Device for tracking movement of mobile robot and method for same

FIELD: mobile robot, such as cleaner robot, and, in particular, device for tracking movement of mobile robot.

SUBSTANCE: suggested device for tracking movement of mobile robot includes: video camera for filming an individual object; unit for tracking movement and creation of image for setting support one in an image for current moment by means of filming of individual object by video camera and creation of image in current moment, for which support zone is set; unit for selecting image of difference of pixels of image support zone limit based on difference between pixels present only at limit of support zone of aforementioned images; and micro-computer for tracking movement of separate object on basis of selected image of difference.

EFFECT: decreased time of pixel comparison operation and increased efficiency of room perception.

5 cl, 4 dwg

 

The prior art INVENTIONS

The technical field to which the invention relates.

The present invention relates to a mobile robot, such as robot cleaner, and, more particularly, to a device to track the movement of mobile robot and method for this purpose.

The level of technology

Generally, a robot cleaner, a type of mobile robot is an automatic device for cleaning area cleaning by suction of dirt, for example dust from the floor, along with independent control of the movement within the zone that you want to remove, without user control.

This robot cleaner is designed to perform the task of cleaning along with independent control of the movement at a predetermined trajectory cleaning in accordance with a built-in program. So that the robot cleaner is automatically moved along a predetermined trajectory and worked on cleaning, a large number of sensitive elements used to identify the location and distance of movement of the robot cleaner, and the obstacle around the robot cleaner.

However, in order for such a robot cleaner to perform the job for cleaning along with the displacement control at a pre-determined trajectory cleaning, many expensive sensors installed in the Rob is the cleaner, thereby complicating its internal structure and increasing the cost of production.

In order to solve such a problem, the robot cleaner has been improved to perform the task of cleaning randomly when moving along an arbitrary trajectory cleaning.

1 is a block diagram illustrating the construction of the device, movement of the robot cleaner in accordance with traditional technology.

As shown in figure 1, the moving device conventional robot cleaner includes: site 1 perception of obstacles to the perception of obstacles by the collision occurring when the robot cleaner moves right in a given area; site 2 control to stop movement of the robot cleaner on the basis of the signal issued from the host 1, the perception of obstacles, randomly generating a random angle and rotating the robot cleaner at a random angle, which is used as a rotation angle; node 3 of the drive motor of the left wheel to actuate the electric motor 5 of the left wheel of the robot cleaner at a certain speed in accordance with the signal produced from the unit 2 control; site 4 of the drive motor of the right wheels for actuation of the electric motor 6 of the right wheels of the robot cleaner at a certain speed in accordance with whitefish is scarlet produced from the unit 2 control.

In future work traditional robot cleaner having such a construction will be described with reference to figure 2.

Figure 2 - sequence of operations of the method, illustrating the work in the manner of movement of the robot cleaner in accordance with traditional technology.

As shown in figure 2, the traditional way of moving the robot cleaner includes the following: the user enters a command harvesting and provides the robotic cleaner is able to move directly to the power to perceive obstacles (S1 through S3); the robot cleaner is stopped, if the obstacle is perceived in accordance with the result of perception, and then, random angle generated randomly (S4); generated random angle used as a rotation angle, and the robot cleaner is deployed in accordance with the rotation angle (S5); a detailed robot cleaner moves right (S6); the movement of the robot cleaner is stopped, when the work on cleaning robot cleaner is completed by dening completed robot cleaner or no work on cleaning when moving in a straight line (S7).

The traditional way of moving the robot cleaner will be described in detail.

First, when the user enters a command of the cleaning robot cleaner (S1), the unit 2 control outputs control the effect, in order to do the rotation speed of the electric motor 5 of the left wheel is equal to the rotation speed of the electric motor 6 right wheel, so that the robot cleaner can move rectilinearly.

Node 3 drive left motor drives the motor 5 of the left wheel in accordance with the issued control signal, and node 4 drive right motor drives the motor 6 right wheels in accordance with the issued control signal. Therefore, the robot cleaner moves directly using the set in motion of the motors 5 and 6 of the left and right wheels (S2).

