TWI509530B - Adapted mobile carrier and auto following system - Google Patents
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Description
本發明乃是關於一種自主式行動載具以及自動跟隨系統，特別是指一種影像偵測及追蹤技術之自動跟隨系統。The invention relates to an autonomous mobile vehicle and an automatic following system, in particular to an automatic following system for image detection and tracking technology.
行動載具的自動跟隨系統目前已見於高爾夫球場，透過行動載具運送高爾夫球桿，且利用自動跟隨功能使得行動載具可以自動跟隨運動員移動。The automatic following system of the mobile vehicle has been found on golf courses, transporting golf clubs through mobile vehicles, and the automatic following function allows the mobile vehicle to automatically follow the athlete's movement.
傳統自主式行動載具以及其自動跟隨系統主要是透過全球定位系統(Global Positioning System,GPS)提供運動員的即時座標位址給行動載具，讓行動載具可以根據該即時座標位址導航至運動員周邊。The traditional autonomous mobile vehicle and its automatic following system mainly provide the athlete's real-time coordinate address to the mobile vehicle through the Global Positioning System (GPS), so that the mobile vehicle can navigate to the athlete according to the instant coordinate address. Surroundings.
然而全球定位系統雖然可以提供即時座標位置，但無法提供非常精準的即時座標位置，且全球定位系統的相關零組件成本較高，也必須消耗大量電力，因此在應用於戶外的自動跟隨系統時並無法完全符合使用者的需求。另外，全球定位系統亦只能應用於戶外環境，並無法在室內提供自動跟隨之功能。However, although the global positioning system can provide the instantaneous coordinate position, it can not provide a very accurate real-time coordinate position, and the global component system has high cost associated with components, and must consume a large amount of power, so when applied to an outdoor automatic following system, Can not fully meet the needs of users. In addition, GPS can only be used in outdoor environments, and it is not possible to provide automatic follow-up functions indoors.
本發明提供一種行動載具，可自動追蹤並跟隨一導引裝置。The present invention provides a mobile vehicle that automatically tracks and follows a guiding device.
本發明另提供一種行動載具，可在無法自動追蹤並跟隨一導引裝置時提供使用者透過手動操作方式控制該行動載具。The present invention further provides a mobile vehicle that provides a user with manual control of the mobile vehicle when it is unable to automatically track and follow a guiding device.
本發明一實施例提出一種自主式行動載具，用以追蹤一導引光源，該自主式行動載具具有一軸線，該自主式行動載具包括：一感測模組，具有一第一影像感測單元以及一第二影像感測單元，其中該第一影像感測單元位於該軸線之第一側，用以感測該導引光源並產生至少一第一影像，該第二影像感測單元位於該軸線之第二側用以感測該導引光源並產生至少一第二影像；以及一移動模組，具有一驅動單元用以根據該導引光源在該第一影像以及該第二影像中的成像位置控制該移動模組的前進方向的轉向及/或前進的速度及時間。An embodiment of the present invention provides an autonomous mobile vehicle for tracking a guiding light source. The autonomous mobile vehicle has an axis. The autonomous mobile vehicle includes: a sensing module having a first image. a sensing unit and a second image sensing unit, wherein the first image sensing unit is located on a first side of the axis for sensing the guiding light source and generating at least one first image, the second image sensing The unit is located on the second side of the axis for sensing the guiding light source and generating at least one second image; and a moving module having a driving unit for the first image and the second according to the guiding light source The imaging position in the image controls the speed and time of the steering and/or advancement of the forward direction of the mobile module.
本發明另一實施例提出一種自主式行動載具，用以追蹤一導引光源，包括：一感測模組，具有至少一第一影像感測單元以及一輔助影像感測單元，其中該第一影像感測單元具有一非廣角鏡頭用以感測該導引光源並產生至少一非廣角影像，該輔助影像感測單元具有一廣角鏡頭用以感測該導引光源並產生至少一廣角影像；以及一移動模組，具有一驅動單元用以根據該導引光源在該廣角影像的成像位置控制該移動模組的前進方向的轉向，或根據該導引光源在該非廣角影像的成像位置控制該移動模組的前進方向的轉向以及前進的速度及時間。Another embodiment of the present invention provides an autonomous mobile vehicle for tracking a guiding light source, comprising: a sensing module having at least one first image sensing unit and an auxiliary image sensing unit, wherein the An image sensing unit has a non-wide-angle lens for sensing the guiding light source and generating at least one non-wide-angle image, the auxiliary image sensing unit having a wide-angle lens for sensing the guiding light source and generating at least one wide-angle image; a moving module having a driving unit for controlling the steering of the moving module in the forward direction according to the guiding position of the guiding light source, or controlling the movement according to the guiding position of the guiding light source at the imaging position of the non-wide-angle image The direction of the module's forward direction and the speed and time of advancement.
