TW201907856A - 具有監測模組之戶外自走式設備 - Google Patents

具有監測模組之戶外自走式設備 Download PDF

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TW201907856A
TW201907856A TW107124499A TW107124499A TW201907856A TW 201907856 A TW201907856 A TW 201907856A TW 107124499 A TW107124499 A TW 107124499A TW 107124499 A TW107124499 A TW 107124499A TW 201907856 A TW201907856 A TW 201907856A
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monitoring
module
walking
implement
working
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格奧爾 哈克特
馬丁 赫爾米克
洛倫茨 希倫
克里斯帝安 霍爾茲
格哈德 伊森伯格
亨德里克 寇孜
安德烈 莫澤巴赫
羅曼 奧爾特曼
羅賓 杜林斯基
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德商佛維爾克控股公司
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Publication of TW201907856A publication Critical patent/TW201907856A/zh

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    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
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Abstract

本發明係有關於一種由可獨自在地面上移行的行走器具(1)及可裝配至行走器具(1)的監測模組(3)所組成之系統，其中，監測模組具有監測感測器，以便監測地面。監測模組可用工作模組(8)替換。可藉由工作模組實施植物養護活動。

Description

具有監測模組之戶外自走式設備
本發明係有關於一種系統，其係由第一行走器具所組成，而該行走器具則可在應用感測機構的情況下藉由控制裝置非接觸地獲得的控制資料及視情況儲存在記憶體元件中的製圖法而控制的行走機構以自行在戶外移行，並且包含具有監測感測器的監測裝置。
此外，本發明係有關於一種操作可獨自在戶外移行的行走器具之方法。
在應用感測機構之情況下藉由控制裝置所獲得的控制資料及視情況儲存在記憶體元件中的製圖法而控制的行走機構以自行在戶外移行的獨自行走器具，例如係作為割草機器人而為吾人所知，其能夠自動地對草坪進行修剪。
由EP 2 423 893 B1已知一種用於清潔地板之自走式設備。該處所描述之掃地機器人具有用於檢測其環境之物體的感測機構。在此設備中保存有製圖法，可用來供此設備在室內定向以實施清潔任務。此外，此設備具有監測模組，可藉由感測器以觀察其環境區域，以便偵測對建築物之擅入。此外，此設備係與其他設備處於作用性連接。
由DE 10 2015 111 392 Al已知一種操作表面處理設備 之方法，其表面處理設備係藉由超音波感測器以偵測玻璃破裂聲，且同樣能夠在非法侵入的情況下發出警報。
本發明之目的在於，改良戶外自走式設備行走器具以利其使用。
本發明之行走器具係指適於在戶外自主使用之工作設備。根據本發明，此種自主式戶外設備係透過配設監測模組而得到改良。其行走器具可藉由監測模組在地面上進行監測移行以收集環境資料，而將諸環境資料儲存在記憶體中。為此，監測模組具有監測感測器，其係能以非接觸及接觸的方式工作。諸監測感測器可為超音波感測器、麥克風、成像感測器，特別是攝影機。但，監測感測器亦可為光感測器。諸監測感測器可具有用於在可見光中進行影像檢測或在紅外線中進行影像檢測的裝置，即，亦具有熱成像攝影機。此外，其監測模組具有照射燈，其可沿預設的方向射出光。監測模組亦可具有訊號燈以及聲音訊號發射器。此設備能夠藉由其監測感測機構以在其作用空間內在待監測地面上檢測出環境特徵。可藉由距離感測器以確定對象物或人員在地面上之位置移動。此設備在監測移行中收集了關於物體在監測區域內之位置的資料。藉由導航感測機構及儲存在記憶體元件中的製圖法以實施監測移行。藉由對應於監測模組的監測感測機構，其監測模組在每個監測移行中記錄下資料，特別是，物體在監測區域中之位置資料，並且儲存其位置及外形說明。此點係可藉由與成像感測器、例如與攝影機之共同作用而實施。可藉由對自不同視角記錄的物體的影像評價，形成物體之3D模型。可將其位置與外形在數個監測移行過程中 不發生改變的物體作為位置固定的物體，保存在監測模組之記憶體中。同樣可將其大小發生變化但位置保持不變的物體表徵為位置固定的物體、例如植物，其輪廓形狀及大小會因風動而發生變化。可將位置發生改變的物體識別為動物或人。視可動的物體之具體大小，將該物體識別為非法侵入者。在識別到此種物體之情況下，監測模組會發出警報，可透過特別是無線的通訊裝置以將其警報轉發至基本模組或報警中心。同樣可透過網際網路、例如電子郵件或透過移動式網路，藉由簡訊服務以轉發警報或監測資料。作為將在監測移行中所獲得的資料儲存在監測模組中之替代方案，亦可將諸多資料儲存在外部，例如，儲存在建築物之報警中心。