When the robot cleaner encounters with random obstacle when driving in a straight line, node 1 perception perceives obstacles the obstacle on the basis of the magnitude of the impact forces produced by the collision, and supplies the node 2 control signal perception obstacles in accordance with the perception (S3).

Then, node 2 control stops the movement of the robot cleaner in accordance with the supplied signal perception obstacles, produces a random angle, random (S4) and outputs the control signal to make the generated random angle rotation angle of the robot cleaner. At this time, node 2 control outputs the control signal to make the speed electrodag the body 5 of the left wheel is different from the speed of the motor 6 right wheel, node 3 of the drive motor of the left wheel and the node 4 of the drive motor of the right wheels so that the robot cleaner could be deployed on rotation.

Thus, node 3 of the drive motor left wheel actuates the electric motor 5 of the left wheel in accordance with the control signal issued from the host 2, management, and node 4 of the drive motor right wheel drives the motor 6 right wheels in accordance with the control signal issued from node 2 control, so that the robot cleaner has been deployed at a random angle (S5).

Then, node 2 control provides the robotic cleaner is able to move rectilinearly by issuing a control signal to make the speed of the electric motor 5 of the left wheel is equal to the speed of the motor 6 right wheel, the node 3 of the drive motor of the left wheel and the node 4 of the drive motor right wheel (S6).

While the robot cleaner is moved in a straight line, defined, completed the robot cleaner or no work on cleaning. When the robot cleaner has finished cleaning work cleaning robot cleaner is completed by stopping the movement of the robot cleaner. When the robot cleaner is not yet finished cleaning work cleaning, respectively, is performed by returning to step in the acceptance of the obstacles.

The above robot cleaner, including audio-visual function, and the function of cleaning, was later improved.

That is, the robot cleaner has been improved, so that through the use of a robot cleaner numerous content could be downloaded by connecting to the external network, the Internet or wireless mobile communication network and, then, reproduced or used.

In addition, the robot cleaner is used to track changes or move around the robot cleaner through the use of a video camera of the robot cleaner.

Technology for tracking changes or move around the robot cleaner through the use of a video camera embedded in a mobile robot, such as a conventional robot cleaner, the image on the present moment and the future of the image generated by shooting a subject by the camera embedded in a mobile robot, extracted, and then, the movement of the object tracked by allocating the image difference extracted from the two images. At this time, the area where the individual subject is greatly moves, shows the importance of image difference, so that the area where the individual subject is greatly moved, looked white.

However, the technology for tracking is aromasine single subject traditional mobile robot takes a long time to perform operations, because it must perform a comparison of one-to-one between all pixels of the extracted image at the moment and lessons for the future of the image.

DISCLOSURE of INVENTIONS

Therefore, the aim of the present invention is to provide a device to track the movement of mobile robot how to do this, allowing not only a significant decrease in the value of the comparison pixel, in order to track the movement of individual objects, but also to effectively perceive the movement of the object in all directions by tracking the movement of the object based on the image difference of the pixels corresponding to the boundary of the preset reference area, from among all pixels of the image at the current moment, created by shooting a subject, and from among all pixels of the previous image of the object, which was filmed some time ago.

To achieve these and other advantages and in accordance with the purpose of the present invention as carried out in the General terms described in this patent document is provided a device for tracking the movement of a mobile robot, comprising: a camera for shooting a subject; node tracking is aromasine and create an image for setting a reference area in the image at the moment, created by shooting a subject by the camera and produce images at the moment, in which the reference area is set, the node highlight image differences to highlight image differences of the boundary pixels of the reference area image and the pixels of the reference region of the previous image; and a microcomputer to track the movement of the object on the basis of the selected image difference.

To achieve these and other advantages and in accordance with the purpose of the present invention, as implemented in the General terms described in this patent document provides a method for tracking movement of a mobile robot, comprising: capturing a subject; setting a reference area in the image at the moment, made by taking a single object and generate image at the moment in which the reference area is specified; the selection of the image difference of the boundary pixels of the reference area of the developed image at the moment and the boundary pixels of the reference area of the previous image that was recorded some time ago; and tracking movement of the object on the basis of the selected image difference.

