission, and is cut according to the control information
Change traveling mode；The control information is that the movement that is used to control that user issues after receiving the warning message carries
The information of body；The traveling mode includes autonomous follow the mode, artificial steer mode or artificially pushes mode.
Above scheme by identifying the mobile vehicle user for needing to follow and barrier, while measuring mobile vehicle and moving
Dynamic the distance between bearer user and barrier, to determine azimuth-range of the barrier relative to mobile vehicle, according to movement
The characteristic information and range information of bearer user and barrier carry out path planning, success avoidance under the premise of realize automatically with
Cargo is transported with mobile vehicle user to advance, can make mobile vehicle user efficiently, effortlessly transport cargo, while having liberated shifting
The both hands of dynamic bearer user, bring great convenience to people's lives.
Fig. 5 is the offer of the embodiment of the present invention five with the mobile vehicle schematic diagram for following barrier avoiding function automatically.Such as Fig. 5 institute
Show, the mobile vehicle 5 include: mobile vehicle car body and be mounted on mobile vehicle car body processor 50, memory 51 and
It is stored in the computer program 52 that can be run in the memory 51 and on the processor 50.The processor 50 executes institute
The step in the automatic follower method embodiment of above-mentioned each mobile vehicle is realized when stating computer program 52, such as shown in FIG. 1
Step 101 is to 103.Alternatively, realized when the processor 50 executes the computer program 52 each module in the various embodiments described above/
The function of unit, such as the function of unit 401 to 403 shown in Fig. 4.
Illustratively, the computer program 52 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 51, and are executed by the processor 50, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 52 in the mobile vehicle 5 is described.
The mobile vehicle 5 can be the equipment such as trolley, van, luggage truck, robot, which is provided with but not only limits
In processor 50, memory 51.It will be understood by those skilled in the art that Fig. 5 is only the example of mobile vehicle 5, do not constitute
Restriction to mobile vehicle 5 may include perhaps combining certain components or different than illustrating more or fewer components
Component, such as input-output equipment, network access equipment, bus etc..
Alleged processor 50 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 51 can be the internal storage unit of the mobile vehicle 5, such as the hard disk or interior of mobile vehicle 5
It deposits.The memory 51 is also possible to the External memory equipment of the mobile vehicle 5, such as be equipped on the mobile vehicle 5
Plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card dodge
Deposit card (Flash Card, FC) etc..Further, the memory 51 can also have been deposited both the inside including the mobile vehicle 5
Storage unit also includes External memory equipment.The memory 51 is used to store the computer program and the mobile terminal is set
Standby required other programs and data.The memory 51, which can be also used for temporarily storing, have been exported or will export
Data.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of automatic follower method of mobile vehicle, which is characterized in that this method includes the following steps carried out in order:
Obtain the information of mobile vehicle user to be followed and the environmental information of surrounding；The packet of the mobile vehicle user
Include the target range between image information, mobile vehicle and the mobile vehicle user of mobile vehicle user, the environment letter
Breath includes the complaint message on the mobile vehicle travel path；
Path planning is carried out according to described image information, the target range and the complaint message, obtains path planning knot
Fruit；
It follows mobile vehicle user to transport cargo according to the route programming result to advance.
2. the automatic follower method of mobile vehicle according to claim 1, which is characterized in that described to be believed according to described image
Breath, the target range and the complaint message carry out path planning, and the method for obtaining route programming result includes:
Characteristics of image is extracted from described image information as target signature, and identifies that there is the target in ambient enviroment
The object of feature is as mobile vehicle user to be followed；
Identify the barrier orientation in the complaint message and the barrier between the barrier and the mobile vehicle away from
From；
According to target signature, the target range, the barrier orientation and the barrier in described image information away from
From path planning is carried out, route programming result is obtained.
3. the automatic follower method of mobile vehicle according to claim 1, which is characterized in that the method also includes:
Ambient image around obtaining, and barrier closeness is determined according to the ambient image；
Obtain the walking speed of the mobile vehicle user；
According to the barrier closeness and/or the walking speed of the mobile vehicle user, the row of the mobile vehicle is adjusted
Into speed.
4. the automatic follower method of mobile vehicle according to claim 3, which is characterized in that the method also includes:
The departure time of the mobile vehicle user is obtained, and waiting time is determined according to the departure time and current time；
If the waiting time is less than preset waiting time threshold value, the travel speed of the mobile vehicle is improved；
If the waiting time is more than or equal to the waiting time threshold value, the travel speed of the mobile vehicle is reduced.