本發明另一實施例提出一種自動跟隨系統，包括：一行動載具，具有至少一行動光源，該行動載具並具有一移動模組，該移動模組透過一驅動單元接收一導引訊號以控制前進方向的轉向及/或前進的速度及時間；以及一導引裝置，具有一感測模組，該感測模組包含至少一導引影像感測單元用以感測該行動光源並產生至少一導引影像，並根據該行動光源在該導引影像的成像位特徵產生該控制訊號。Another embodiment of the present invention provides an automatic following system, comprising: a mobile vehicle having at least one mobile light source, the mobile vehicle having a mobile module, the mobile module receiving a pilot signal through a driving unit Controlling the direction and/or the speed and time of the forward direction; and a guiding device having a sensing module, the sensing module comprising at least one guiding image sensing unit for sensing the motion light source and generating At least one guiding image is generated, and the control signal is generated according to the imaging bit feature of the guiding image.
本發明另一實施例提出一種自動跟隨系統，包括：一導引裝置，該導引裝置包括：一導引光源；以及一感測模組，具有至少一導引影像感測單元用以感測一行動光源並產生一至少導引影 像，並根據該行動光源在該導引影像的成像位特徵產生一導引訊號；以及一行動載具，該行動載具包括：該行動光源；一感測模組，具有一第一影像感測單元以及一第二影像感測單元，其中該第一影像感測單元位於該軸線之第一側，用以感測該導引光源並產生至少一第一影像，該第二影像感測單元位於該軸線之第二側用以感測該導引光源並產生至少一第二影像；以及一移動模組，具有一驅動單元用以根據該導引訊號或該導引光源在該第一影像以及該第二影像中的成像位置控制該移動模組的前進方向的轉向及/或前進的速度及時間；其中，當該第一影像與該第二影像皆未具有該導引光源之成像，則該驅動單元接收該導引訊號並用以控制該移動模組的前進方向的轉向及/或前進的速度及時間。Another embodiment of the present invention provides an automatic following system, including: a guiding device, the guiding device includes: a guiding light source; and a sensing module having at least one guiding image sensing unit for sensing a moving light source and producing an at least guide image And generating, according to the action light source, a guiding signal on the imaging position feature of the guiding image; and a mobile vehicle, the mobile vehicle includes: the motion light source; and a sensing module having a first image sense And the second image sensing unit, wherein the first image sensing unit is located on the first side of the axis, and is configured to sense the guiding light source and generate at least one first image, the second image sensing unit a second side of the axis for sensing the guiding light source and generating at least one second image; and a moving module having a driving unit for the first image according to the guiding signal or the guiding light source And the imaging position in the second image controls the speed and time of the steering and/or advancement of the forward direction of the mobile module; wherein, when the first image and the second image do not have the imaging of the guiding light source, The driving unit receives the pilot signal and controls the speed and time of the steering and/or forward direction of the moving module.
本發明之行動載具可藉由影像感測技術擷取一導引光源之影像，並根據該導引光源的成像特徵進行追蹤，用以使該行動載具可主動跟隨該導引光源；該行動載具進一步亦可配置一行動光源，當無法透過該行動載具擷取該導引光源時，亦可透過一遠端影像感測裝置擷取該行動光源之影像，並根據該行動光源的成像特徵提供控制訊號導引該自主式行動載具。The motion carrier of the present invention can capture an image of a guiding light source by image sensing technology, and track according to the imaging feature of the guiding light source, so that the mobile vehicle can actively follow the guiding light source; The action vehicle can further be configured with a motion light source. When the guide light source cannot be captured by the mobile vehicle, the image of the action light source can also be captured by a remote image sensing device, and according to the action light source. The imaging feature provides a control signal to guide the autonomous mobile vehicle.
為了能更進一步瞭解本發明的技術，請參閱以下詳細說明與圖式，相信本發明的特徵，當可由此得以具體瞭解。然而，所附圖式與附件僅提供參考與說明用，並非用來對本發明加以限制者。In order to further understand the teachings of the present invention, reference should be made However, the drawings and the annexed drawings are only for the purpose of illustration and description.