The above and other objectives, features, aspects and advantages of the infusion is his invention will become more apparent from the subsequent detailed description of the present invention when the perception in connection with the accompanying drawings.

BRIEF DESCRIPTION of DRAWINGS

The accompanying drawings, which are included to provide further understanding of the invention and are incorporated in and constitute part of this patent specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention.

In the drawings:

1 is a block diagram illustrating the construction of the device, movement of the robot cleaner in accordance with conventional prior art;

Figure 2 - sequence of operations of the method, illustrating the work in the manner of movement of the robot cleaner in accordance with conventional prior art;

Figure 3 is a structural diagram illustrating the design of the device to track the movement of mobile robot in accordance with the present invention;

Figure 4 - sequence of operations of the method, illustrating the work in respect of the method for tracking movement of a mobile robot in accordance with the present invention.

The IMPLEMENTATION of the INVENTION

Next will be made detailed reference to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

In further preferred embodiments of the device to track the movement of mobile p the bot and how to do this, allowing not only a significant decrease in the amount of work compared pixels in order to track the movement of a single object, and, moreover, to effectively perceive the movement of the object in all directions by tracking the movement of a single object based on the image difference of the pixels corresponding to the boundary of the predetermined reference zone from among all pixels of the image at the moment, created by shooting a single object, and from among all pixels of the preceding image of a single object, which was filmed some time ago, will be described in detail with reference to Fig 3 and 4.

Figure 3 is a structural diagram illustrating the design of the device to track the movement of mobile robot in accordance with the present invention.

As shown in figure 3, the device to track the movement of mobile robot in accordance with the present invention includes: a video camera 10 to capture a certain object; node 20 track the movement and formation of the image to set the reference area in the image at the moment, created by shooting a subject by the camera and imaging at the moment, which is set to the reference area; node 30 selection of different image is t to highlight an image difference of the pixels, corresponding to the boundary of the reference area image and the pixels corresponding to the boundary of the reference area of the previous image; and a microcomputer 40 to track the movement of the object based on the selected image difference.

In further operation of the device to track the movement of mobile robot in accordance with the present invention will be described in detail.

Figure 4 - sequence of operations of the method, illustrating the work in respect of the method for tracking movement of a mobile robot in accordance with the present invention.

As shown in figure 4, the method for tracking movement of a mobile robot in accordance with the present invention includes: capturing a single object (S41), task reference area in the image at the moment, created by shooting a subject and forming the image on the moment in which the reference area is set (S42); highlight image differences of the pixels corresponding to the boundary of the support zone formed image and the pixels corresponding to the boundary of the reference area of the previous image that was shot some time ago (S43); and tracking movement of the object based on the selected image difference.

Method for otsluzhiv is of moving the mobile robot in accordance with the present invention will be described in detail, as follows.

First, when the user selects the mode to track the movement of mobile robot, the mobile robot removes moving a subject to obtain an image through the video camera 10 (S41). Captured image of the object displayed in the node 20 track the movement and formation of the image.

Node 20 track the movement and formation of the image specifies the reference area in the input image of the object in order to track the movement of individual objects (S42). Then, the host 20 track the movement and formation of the image displays the image in which the specified reference area, the site 30 highlight image differences. In it support area, which is pre-set by the user, may be issued in the form of a polygon and to have a variable size. In this patent document, the reference zone is preferably a rectangle.

Node 30 highlight image differences compares the pixels corresponding to the border of the reference image zone at the moment in which you installed the support area, at this time issued from the host 20 track the movement and formation of the image, with the pixels corresponding to the boundary of the reference area of the previous image that was shot n the that time ago, and then allocates the image difference based on the value of the comparison result (S43). Node 30 highlight image differences displays the selected image to the difference in the microcomputer 40. At this point, the node 30 highlight image differences can store only information about the pixels corresponding to the reference area from among all pixels of the previous image or save information about all the pixels of the previous image. However, it is desirable to store the information about the pixels corresponding to the reference area from among all pixels of the previous image. In this place, because the release of images to the difference between the two images belongs to the traditional prior art, the description for the method for allocating image difference in this patent document will be omitted.

