CN105334849A - Automatic walking equipment control method and automatic operation system - Google Patents
Automatic walking equipment control method and automatic operation system Download PDFInfo
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- CN105334849A CN105334849A CN201410312406.3A CN201410312406A CN105334849A CN 105334849 A CN105334849 A CN 105334849A CN 201410312406 A CN201410312406 A CN 201410312406A CN 105334849 A CN105334849 A CN 105334849A
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Abstract
The invention provides an automatic walking equipment control method and automatic operation system. The automatic walking equipment control method comprises the steps of recognizing a direction identifier, and judging a walking direction of automatic walking equipment; controlling a walking path of the automatic walking equipment, and enabling the walking direction of the automatic walking equipment to be coincide with a butting direction indicated by the direction identifier; and controlling the automatic walking equipment to be butted with a stop station along the butting direction. Therefore, the regression efficiency of the automatic walking equipment can be improved, and effective butt-joint of the automatic walking equipment and the stop station is realized.
Description
Technical field
The present invention relates to a kind of automatic running device control method and automatic working system.
Background technology
Automatic running device just can realize automatic operation without the need to manual operation, such as automatic mower or automatic cleaner, achieves and carries out mowing or dust out in user's work hours, bring great advantage to the user.Automatic running device is walked usually in predetermined perform region, and returns a bus stop makeup energy when electricity is lower, finish the work or rainy time return bus stop.
Existing automatic running device is generally return bus stop according to predetermined direction along boundary line, returns efficiency lower.Because the charging terminal of bus stop is arranged towards specific direction, directly return towards bus stop if all control automatic running device anywhere, then automatic running device may be caused successfully cannot to dock with bus stop.
Summary of the invention
The invention provides a kind of recurrence efficiency improving automatic running device, and the effective automatic running device control method of docking realizing automatic running device and bus stop and automatic working system.
For achieving the above object, technical scheme of the present invention is: a kind of automatic running device control method, bus stop is returned for controlling described automatic running device, described bus stop is provided with and represents that automatic running device and bus stop return the direction signs of abutting direction when docking, described automatic running device is provided with image collecting device and processor, said method comprising the steps of: step S1: direction signs described in described processor identification; Step S2: described processor judges that the abutting direction shown in the direction of travel of described automatic running device with described direction signs overlaps, and is enter step S4, otherwise enters step S311; Step S311: described processor controls described automatic running device and rotates predetermined angle; Step S312: described processor controls described automatic running device and to walk predetermined distance s; Step S313: described processor controls described automatic running device and turns to and direction mark; Step S314: described processor judges whether the direction of travel of described automatic running device overlaps with the abutting direction shown in described direction signs, is enter step S4, otherwise returns step S311; Step S4: described processor controls described automatic running device and docks with described bus stop along the abutting direction shown in described direction signs.
Preferably, described bus stop is also provided with bus stop mark, described bus stop mark has specific shape and/or pattern, further comprising the steps of before above-mentioned steps S1: step S101: when described automatic running device starts recurrence, bus stop mark described in described processor identification; Step S102: described processor judge described automatic running device and bus stop identify between distance whether be less than or equal to the first distance value L1, be enter step S1, otherwise enter step S103; Step S103: described processor controls described automatic running device and advances towards described bus stop mark.
Preferably, described bus stop mark is positioned at described bus stop top, and the shape of described bus stop mark is cylindrical.
Preferably, in step s 103, when described processor controls described automatic running device towards described bus stop mark advance, control the direction of travel of described automatic running device, make described bus stop identify the first specific region being arranged in the image that described image collecting device obtains all the time.
Preferably, in step s 103, described processor judges between described automatic running device and bus stop according to the size of the area of image corresponding to the bus stop mark in described image distance.
Preferably, described processor stores predetermined face product value, described processor calculates and compares area value and the predetermined face product value of the image of the bus stop mark correspondence of calculating, when the area value of the image of the bus stop mark correspondence calculated reaches described predetermined face product value, described processor judges that the distance between described automatic running device and bus stop is the first distance value L1.
Preferably, described image is provided with the second presumptive area of the form fit identified with described bus stop, when the image that bus stop mark is corresponding is basic overlapping with described second presumptive area, described processor judges that the distance between described automatic running device and bus stop is the first distance value L1.
Preferably, described direction signs are straight-line pattern, rectangle pattern or at least one arrow pattern.