監測模組係指可選擇性地為行走器具所裝配的設備。根據本發明之一種較佳技術方案，行走器具為自主式植物養護設備、特別是園藝處理設備。該設備具有模組支架。可藉由該模組支架以對該設備裝配不同的工作模組。模組支架與其所承載的模組係藉由機械保持構件以機械地相連，並且藉由插頭連接而電力地相連。可透過插頭連接以進行供電及進行資料通訊。選擇性地為其設備配設工作模組或監測模組，係有益之舉。其工作模組具有工具，可用來實施植物養護活動或園藝處理。藉此，切割模組例如可具有切割工具，割草模組例如可具有割草工具，以及，灌溉模組例如可具有灌溉工具。該設備可在白天或在特定的白天時間，在工作時間期內作為戶外處理設備而工作，具體方式是：藉由工作模組實施為其分配的工作任務或養護任務。可將工作模組及監測模組儲存在中心的位置上。該位置可指涉佈置有行走器具之基座的同一個位置。該位置較佳為一加蓋的設施，例如遮棚。在行走器具不進行園藝處 理之時間內，可透過用工作模組替換監測模組以將行走器具用作為監測設備。隨後，藉由其監測感測器以在監測移行中分析其環境在待監測地面內之變化，並且在滿足報警標準的情況下將其變化評價為警報。可藉由監測模組以將戶外設備改良為監測設備。為此，將其設備之在可選的感測器及致動器、例如觸控感測器方面的功能，針對監測活動而進行擴展。監測模組較佳係僅針對監測階段、例如夜間時刻或白天時刻而安裝，除上述時刻外不對地面進行監測。使用者可手動地將監測模組安裝在行走器具上，但亦可將其自動化地安裝在基座上。但，視具體結構尺寸而定，亦可將監測模組永久地固定在行走器具上。此外，行走器具或監測模組在監測移行中將被分類為安全相關的資訊傳輸至屋內的安全系統。但，亦可在室內承擔安全任務的自主式設備上進行傳輸。在室內工作的設備例如可指涉分配有一監測活動的表面處理設備。此外，自主式外部設備係與自主式內部設備或靜止的內部設備存在資料替換，從而將關於在戶外運動的物體、特別是關於該物體之外形的資料轉發至在室內工作的設備，使得，在室內工作的設備在物體進入在室內工作的監測設備之檢測範圍的情況下，識別出該物體。行走器具藉由本發明之監測模組，便能判斷出現人員在受監測的地面上移動，特別是能將其人員之當前的位置傳輸至報警中心或在室內工作的設備。故，在室內工作的設備得知此運動中的物體在哪個位置上接近其建築物。隨後，該設備可去往該位置，以便自該地點之內側進行監測。
1‧‧‧行走器具
2‧‧‧模組支架
3‧‧‧監測模組
4‧‧‧行走機構
5‧‧‧植物；物體
6‧‧‧建築物
7‧‧‧基座
8‧‧‧工作模組
8'‧‧‧工具
9‧‧‧(第二)工作設備/監測設備；(第二)行走器具
10‧‧‧(導航)感測機構/感測器
11‧‧‧監測感測器
12‧‧‧通訊裝置
圖1為本發明之建構為工作設備的戶外設備在戶外使用中之示 意圖。
圖2為該外部設備連同監測模組3之透視立體示意圖。
圖3為不設置放置在模組支架2上的模組的行走器具1之示意圖。
圖4為具有基座7、植物5及建築物6的待監測地面之俯視圖。
下面結合附圖詳細闡述本發明之實施例。圖1所示行走器具1為自主式戶外設備。該行走器具係由蓄電池驅動，且具有由電動馬達驅動的行走機構4，而該行走機構可用來供行走器具1自主地移行。為了使得行走器具可自主地移行，設有與佈置在行走器具1中之控制裝置共同作用的導航感測器10。該控制裝置係指具有記憶體構件及其他外圍設備的程式控制的微型控制器。在其記憶體構件中保存有地面之製圖法，在該製圖法中儲存有樹、植物、建築物及其他障礙物。行走器具1藉由導航感測機構10及製圖法，便能自行在戶外的地面上進行監測移行或移動到預設的諸多地點，可在該等地點上用工作設備進行養護工作。
可設有一或數個工作模組8，分別承載一工具8'。工具8'可指切割工具、灌溉工具、挖掘工具或在園藝中所應用的其他工具。在特定時間內、特別是在白天，行走器具1用作為自主工作的園藝處理設備，且在模組支架2上承載有較佳數個具有對工作模組為特定的工具8'的工具模組8。
設有基座7，可將工具模組8及監測模組3支承在該基座上。在基座7上亦可對行走器具1之蓄電池供電。
透過以工作模組8替換監測模組3，行走器具1可轉換 為監測設備，該監測設備則可在地面上實施獨自的監測移行。為此，使用者手動地以工作模組8替換監測模組3。例如，亦可藉由佈置在基座7上的把手或其他輔助構件，以自動進行替換。但，亦可為行走器具1永久地配設有監測模組3。
監測模組3具有包含監測感測器11的監測感測機構。可用監測感測器11對環境狀態進行檢測。監測感測器11例如可為攝影機。監測感測器11可為超音波感測器或紅外線感測器。此外，監測感測器11亦可為距離感測器，例如，可透過雷達以測定距離。
監測模組3及整合至監測模組3的影像評價裝置或感測器訊號評價裝置，能夠對監測感測器11所檢測的感測器資料進行評價，從而將在哪些位置上存在固定的物體及其物體具有哪種幾何形狀儲存起來。在數個監測移行中，將其資料細化。亦可識別出物體可能在哪些區域內可允許運動或發生變形。如此，便能確保在颳風時或被風吹動的植物不會引起錯誤報警。
此外，監測模組3亦可識別出一物體是否為可動的物體，例如動物或人。監測模組對物體之大小及物體之不斷變化的位置進行檢測。監測模組3亦可根據物體之大小確定其是否可能為非法侵入者。可藉由IR感測器以確定其物體是否發熱。特別是，應用熱成像攝影機。
對監測感測器11所獲得的感測器資料進行品質分析及定量分析，看出其是否為「常見的」結果或「安全相關的」結果。在對感測器進行分析從而發現存在「安全相關的」結果的情況下，發出警報。
上述方案透過可與基座7共同作用的通訊裝置12以實 施。但，通訊裝置12亦可與佈置在建築物6之內部的監測設備而共同作用。此種第二個監測設備9同樣可指涉一工作設備，例如指涉EP 2 423 893 B1所描述之設備，故而，本申請案之揭露內容包含了該案之全部內容。
監測模組3可對再呈現物體之空間形狀的形狀資料進行檢測，並且轉發至佈置在建築物6之內部的監測設備9。因此，佈置在建築物6之內部的監測設備9能夠在有物體靠近建築物6之情況下，根據呈一致的形狀特徵以識別出其物體。因此，可將在戶外開始的監測自戶外轉移至室內。監測焦點亦可自室內移回戶外，具體方式是：在建築物6之內部工作的監測設備9透過通訊裝置12，以將外形資訊傳輸至在戶外工作的監測模組3。通訊裝置12可指涉WLAN連接、藍牙(Bluetooth)連接或其他適宜的資料傳輸路徑。