5. the automatic follower method of mobile vehicle according to claim 1-4, which is characterized in that the method is also wrapped
It includes:
It is more than or equal between preset first threshold or the mobile vehicle and the barrier in the target range
Distance is less than preset second threshold or the mobile vehicle and carries in the case where load weight during traveling is reduced to mobile
Body user sends warning message；
The control information that mobile vehicle user sends is received, and traveling mode is switched according to the control information；The control letter
Breath is the information for being used to control the mobile vehicle that mobile vehicle user issues after receiving the warning message；It is described
Traveling mode includes autonomous follow the mode, artificial steer mode or artificially pushes mode.
6. one kind, which has, follows barrier avoiding function mobile vehicle automatically, which is characterized in that the mobile vehicle includes:
Mobile vehicle car body and the information acquisition unit being mounted on mobile vehicle car body, path planning unit and follow traveling
Unit；
Wherein information acquisition unit is made of camera and ultrasonic sensor, laser or infrared sensor, for obtain to
With mobile vehicle user information and surrounding environmental information；The information of the mobile vehicle user includes the mobile load
Target range between the image information of body user, mobile vehicle and the mobile vehicle user, the environmental information includes institute
State the complaint message on mobile vehicle travel path；
Path planning unit uses processor, described image information, the target for being acquired according to information acquisition unit away from
From and the complaint message carry out path planning, obtain route programming result, and export to being followed traveling unit；
Traveling unit is followed, for driving mobile vehicle that the mobile vehicle user is followed to transport according to the route programming result
Cargo is advanced.
7. according to claim 6 follow barrier avoiding function mobile vehicle with automatic, which is characterized in that the path planning
Unit includes:
Object-recognition unit is followed, for extracting characteristics of image as target signature from described image information, and is identified
Object in ambient enviroment with the target signature is as mobile vehicle user to be followed；
Obstacle determination unit, the barrier orientation in the complaint message and the barrier and the movement carry for identification
Obstacle distance between body；
Avoidance planning unit, for according to target signature, the target range, the barrier orientation in described image information
And the obstacle distance carries out path planning, obtains route programming result.
8. according to claim 6 follow barrier avoiding function mobile vehicle with automatic, which is characterized in that the mobile vehicle
Further include:
Environment information acquisition unit for the ambient image around obtaining, and determines that barrier is intensive according to the ambient image
Degree；
User velocity acquiring unit, for obtaining the walking speed of the mobile vehicle user；
Speed control unit, for the walking speed according to the barrier closeness and/or the mobile vehicle user, adjustment
The travel speed of the mobile vehicle.
9. one kind has follows barrier avoiding function mobile vehicle automatically, which is characterized in that the mobile vehicle includes: mobile vehicle vehicle
Body and the processor being mounted on mobile vehicle car body, memory and storage are in the memory and can be in the processor
The computer program of upper operation, the processor are realized as described in any one of claim 1 to 5 when executing the computer program
The step of method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 5 of realization the method.
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| CN201810999758.9A CN108931991A (en) | 2018-08-30 | 2018-08-30 | The automatic follower method of mobile vehicle and has and follow barrier avoiding function mobile vehicle automatically |
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|---|---|---|---|
| CN201810999758.9A CN108931991A (en) | 2018-08-30 | 2018-08-30 | The automatic follower method of mobile vehicle and has and follow barrier avoiding function mobile vehicle automatically |
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| CN113696198A (en) * | 2021-08-31 | 2021-11-26 | 重庆科华安全设备有限责任公司 | Following system of mining rescue following robot |
| CN113906360A (en) * | 2020-08-07 | 2022-01-07 | 深圳市大疆创新科技有限公司 | Control method and device for movable platform and computer readable storage medium |
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| CN110727277A (en) * | 2019-08-23 | 2020-01-24 | 珠海格力电器股份有限公司 | Control method and device of car washer with millimeter wave radar and intelligent car washer |
| CN111352424B (en) * | 2020-03-12 | 2021-07-02 | 深圳市银星智能科技股份有限公司 | Robot obstacle avoidance method, nonvolatile computer readable storage medium and robot |
| CN111352424A (en) * | 2020-03-12 | 2020-06-30 | 深圳市银星智能科技股份有限公司 | Robot obstacle avoidance method, nonvolatile computer readable storage medium and robot |
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| CN111590576A (en) * | 2020-05-15 | 2020-08-28 | 深圳国信泰富科技有限公司 | Disaster relief robot in nuclear radiation environment |
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| CN113906360A (en) * | 2020-08-07 | 2022-01-07 | 深圳市大疆创新科技有限公司 | Control method and device for movable platform and computer readable storage medium |
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| CN112859854A (en) * | 2021-01-08 | 2021-05-28 | 姜勇 | Camera system and method of camera robot capable of automatically following camera shooting |
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