100‧‧‧目標物件100‧‧‧ Target object
111~113‧‧‧導引光源111~113‧‧‧ Guide light source
120‧‧‧導引裝置120‧‧‧Guide
121‧‧‧導引光源121‧‧‧ Guide light source
122‧‧‧影像感測單元122‧‧‧Image sensing unit
200‧‧‧行動載具200‧‧‧Mobile Vehicles
210‧‧‧感測模組210‧‧‧Sense Module
211、212‧‧‧影像感測單元211, 212‧‧‧ image sensing unit
220‧‧‧移動模組220‧‧‧Mobile Module
230‧‧‧行動光源230‧‧‧Action light source
250、260‧‧‧影像250, 260‧ ‧ images
251、261‧‧‧成像251, 261‧‧ imaging
第一圖為本發明一實施例之自動跟隨系統示意圖；第二圖為本發明另一實施例適用手動搖控之自動跟隨系統示意圖；第三圖為本發明一實施例在一操作情形下之感測模組所擷取影像示意圖；第四A圖為本發明一實施例在另一操作情形下之感測模組所擷取影像示意圖；以及 第四B圖為本發明一實施例在另一操作情形下之感測模組所擷取影像示意圖。The first figure is a schematic diagram of an automatic following system according to an embodiment of the present invention; the second figure is a schematic diagram of an automatic following system applicable to manual remote control according to another embodiment of the present invention; The schematic diagram of the image captured by the sensing module; the fourth A is a schematic diagram of the image captured by the sensing module in another operating situation according to an embodiment of the present invention; FIG. 4B is a schematic diagram of an image captured by a sensing module in another operating situation according to an embodiment of the invention.
第一圖為本發明一實施例之自動跟隨系統示意圖，該自動跟隨系統包括一個目標物件100以及一個行動載具200，其中該行動載具200係用以自動追蹤並跟隨該目標物件100。The first figure is a schematic diagram of an automatic following system according to an embodiment of the present invention. The automatic following system includes a target object 100 and a mobile vehicle 200, wherein the mobile vehicle 200 is used to automatically track and follow the target object 100.
該目標物件100可以是一個可移動物件，例如在高爾夫球球場的應用中是一個高爾夫球運動員，而在兒童遊戲系統則可以是一個操作遊戲之兒童。該目標物件100具有至少一個導引光源用以提供該行動載具200進行追蹤辨識，在第一圖中顯示三個導引光源111~113，但其僅用於揭示多個可用於裝配導引光源之位置，在實際運用時僅需至少一個導引光源即可，以下即以導引光源111作為舉例。The target object 100 can be a movable item, such as a golfer in a golf course application, and a child playing game in a children's gaming system. The target object 100 has at least one guiding light source for providing the mobile carrier 200 for tracking recognition. In the first figure, three guiding light sources 111-113 are displayed, but it is only used to reveal a plurality of assembly guides. The position of the light source only needs at least one guiding light source in actual use, and the following is the guiding light source 111 as an example.
該行動載具200具有一個感測模組210以及一移動模組220，該感測模組210用以感測該導引光源111並產生至少一感測影像，該移動模組220則根據該感測模組210所取得導引光源111~113在感測影像中的成像特徵控制前進的轉向及/或前進的速度與時間。The mobile device 200 has a sensing module 210 and a mobile module 220. The sensing module 210 is configured to sense the guiding light source 111 and generate at least one sensing image, and the mobile module 220 is configured according to the The imaging features of the guided light sources 111-113 obtained by the sensing module 210 in the sensed image control the speed and time of the forward steering and/or advancement.
該感測模組210至少具有一個影像感測單元，在第二圖中舉例為影像感測單元211、212。該些影像感測單元211、212較佳可以是用於偵測特定波長，例如在鏡頭前方設置紅外線光學濾光片並僅用於偵測紅外線光線，此時目標物件100的導引光源111~113當然對應的需要是一個紅外線光源。The sensing module 210 has at least one image sensing unit, and is exemplified by the image sensing units 211 and 212 in the second figure. The image sensing units 211 and 212 are preferably configured to detect a specific wavelength, for example, an infrared optical filter is disposed in front of the lens and is only used to detect infrared light. At this time, the guiding light source 111 of the target object 100 is used. Of course, the corresponding need is an infrared light source.