Preferably, in step s 2, the image that described image collecting device obtains has the two-part center line in described image division left and right, when center line in described image is overlapping with the image of direction signs or substantially overlapping, described processor judges that the abutting direction shown in the direction of travel of described automatic running device with described direction signs overlaps.
Preferably, described method, after step S312, also comprises step: S104: identify positioning mark and control described automatic running device towards described positioning mark; S105: control automatic running device and advance towards positioning mark; S106: judge whether the distance between automatic running device and bus stop is the first distance value L1; Again perform step S1; Otherwise again return step S105.
The present invention also provides a kind of automatic working system, comprise automatic running device and bus stop, described bus stop is provided with and represents that automatic running device and bus stop return the direction signs of abutting direction when docking, described automatic running device is provided with image collecting device and processor, described processor comprises: direction signs identification module, for identifying described direction signs; Abutting direction judge module, for judging whether the direction of travel of described automatic running device overlaps with the abutting direction that described direction signs represent; First course changing control module, when the direction of travel of described automatic running device does not overlap with the abutting direction that described direction signs represent, the first course changing control module controls automatic running device and rotates predetermined angle towards the direction indicated by the indicated in the picture direction of direction signs; Spacing control module, to walk predetermined distance s for controlling described automatic running device; Second course changing control module, controls described automatic running device and rotates direction mark after automatic running device walks predetermined distance s; Walking direction module, for judging whether the direction of travel of described automatic running device overlaps with the abutting direction shown in described direction signs; Second rehabilitation control module, when the direction of travel of described automatic running device overlaps with the abutting direction that described direction signs represent, described second rehabilitation control module controls described automatic running device and docks with described bus stop along the abutting direction shown in described direction signs.
Preferably, described bus stop is also provided with bus stop mark, described bus stop mark has specific shape and/or pattern, and described automatic working system also comprises: bus stop mark identification module, for identifying that described bus stop identifies; Distance Judgment module, for judge described automatic running device and bus stop identify between distance whether be less than or equal to the first distance value L1; First rehabilitation control module, advances towards described bus stop mark for controlling described automatic running device.
Preferably, described bus stop mark is positioned at described bus stop top, and the shape of described bus stop mark is cylindrical.
Preferably, described direction signs are straight-line pattern, rectangle pattern or at least one arrow pattern.
Compared with prior art, automatic running device control method of the present invention and automatic working system can improve the recurrence efficiency of automatic running device, and realize automatic running device and dock with the effective of bus stop.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, the invention will be further described.
Fig. 1 is the schematic diagram of automatic working system of the present invention.
Fig. 2 is bus stop mark in the image that in Fig. 1, image collecting device obtains, the first specific region or the second specific region, the schematic diagram of direction signs and center line.
Fig. 3 is the close-up schematic view of Fig. 2.
Fig. 4 is the block diagram of automatic working system of the present invention.
Fig. 5 is the operating diagram of the first better embodiment of automatic working system of the present invention.
Fig. 6 is the block diagram of return path control module in the first better embodiment of automatic working system of the present invention.
Fig. 7 is the block diagram of return path control module in the second better embodiment of automatic working system of the present invention.
Fig. 8 is the operating diagram of the second better embodiment of automatic working system of the present invention.
Fig. 9 is the block diagram of return path control module in the 3rd better embodiment of automatic working system of the present invention.
Figure 10 is the operating diagram of the 3rd better embodiment of automatic working system of the present invention.
Figure 11 is the schematic flow sheet of automatic running device control method of the present invention.
Figure 12 is the part run schematic diagram of the first better embodiment of automatic running device control method of the present invention.
Figure 13 is the part run schematic diagram of the second better embodiment of automatic running device control method of the present invention.
Figure 14 is the part run schematic diagram of the 3rd better embodiment of automatic running device control method of the present invention.
Wherein,
100, automatic running device; 200, bus stop; 300, border;
400, perform region; 202, charging terminal; 210, bus stop mark;
220, direction signs; 212, top; 214, middle part;
216, bottom; 230, dull and stereotyped; 110, housing;
120, wheel; 130, processor; 140, image collecting device;
131, bus stop mark identifies mould 132, first rehabilitation control module; 133, Distance Judgment module; Block;
134, direction signs identification module; 135, abutting direction judge module; 136, the second rehabilitation control module;
137, return path control module; 1371, angle calculation module; 1372, distance calculation module;
1373, the first course changing control mould 1374, distance controlling module; 1375, the second course changing control module; Block;
1376, spacing control module; 1377, length of side computing module; 1378, radius calculation module;
142, image; 144, the first specific region; 218, line;
146, center line; 1379, point of contact control module; 1370, curved path control module;
137a, positioning mark identification module 137b, walking direction module
Embodiment
Please refer to Fig. 1, embodiment of the present invention provides a kind of automatic working system and automatic running device control method.