The microcomputer 40 tracks the movement of individual objects (for example, left, right, up and down) on the basis of the input image difference. In the case when the reference area is a rectangle, the movement of a subject is monitored on the basis of the difference between pixels existing in the upper, lower, right or left border (S44).

In the case when the reference area is a rectangle in the embodiment, the microcomputer 40 checks only the difference image difference) between pixels corresponding to the four sides of the rectangle of the image and the pixels, the corresponding four sides of the rectangle from the previous image. In this place, if there is a difference between pixels, part of the difference, looks white in the picture the difference.

A more detailed description will be continued with bringing examples.

In the case when the reference area is specified by a rectangle, which has the dimensions of '150', '100', a device to track the movement of mobile robot in accordance with conventional prior art requires a sequence of operations comparison 150×100=15000 pixels in the image and the previous image in order to track individual predmet the other hand, a device for tracking the movement of a mobile robot in accordance with the present invention requires comparison operations only 500 pixels, which are the sum obtained by adding the lengths of the upper, lower, left and right sides. In addition, when the object is moved within the rectangle and does not pass through any of the four sides of the rectangle, then there is no difference between the pixels corresponding to the four sides of the rectangle of the image and the pixels corresponding to the four sides of the rectangle from the previous image. Therefore, part, looking the th white, has no place in the image difference. Therefore, the microcomputer 40 ignores (does not accept) the movement of the object and does not move the camera 10. On the other hand, when the object passes through the right side of the rectangle and moves, the difference in the pixels corresponding to the right side of the four sides of the rectangle between the image and the previous image, whereby the image difference. Therefore, the microcomputer 40 perceives that the individual subject has moved to the right and moves the camera 10 to the right. When individual subject passes through the upper side of the rectangle and moves, there is a difference in the pixels corresponding to the upper side of the four sides of the rectangle, whereby the image difference. Therefore, the microcomputer 40 perceives that the individual subject is moved upward, and moves the camera 10 in the upper direction.

In the same way, when individual subject passes through the left side of the rectangle and moves, the microcomputer 40 moves the camera 10 to the left. When individual subject passes through the lower side of the rectangle and moves, the microcomputer 40 moves the camera down 10. At this point, the user can change the size of the rectangle.

More od the h variant of the method for tracking movement of a mobile robot in accordance with the present invention will be described, as is shown below.

Another variant of the method for tracking movement of a mobile robot in accordance with the present invention includes: capturing a subject; comparing pixels corresponding to the boundary of the predetermined reference zone from the number of pixels in the image at the moment of a separate subject, at the moment, which is removable, with pixels corresponding to the boundary of the reference area from the number of pixels of the previous image of the object, which was filmed some time ago; tracking movement of the object based on the comparison result.

At this point, the phase comparison of the pixels further comprises the step of allocating only the image of the difference image corresponding to the reference image area and the image corresponding to the reference area of the previous image. This place is way to highlight an image difference and operation of the camera of the mobile robot on the basis of the selected image difference are the same as described up to the present time.

In the present invention the movement of the object tracked by the perception of the difference only pixels corresponding to the boundary of the reference area from among all pixels of the image at the moment and predydushih the image after the reference zone of a certain pattern in the image, obtained by shooting a subject.

As described in detail up to this point, the device to track the movement of mobile robot in accordance with the present invention and the method for this can significantly reduce the amount of work compared pixels, in order to track the movement of a subject and it is reasonable to perceive the movement of the object in all directions by tracking the movement of the object based on the image difference of the pixels corresponding to the boundary of the predetermined reference zone from among all pixels of the image currently received through the videos a separate subject and from among all pixels of the previous image of the object, which was filmed some time ago.

Since the present invention can be implemented in several varieties, from the comfort of his essence or essential features, it should also be clear that the variants described above implementation is not limited by whatever the details of the preceding description, unless otherwise specified, but can optionally be construed broadly within the essence and scope defined by the attached claims, and therefore all changes and modifications to the which fall within the limits and bounds of the claims, or equivalents of such boundaries and limits so had the intent to be covered by the attached claims.