當目標物件100為一個使用者時，由於使用者在操作時可能會有轉身的動作，導致無法固定用同一側面對該行動載具200，因此該導引光源111~113較佳可設置為環狀或至少可發出平面光源。例如導引光源111~113可包括一個點光源以及一組光纖(圖未顯 示)，其中點光源設置於該光纖之入光面，因此當點光源點亮時可使該光纖發亮，而透過將光纖配置在使用者(目標物件100)的腰上(導引光源111)、腿上(導引光源112)或手上(導引光源113)時，可產生一環狀光源，因此不論該行動載具200所面對為該使用者的哪一側皆可有效偵側到該導引光源111~113。或者該導引光源111~113亦可使用一雷射光源搭配一個半圓柱狀透鏡(圖未顯示)，由於雷射光源投射一線性雷射光至該半圓柱狀透鏡會產生一面形光線，因此僅需在腰部、腿部或手部設置數個導引光源即可達到產生環狀光源之目的。When the target object 100 is a user, the user may not be able to fix the mobile device 200 with the same side because the user may have a turning motion during operation. Therefore, the guiding light sources 111-113 may preferably be configured as a ring. Shape or at least emit a planar light source. For example, the guiding light sources 111-113 may include a point light source and a set of optical fibers (the figure is not shown) The light source is disposed on the light incident surface of the optical fiber, so that when the point light source is lit, the optical fiber can be brightened, and the optical fiber is disposed on the waist of the user (the target object 100) (the guiding light source 111) When the leg (guide light source 112) or the hand (guide light source 113), an annular light source can be generated, so no matter which side of the user the mobile vehicle 200 faces, it can effectively detect Side to the guiding light sources 111-113. Alternatively, the guiding light sources 111-113 may also use a laser light source combined with a semi-cylindrical lens (not shown). Since the laser light source projects a linear laser light to the semi-cylindrical lens, a side-shaped light is generated, so only It is necessary to set a plurality of guiding light sources at the waist, legs or hands to achieve the purpose of generating a ring-shaped light source.
為了幫助影像感測單元211、212進行辨識，該導引光源111~113除可具有特定波長之外，亦可具有特定閃爍頻率、特定圖樣或形狀，而感測模組210即可根據所擷取影像中的導引光源111~113的成像形狀、圖樣或連續影像的成像頻率來辨識該導引光源111~113並進而判斷該導引光源111~113的成像位置。In order to assist the image sensing units 211, 212 to identify, the guiding light sources 111-113 may have a specific blinking frequency, a specific pattern or shape in addition to a specific wavelength, and the sensing module 210 may be configured according to what is required. The imaging shapes of the guiding light sources 111-113 in the image, the imaging frequency of the pattern or the continuous image are used to identify the guiding light sources 111-113 and further determine the imaging positions of the guiding light sources 111-113.
該移動模組220除可移動該行動載具200並進行轉向之外，亦可進一步透過一轉像結構控制該感測模組210進行轉向，用以使該感測模組210的影像感測單元211、212可迅速擷取到導引光源111~113之影像。當然，該行動載具200亦可設置其他元件提供該感測模組210進行轉向，在本發明中亦將其視為移動模組220之一部分。In addition to the movement of the mobile vehicle 200 and the steering, the mobile module 220 can further control the sensing module 210 to perform steering through a rotating image structure for sensing the image of the sensing module 210. The units 211, 212 can quickly capture images of the guiding light sources 111-113. Of course, the mobile device 200 can also be provided with other components to provide the sensing module 210 for steering. In the present invention, it is also considered as a part of the mobile module 220.
該移動模組220可具有一個驅動單元(圖中未顯示)，用以接收該感測模組210所擷取複數個影像或由該等影像的成像特徵所產生之控制訊號，並根據該等影像的成像特徵或控制訊號控制控制前進的轉向及/或前進的速度與時間。The mobile module 220 can have a driving unit (not shown) for receiving a plurality of images captured by the sensing module 210 or control signals generated by imaging features of the images, and according to the The imaging features or control signals of the image control the speed and time of the forward steering and/or advancement.