This automatic working system comprises automatic running device 100, as automatic mower or automatic cleaner, and bus stop 200.Automatic running device 100 is walked in the perform region 400 that predetermined border 300 limits, and returns bus stop 200 makeup energy when electricity is lower, finish the work or rainy time return bus stop 200.
The front portion of automatic running device 100 has at least two docking terminal (not shown), bus stop 200 has at least two charging terminals 202, when automatic running device 100 docks with bus stop 200, docking terminal connects with corresponding charging terminal 202.
In present embodiment, bus stop 200 is positioned on the border 300 of perform region 400, and charging terminal 202 is arranged towards specific direction, as on the left of bus stop 200 or the border 300 on right side arrange.
Please also refer to Fig. 2 and Fig. 3, represent the direction signs 220 of the abutting direction of automatic running device 100 when docking with bus stop 200, bus stop identify 210 and to be positioned in abutting direction and be positioned at direction signs 220 front end positioning mark (not shown).Described bus stop mark 210 can be positioned at the optional position of described bus stop 200, and described positioning mark has specific shape and/or pattern, as described in positioning mark be the sensing end of direction signs 220.
In present embodiment, bus stop mark 210 is positioned at the front end of direction signs 220 in abutting direction, and bus stop mark 210 is simultaneously as positioning mark.
Bus stop mark 210 is vertically arranged at the top of bus stop 200, and the shape of bus stop mark 210 is cylindrical substantially, so no matter from which direction observes in certain level face, and the area of the figure that bus stop mark 210 is formed is all identical.
Particularly, the shape of bus stop mark 210 is: have columniform top 212, middle part 214 and bottom 216 from top to bottom; Top 212 is identical with the diameter of bottom 216, and the diameter at middle part 214 is less than the diameter of top 212 and bottom 216.
Further, bus stop mark 210 has specific pattern, as: top 212 and the periphery of bottom 216 have the first identical color, and middle part 214 has visibly different second color with the first color.In other embodiments, also can establish well-regulated first striped at top 212 and the periphery of bottom 216, establish well-regulated second striped at middle part 214 or do not establish striped.
Bus stop 200 has the flat board 230 stopped for automatic running device, and dull and stereotyped 230 are laid on ground.When automatic running device 100 entirety is positioned on dull and stereotyped 230, can prevent ground injustice from causing the crooked docking terminal that makes of automatic running device 100 cannot dock with charging terminal 202.Direction signs 220 are positioned at the upper surface of dull and stereotyped 230, and direction signs 220 have the straight-line pattern parallel with charging terminal 202, rectangle pattern or at least one arrow pattern.In present embodiment, direction signs 220 are some end to end arrow patterns, and except an arrow pattern at most end, other arrow pattern only has the oblique line portion of direction indication, and the straight line portion do not extended.All arrow patterns all point to charging terminal 202.
Automatic running device 100 comprises housing 110, be positioned at some wheels 120 bottom housing 110, be positioned at housing 110 inner, for the power system (not shown) of wheels 120, be positioned at the processor 130 of housing 110 inside, and be positioned at the image collecting device 140 on housing 110.Power system comprises power brick, gear train etc.
Image collecting device 140 is for obtaining the image of bus stop 200, and processor 130 carries out Treatment Analysis for the image obtained image collecting device 140 and control automatic running device 100 walking.In present embodiment, image collecting device 140 is video camera.
Please refer to Fig. 4, the processor 130 of automatic working system of the present invention has following operational module: bus stop mark identification module 131, first rehabilitation control module 132, Distance Judgment module 133, direction signs identification module 134, abutting direction judge module 135, second rehabilitation control module 136 and return path control module 137.
Bus stop mark identification module 131 is for obtaining the image recognition bus stop mark 210 of bus stop 200 according to image collecting device 140.