1. Device to track the movement of mobile robot in accordance with the tracking of individual objects, containing a video camera for recording a video image that includes a separate subject; block track the movement and formation of the image to set the reference zone in the specified image created by the video and imaging, which is used to specify the reference area; block highlight image differences to highlight an image on the basis of a difference between pixels that are present only at the reference area specified formed image, and the pixels that are present only at the reference area of the previous image, formed some time ago; and a microcomputer to track the movement of the specified a separate subject in the specified image created by the video, on the basis of the selected image difference.

2. The device according to claim 1, additionally containing a storage unit for storing information about the pixels corresponding to the boundary of the reference area of the previous image.

3. The device according to claim 1, additionally containing a storage unit for storing information about all the pixels of the previous image.

5. Method for tracking movement of a mobile robot in accordance with the tracking a subject, comprising stages, which provide the video image that includes a separate subject; ask the reference area in the image created by the video and form the image, which is used to specify the reference area; allocate the image based on a difference between pixels present only at the reference area of the formed image and the pixels present only at the reference area of the previous image, formed some time ago; and track the movement of individual objects in the specified image created by the video, on the basis of the selected image difference.

6. The method according to claim 5, in which the step of allocating the image difference further comprises storing information about the pixels corresponding to the boundary of the reference area of the previous image.

7. The method according to claim 5, in which the step of allocating the image difference further comprises storing information about all the pixels of the previous image.

8. The method according to claim 5, in which the support area formed by a variety of figures and zeneima in size.

9. Method for tracking movement of a mobile robot in accordance with the tracking a subject, comprising stages, which are video image containing a separate subject; ask the reference area in the image created by the video and form the image, which is used to specify the reference area; compare the pixels that are present only on the boundary of a given reference area mentioned formed image, with pixels that are present only at the reference area of the previous image that was formed some time ago; and track the movement of individual objects in the specified image created by the video, based on the result of this comparison.

10. The method according to claim 9, in which the step of comparing the pixels further comprises a selection only of the image of the difference image corresponding to the reference image area and the image corresponding to the reference area of the previous image.

11. Device to track the movement of mobile robot cleaner in accordance with the tracking of individual objects, containing a video camera for recording a video image that includes a separate subject; block track the movement and creation the image of the reference area in the image at the moment, created by filming a subject by the camera and imaging at the moment in which the reference area is specified; the block highlight image differences to highlight an image on the basis of a difference between pixels that are present only on the border of the reference image zone at the moment, and pixels that are present only at the reference area of the previous image that was formed some time ago; and a microcomputer to track the movement of the object on the basis of the selected image difference.

12. The device according to claim 11, further containing a storage unit for storing information about the pixels corresponding to the boundary of the reference area of the previous image.

13. The device according to claim 11, further containing a storage unit for storing information about all the pixels of the previous image.

14. The device according to claim 11, in which the support area formed by a variety of shapes and changing the value.

15. Method for tracking movement of the mobile robot cleaner in accordance with the tracking a subject, comprising stages, which provide the video image that includes a separate subject; ask the reference area in the above image created by VI is eosemi, and form the image, which is used to specify the reference area; allocate the image based on a difference between pixels present only at the boundary of the support zone formed image and pixels present only at the reference area of the previous image that was formed some time ago; and track the movement of individual objects in the specified image created by the video, on the basis of the selected image difference.

16. The method according to item 15, in which the step of allocating the image difference further comprises storing information about the pixels corresponding to the boundary of the reference zone.

17. The method according to item 15, in which the step of allocating the image difference further comprises storing information about all the pixels of the previous image.

18. The method according to item 15, in which the support area formed by a variety of shapes and changeable in size.

19. The device according to claim 1, in which the size and shape of the reference area specified in the above image, identical to the size and shape of the reference area mentioned previous image.

20. The device according to claim 5, in which the size and shape of the reference area specified in the above image, identical to the size and shape of the reference area mentioned previous image.



 

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