由於該行動載具200係在戶外透過影像感測單元211、212偵測該目標物件100的導引光源111~113，因此有時候可能會因為環境光源的影響導致影像感測單元211、212暫時失效，例如該些影像感測單元211、212偵測到強光或是該目標物件100的導引光源 111~113電量不足導致亮度過暗而使得該些影像感測單元211、212無法順利擷取該導引光源111~113的影像。Since the mobile device 200 detects the guiding light sources 111 to 113 of the target object 100 through the image sensing units 211 and 212 outdoors, the image sensing units 211 and 212 may be temporarily caused by the influence of the ambient light source. Failure, for example, the image sensing units 211, 212 detect glare or the guiding light source of the target object 100 The insufficient power of 111~113 causes the brightness to be too dark, so that the image sensing units 211 and 212 cannot smoothly capture the images of the guiding light sources 111-113.
參考第二圖為本發明另一實施例適用手動搖控之自動跟隨系統示意圖，該實施例主要即在於當影像感測單元211、212無法有效擷取到導引光源111~113的影像時，可提供使用者進行手動的遠端遙控來操作該行動載具。FIG. 2 is a schematic diagram of an automatic following system for manual remote control according to another embodiment of the present invention. The embodiment is mainly used when the image sensing units 211 and 212 cannot effectively capture the images of the guiding light sources 111-113. The user can be provided with a manual remote remote control to operate the mobile vehicle.
第二圖所示實施例與第一圖所示實施例最主要差別在於目標物件100具有一個導引裝置120，該導引裝置120除具有導引光源121之外，並具有一個影像感測單元122，其中該導引光源121與該影像感測單元122可設置在同一個本體或分別獨立設置。The main difference between the embodiment shown in the second figure and the embodiment shown in the first figure is that the target object 100 has a guiding device 120, which has an image sensing unit in addition to the guiding light source 121. 122, wherein the guiding light source 121 and the image sensing unit 122 can be disposed on the same body or separately.
對應的該行動載具200設置一個行動光源230，該行動光源230可以與導引光源111~113使用相同光學特徵，例如特定波長、特定閃爍頻率、特定形狀或圖樣，用以使得該影像感測單元122便於從所擷取影像中辨識該行動光源230。該行動光源230較佳亦可是可提供環狀光線，用以使目標物件100的該影像感測單元122可從該行動載具200的任一側偵測該行動光源230。The corresponding mobile vehicle 200 is provided with a mobile light source 230, which can use the same optical characteristics as the guiding light sources 111-113, such as a specific wavelength, a specific blinking frequency, a specific shape or a pattern, to enable the image sensing. Unit 122 facilitates identification of the motion light source 230 from the captured image. The action light source 230 preferably further provides an annular light for enabling the image sensing unit 122 of the target object 100 to detect the motion light source 230 from either side of the mobile vehicle 200.
在該實施例中，該導引裝置120係產生一導引訊號，並將該導引訊號提供給該移動模組220之驅動單元，用以控制前進的轉向及/或前進的速度與時間。其中，該導引訊號可以是該導引裝置120所擷取影像或者是由所擷取影像中產生該行動光源的成像特徵，另外亦可以是直接根據該成像特徵產生一個控制指令，再將該控制指令作為該導引訊號提供給該移動模組220之驅動單元。In this embodiment, the guiding device 120 generates a guiding signal and provides the guiding signal to the driving unit of the mobile module 220 for controlling the speed and time of the forward steering and/or forward. The guiding signal may be an image captured by the guiding device 120 or an imaging feature generated by the captured image. Alternatively, the control signal may be directly generated according to the imaging feature. The control command is provided as a pilot signal to the driving unit of the mobile module 220.
第一圖與第二圖所示實施例可同時結合，亦即在該目標物件100上設置該導引裝置，用以提供該導引光源121以及該影像感測單原122，而行動載具200則具有該感測模組210、該移動模組220以及該行動光源230。The embodiment shown in FIG. 1 and FIG. 2 can be combined at the same time, that is, the guiding device is disposed on the target object 100 for providing the guiding light source 121 and the image sensing unit 122, and the mobile vehicle The 200 has the sensing module 210, the moving module 220, and the action light source 230.