Bus stop mark identification module 131 can according to the shape of objects in images, pattern, or comprehensively its shape and pattern, to identify whether it is bus stop mark 210.
Processor 130 stores the first predetermined pattern corresponding to pattern identifying 210 with bus stop, and processor 130 also stores the first preset shape corresponding to shape identifying 210 with bus stop; The shape of the object in bus stop mark identification module 131 movement images and the first preset shape, judge whether the shape of this object mates with the first preset shape; Bus stop mark identification module 131 compares pattern and first predetermined pattern of object, judges whether the pattern of this object mates with the first predetermined pattern.
First rehabilitation control module 132 is advanced towards bus stop mark 210 for controlling automatic running device 100.Thus guide automatic running device 100 to move to the nearer position of distance bus stop 200 from the position that distance bus stop 200 is far away, facilitate the path of follow-up identification direction signs 220 and control automatic running device 100.
Fig. 2 and Fig. 3 please be refer again to, the image 142 that image collecting device 140 obtains has the first specific region 144, first rehabilitation control module 132 is when controlling automatic running device 100 and advancing towards bus stop mark 210, the direction of travel of adjustment automatic running device 100, the image making bus stop identify 210 correspondences is arranged in the first specific region 144 of image 142 all the time.So can prevent automatic running device 100 from wandering off, improve recurrence efficiency.
Distance Judgment module 133 is for judging whether the distance between automatic running device 100 and bus stop 200 is less than or equal to the first distance value L1.According to the side of the bus stop mark 210 in image 142 size that is long or area value, Distance Judgment module 133 judges whether the distance between automatic running device 100 and bus stop 200 is the first distance value L1.
Particularly, predetermined length value is stored in processor 130, in processor 130 computed image 142, the side of at least one side of bus stop mark 210 is long, the side length and the predetermined length value that relatively calculate, when the side calculated reaches predetermined length value, namely judge that the distance between automatic running device 100 and bus stop 200 is the first distance value L1.
Particularly, processor 130 also can store predetermined face product value, at least part of area value of bus stop mark 210 in processor 130 computed image 142, the area value relatively calculated and predetermined face product value, when the area value calculated reaches predetermined face product value, namely judge that the distance between automatic running device 100 and bus stop 200 is the first distance value L1.
In present embodiment, in order to simplify processes, processor 130 line 218 connects four end points that bus stop identifies 210 figures, forms rectangle.Owing to no matter from which direction observing in certain level face, if identify 210 distances necessarily with bus stop, then the length of this rectangle is all identical with wide, therefore the area of this rectangle can be identified the area value of 210 figures as bus stop.
In another embodiment, the image 142 that image collecting device 140 obtains has the second specific region identifying the form fit of 210 with bus stop, when the bus stop mark 142 in image 142 is basic overlapping with the second specific region, Distance Judgment module 133 judges that the distance between automatic running device 100 and bus stop 200 is the first distance value L1.In order to simplify processes, processor 130 line 218 connects four end points that bus stop identifies 210 figures, and form rectangle, Distance Judgment module 133 judges that whether this rectangle is overlapping with the second specific region.Second specific region can be identical with the first specific region 144.
Please refer to Fig. 5, direction signs identification module 134 identifies direction signs 220 according to the image 142 of the bus stop 200 that image collecting device 140 obtains.Direction signs 220 have specific pattern, processor 130 stores the second corresponding predetermined pattern, pattern in direction signs identification module 134 movement images 142 and the second predetermined pattern, if have the pattern mated with the second predetermined pattern in image 142, then identify that this pattern is direction signs 220.
The image that image collecting device obtains has image is divided the two-part center line 146 in left and right, and abutting direction judge module 135 judges whether center line 146 overlaps with the abutting direction that described direction signs 220 represent or substantially overlap.
If the abutting direction that center line 146 represents with direction signs 220 overlaps or substantially overlaps, the second rehabilitation control module 136 controls automatic running device 100 and docks with bus stop along the abutting direction shown in direction signs 220.
If when the abutting direction that center line 146 and direction signs 220 represent does not overlap or does not substantially overlap, return path control module 137 controls the walking path of automatic running device 100, makes the abutting direction shown in the direction of travel of automatic running device 100 with direction signs 220 overlap or substantially overlap.Automatic running device is controlled afterwards by the second rehabilitation control module 136.