Claims (8)

  1. 一種由行走器具及監測裝置所組成之系統，其行走器具(1)可自行在戶外移行，且具有受一控制裝置所控制的一行走機構(4)，其中，該控制裝置係應用了由一感測機構(10)之諸多感測器所獲得的控制資料及視情況儲存在一記憶體元件中的製圖法，而其監測裝置則具有多個監測感測器，其特徵在於：該監測裝置係由一監測模組(3)所構成，而該行走器具(1)可選擇性地裝配或不裝配該監測模組。
  2. 如請求項1之系統，其中，該裝置特別是可作為監測模組(3)之替代或補充而裝配有一工作模組(8)，以便實施不同於監測活動的活動，特別是，清潔活動或養護活動。
  3. 如請求項1或2之系統，其中，該行走器具(1)具有用於選擇性地容置該監測模組(3)或該工作模組(8)的一模組支架(2)。
  4. 如請求項1至3中任一項之系統，其中，設有一通訊裝置(12)，用於與特別是一基座(7)及/或一第二行走器具(9)進行資料替換，而該行走器具則特別是在一建築物(6)內部使用的一工作設備。
  5. 如請求項1至4中任一項之系統，其中，該第二行走器具(9)具有受一控制裝置所控制的一行走機構，而其中，該控制裝置係應用了由一感測機構之諸多感測器所獲得的控制資料及視情況儲存在一記憶體元件中的製圖法。
  6. 一種操作請求項1至5中任一項之行走器具的方法，此方法係用於監測外部區域，其特徵在於：針對監測時間期，為其行走器具(1)裝配其監測模組(3)，以及，該行走器具係針對工作時間期而裝配有具有一工具(8')的一工作模 組(8)。
  7. 如請求項6之方法，其中，該行走器具(1)在穿過外部區域之監測移行期間係持續對諸多當前的環境特性進行檢測，並且將該等環境特性儲存在一記憶體中，並且將該等當前的環境特性與在至少一個先前的監測移行中所測得及儲存的諸多環境特性進行對比，並且對該等當前的環境特性與所儲存的該等環境特性之偏差進行定量測定及品質測定，並且對其偏差進行評價，以便發出警報。
  8. 如請求項6或7之方法，其中，該監測模組(3)能夠監測一物體(5)之空間變化，而其中，將表徵該物體之空間結構的資料轉發至佈置在建築物之內部的一監測裝置。
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EP3435344A1 (de) 2019-01-30
ES2859973T3 (es) 2021-10-04
DE102017116658A1 (de) 2019-01-24
EP3435344B1 (de) 2021-02-17
US20190028675A1 (en) 2019-01-24
CN109300271B (zh) 2022-07-19
CN109300271A (zh) 2019-02-01
US11265516B2 (en) 2022-03-01

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