第三圖為本發明一實施例在一操作情形下之感測模組所擷取影像示意圖其中影像感測單元211所擷取為影像250，而影像感測 單元212所擷取為影像260，其中影像250中具有該導引光源111的成像251，該影像260中具有該導引光源111的成像261。虛線L所指為影像感測單元211、212二者之間的中軸線，通常該等影像感測單元211、212會設置在該行動載具200的二側，因此該中軸線的箭頭方向亦可表示為該行動載具200的直行方向。以下實施例即以該等影像感測單元211、212分別設置在該行動載具200的第一側與第二側為例。其中，為便於說明，以下將影像250以及影像260中靠近虛線L的一側稱之為內側，而遠離虛線L的一側則稱之為外側。The third figure is a schematic diagram of the captured image of the sensing module in an operating situation, in which the image sensing unit 211 captures the image 250, and the image sensing The image captured by the unit 212 is an image 260 having an image 251 of the light source 111 in the image 250. The image 260 has an image 261 of the light source 111. The dotted line L is referred to as the central axis between the image sensing units 211 and 212. Generally, the image sensing units 211 and 212 are disposed on two sides of the mobile vehicle 200, so the direction of the arrow of the central axis is also It can be expressed as the straight direction of the mobile vehicle 200. In the following embodiments, the image sensing units 211 and 212 are respectively disposed on the first side and the second side of the mobile vehicle 200. For convenience of explanation, the side of the image 250 and the image 260 that is adjacent to the broken line L will be referred to as the inner side, and the side away from the broken line L will be referred to as the outer side.
當該行動載具200正面對該目標物件100時，該導引光源111在該等影像250、260中會呈現對稱分布，亦即成像251與影像250靠近該虛線L的一側的距離會與成像261與影像260靠近該虛線L的一側的距離相等。When the mobile device 200 faces the target object 100, the guiding light source 111 will exhibit a symmetric distribution in the images 250, 260, that is, the distance between the imaging 251 and the side of the image 250 near the broken line L will be The distance between the image 261 and the side of the image 260 near the broken line L is equal.
第四A圖為本發明一實施例在另一操作情形下之感測模組所擷取影像示意圖，其中影像250並未擷取到該導引光源111之成像，而影像260則有擷取到該導引光源111之成像。在此種操作情形下，代表該行動載具200並未正面對該導引光源111，而是該導引光源111位於偏向該行動載具200的第二側，因此該行動載具200的移動模組220即驅動該行動載具200向第二側轉向一個第一角度，用以使該行動載具200得以正面對該導引光源111。FIG. 4A is a schematic diagram of a captured image of a sensing module in another operating situation according to an embodiment of the present invention, wherein the image 250 does not capture the imaging of the guiding light source 111, and the image 260 captures Imaging to the guiding light source 111. In this operation scenario, it is represented that the mobile vehicle 200 is not facing the guiding light source 111, but the guiding light source 111 is located on the second side of the mobile vehicle 200, so the movement of the mobile vehicle 200 The module 220 drives the mobile vehicle 200 to a second angle toward the second side for enabling the mobile vehicle 200 to face the light source 111.
在該操作情形下，該移動模組220轉向的第一角度可以是一個定值，當該影像250並未擷取到該導引光源111的成像而該影像260有擷取到該導引光源111的成像，則該移動模組220驅動該行動載具200往第二側轉向該一第一角度(例如10度)，當轉向後該影像250仍未擷取到該導引光源111的成像，則再度往第二側轉向第一角度。In this operation, the first angle of the movement of the moving module 220 may be a fixed value. When the image 250 does not capture the imaging of the guiding light source 111, the image 260 captures the guiding light source. The imaging module 220 drives the mobile device 200 to turn to the second side to the first angle (for example, 10 degrees). After the steering, the image 250 still does not capture the imaging of the guiding light source 111. Then turn to the first angle again to the second side.
另外，在該操作情形下，該移動模組220轉向的該第一角度亦可以是可變動的，例如是可以根據導引光源111在該影像260的 成像261的成像位置進行調整。舉例而言，當該成像261越靠近該影像260相對於該虛線L的外側，則表示該導引光源111更遠離該行動載具200的正前方，因此該移動模組220的轉向角度可設定一個較大的第一角度(例如15度)；而當該成像261較靠近該影像260靠近該虛線L的內側，則表示該導引光源111較接近該行動載具200的正前方，因此該移動模組220的轉向角度可設定一個較小的第一角度(例如5度)。In addition, the first angle of the movement of the mobile module 220 may also be variable, for example, according to the guiding light source 111 in the image 260. The imaging position of the imaging 261 is adjusted. For example, when the image 261 is closer to the outer side of the image 260 than the dotted line L, it indicates that the guiding light source 111 is farther from the front of the mobile vehicle 200, so the steering angle of the moving module 220 can be set. a larger first angle (for example, 15 degrees); and when the image 261 is closer to the inner side of the image line 260, the light source 111 is closer to the front of the mobile vehicle 200, so The steering angle of the mobile module 220 can be set to a smaller first angle (eg, 5 degrees).
第四B圖為本發明一實施例在另一操作情形下之感測模組所擷取影像示意圖，其中該影像250擷取到該導引光源111的成像251，該影像260亦擷取到該導引光源111的成像261。由於該導引光源111偏向該行動載具200之第二側，因此第一側的成像251會較接近該影像250中靠近虛線L的內側，而第二側的成像261會較靠近該影像260遠離該虛線L的外側。FIG. 4B is a schematic diagram of a captured image of a sensing module in another operating situation according to an embodiment of the present invention, wherein the image 250 captures an image 251 of the guiding light source 111, and the image 260 is also captured. The imaging 261 of the guiding light source 111. Since the guiding light source 111 is biased toward the second side of the mobile vehicle 200, the imaging 251 of the first side is closer to the inner side of the image 250 near the broken line L, and the imaging 261 of the second side is closer to the image 260. Keep away from the outside of the dotted line L.
在此種操作情形下，該移動模組220會驅動該行動載具200往該第二側轉向一個第二角度，其中該第二角度亦可以是定值或可變動數值。較佳而言，該第二角度可以是一個可變動數值，而移動模組220則可根據該等成像251、261再該等影像250、260的成像位置來決定該第二角度。例如，當該成像261相對於成像251越靠近所屬影像的外側則該移動模組220驅動該行動載具200往第二側方向轉向。In this operation, the mobile module 220 drives the mobile vehicle 200 to the second side to a second angle, wherein the second angle may also be a fixed value or a variable value. Preferably, the second angle can be a variable value, and the mobile module 220 can determine the second angle according to the imaging positions of the images 251, 261 and the images 250, 260. For example, when the image 261 is closer to the outside of the associated image relative to the image 251, the moving module 220 drives the mobile carrier 200 to turn toward the second side.
而該轉向的第二角度可以是根據成像251或成像261的成像位置所決定，例如當該移動模組220要往第一側移動，則該第二角度由該成像251在該影像250中的成像位置所決定。另外，該轉向的第二角度亦可以是同時根據成像251以及成像261的成像位置所決定，例如同時比較該成像251以及成像261靠近所屬影像的外側的程度差異來決定該第二角度。舉例而言當該成像251靠近所屬影像250的外側10個像素距離，而成像261靠近所屬影像260的外側5個像素距離，則成像251以及成像261靠近所屬影像 的外側的程度差異為往第二側的5個像素，因此該移動模組220轉向可設定一個較大的第二角度(例如15度)；當該成像251靠近所屬影像250的外側10個像素距離，而成像261靠近所屬影像260的外側8個像素距離，則成像251以及成像261靠近所屬影像的外側的程度差異為往第二側的2個像素，因此該移動模組220轉向可設定一個較小的第二角度(例如5度)。The second angle of the steering may be determined according to the imaging position of the imaging 251 or the imaging 261. For example, when the moving module 220 is to be moved to the first side, the second angle is determined by the imaging 251 in the image 250. The imaging position is determined. In addition, the second angle of the steering may also be determined according to the imaging position of the imaging 251 and the imaging 261 at the same time, for example, simultaneously comparing the imaging 251 and the difference in the degree of the imaging 261 near the outside of the associated image to determine the second angle. For example, when the imaging 251 is close to the outer 10 pixel distance of the image 250 and the imaging 261 is close to the outer 5 pixel distance of the image 260, the imaging 251 and the imaging 261 are close to the image. The difference in the degree of the outer side is 5 pixels toward the second side, so the moving module 220 can be set to a larger second angle (for example, 15 degrees); when the imaging 251 is close to the outer 10 pixels of the image 250 The distance between the imaging 251 and the imaging 261 is closer to the outer side of the associated image, and the difference between the imaging 251 and the imaging 261 is 2 pixels toward the second side. Therefore, the mobile module 220 can be set to one. A smaller second angle (eg 5 degrees).
另外，在其他操作情形下，該影像250以及該影像260可能同時皆未擷取到該導引光源111之成像，此時該移動模組220之驅動單元可進入一搜尋模式，由該移動模組220順時針或逆時針驅動該行動載具200進行順時針或逆時針旋轉轉向，或可由該移動模組220直接驅動該感測模組210進行順時針或逆時針轉向，用以搜尋該導引光源111。在搜尋模式時該驅動單元可在其中一個影像感測單元211、212偵側到該導引光源111即離開該蒐尋模式，亦可在兩個影像感測單元211、212皆偵測到該導引光源111才離開該蒐尋模式。In addition, in other operation situations, the image 250 and the image 260 may not capture the image of the guiding light source 111 at the same time. At this time, the driving unit of the moving module 220 may enter a searching mode, and the moving mode The group 220 drives the mobile vehicle 200 to rotate clockwise or counterclockwise clockwise or counterclockwise, or the moving module 220 can directly drive the sensing module 210 for clockwise or counterclockwise steering to search for the guide. The light source 111 is led. In the search mode, the driving unit can detect the guide when the image sensing units 211 and 212 are detected by the one of the image sensing units 211 and 212. The light source 111 leaves the search mode.
在一種操作情形下，當該影像250或該影像260所偵測到該導引光源111的成像251或261的成像尺寸或成像亮度超過一第一門檻，則可判斷該行動載具200已靠近該目標物件100，此時可降低該行動載具200的移動速度。而當成像251或261的成像尺寸或成像亮度再超過一第二門檻，則可判斷該行動載具200已抵達該目標物件100周邊，此時驅動單元可進入一停駐模式。在該停駐模式中，該行動載具200可立即停止，或者是將前進方向轉向一預定角度之後移動一預定距離或時間再停止移動，如此可使該行動載具停駐於目標物件100的側邊，便於該目標物件100的使用者拿取該行動載具200所載運物品。In an operation situation, when the image 250 or the image 260 detects that the imaging size or imaging brightness of the imaging 251 or 261 of the guiding light source 111 exceeds a first threshold, it may be determined that the mobile carrier 200 is close to The target object 100 can reduce the moving speed of the mobile vehicle 200 at this time. When the imaging size or imaging brightness of the imaging 251 or 261 exceeds a second threshold, it can be determined that the mobile vehicle 200 has reached the periphery of the target object 100, and the driving unit can enter a parking mode. In the park mode, the mobile vehicle 200 can be stopped immediately, or moved a predetermined distance or time after the forward direction is turned to a predetermined angle, and then the movement is stopped, so that the mobile vehicle can be parked on the target object 100. The side is convenient for the user of the target object 100 to take the articles carried by the mobile vehicle 200.
其中，該移動模組220的驅動單元亦可直接忽略該第一門檻，亦即直接將該成像251或該成像261的成像尺寸或成像亮度與該第二門檻比較。The driving unit of the mobile module 220 can also directly ignore the first threshold, that is, directly compare the imaging size or imaging brightness of the imaging 251 or the imaging 261 with the second threshold.
綜上所述，本發明所揭露之行動載具以及其自動跟隨系統利用影像感測單元偵測導引光源之成像，並使行動載具根據其成像特徵(位置、亮度、尺寸...等)來控制移動，用以達到自動跟隨的目的，且在無法偵測導引光源或使用者有其他需求時，亦可透過使用者利用導引影像感測單元偵測行動載具所配置行動光源之成像，並根據其成像特徵藉由傳送導引控制訊號給該行動載具來控制該行動載具的移動。In summary, the motion carrier and its automatic following system of the present invention utilize an image sensing unit to detect the imaging of the guiding light source and make the mobile vehicle according to its imaging features (position, brightness, size, etc. To control the movement for the purpose of automatic follow-up, and when the guide light source cannot be detected or the user has other needs, the user can use the guide image sensing unit to detect the action light source configured by the mobile vehicle. Imaging and controlling the movement of the mobile vehicle by transmitting a pilot control signal to the mobile vehicle based on its imaging characteristics.
以上所述僅為本發明的實施例，凡依本發明申請專利範圍所做之均等變化與修飾，皆應屬本發明之涵蓋範圍。The above are only the embodiments of the present invention, and all changes and modifications made to the scope of the present invention should be within the scope of the present invention.
100‧‧‧目標物件100‧‧‧ Target object
111~113‧‧‧導引光源111~113‧‧‧ Guide light source
200‧‧‧行動載具200‧‧‧Mobile Vehicles
210‧‧‧感測模組210‧‧‧Sense Module
211、212‧‧‧影像感測單元211, 212‧‧‧ image sensing unit
220‧‧‧移動模組220‧‧‧Mobile Module
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