Be understandable that, processor 130 also can Direct Recognition direction signs 220, and then judge whether the direction of travel of automatic running device 100 overlaps with the abutting direction that described direction signs 220 represent, if overlap, control automatic running device 100 and dock with bus stop along the abutting direction shown in direction signs 220, if do not overlap, control the walking path of automatic running device 100, the abutting direction shown in the direction of travel of automatic running device 100 with direction signs 220 is overlapped.
Please also refer to Fig. 5 and Fig. 6, in first better embodiment of automatic working system of the present invention, return path control module 137 comprises: positioning mark identification module 137a, angle calculation module 1371, distance calculation module 1372, first course changing control module 1373, distance controlling module 1374 and the second course changing control module 1375.
Positioning mark identification module 137a identifies positioning mark, and controls described automatic running device towards described positioning mark.Especially, when bus stop mark 210 to be positioned in abutting direction and simultaneously as positioning mark time, positioning mark identification module 137a is bus stop mark identification module 131.
Angle calculation module 1371 take positioning mark as the first angle [alpha] formed between basic point calculated direction mark 220 and center line 146.
Distance calculation module 1372 is for calculating second distance value L2 according to described first distance value L1 and the first angle [alpha].
If the first angle [alpha] is acute angle, then with the point residing for automatic running device 100 for right angle, a right-angle triangle is formed by the extended line of center line 146, direction signs 220 and the first angle [alpha], the length of another right-angle side is second distance value L2, and distance calculation module 1372 calculates second distance value L2 according to the first distance value L1 and the first angle [alpha].First distance value L1, second distance value L2 and the first angle [alpha] meet relation: tan α=L2/L1.
If the first angle [alpha] is right angle, be then specific sharp angle α 1 with the point residing for automatic running device 100, as 60 degree, a right-angle triangle is formed by the extended line of center line 146, direction signs 220 and the first angle [alpha], the length of hypotenuse is second distance value L2, and distance calculation module 1372 calculates second distance value L2 according to the first distance value L1 and sharp angle α 1.First distance value L1, second distance value L2 and sharp angle α 1 meet relation: cos α 1=L1/L2.
If the first angle [alpha] is obtuse angle, get the length identical with the first distance value L1 on the limit at direction signs 220 place and build isosceles triangle, the angular bisector of the first angle [alpha] is vertical with the opposite side L2 of the first angle [alpha], can calculate the length of opposite side L2 according to the first angle [alpha].
First course changing control module 1373 rotates the second predetermined angle for controlling automatic running device 100.In present embodiment, because automatic running device 100 is always towards bus stop mark 210 before, then direction signs 220 fully must be positioned at the side of center line 146, left side as shown in Figure 2.Course changing control module 138, for controlling automatic running device 100 towards the direction indicated by the direction indicated by direction signs 220 in image 142, as left, rotates the second angle.
If the first angle [alpha] is acute angle, then the second angle is 90 degree.
If the first angle [alpha] is right angle, then the second angle is specific sharp angle α 1, as 60 degree.
If the first angle [alpha] is obtuse angle, then calculate another two identical angles of isosceles triangle, and using this angle as the second angle.
Distance controlling module 1374 to be walked second distance value L2 for controlling automatic running device 100.
Automatic running device 100 is walked after second distance value L2, and the second course changing control module 1375 turns to for controlling automatic running device, and direction mark 220.In present embodiment, second rehabilitation control module 1375 controls automatic running device 100 and rotates to the left or to the right, until the direction shown in direction signs 220 in image 142 overlaps with described center line 146 or substantially overlaps, even if the direction of travel obtaining automatic running device 100 is consistent with the abutting direction shown in direction signs 220.
To sum up, please refer to Fig. 1, in the first better embodiment of automatic working system of the present invention, automatic running device 100 is walked along the path shown in the single arrow mark in figure under the control of processor 130.
Please refer to Fig. 7 and Fig. 8, in the second better embodiment of automatic working system of the present invention, return path control module 137 comprises: the first course changing control module 1373, spacing control module 1376, second course changing control module 1375 and walking direction module 137b.
First course changing control module 1373 rotates the second predetermined angle for controlling automatic running device 100 towards the direction indicated by the direction indicated by direction signs in image 220.In present embodiment, the second angle is 90 degree.
Spacing control module 1376 to be walked predetermined distance s for controlling automatic running device 100.
Second course changing control module 1375 controls automatic running device 100 and rotates after automatic running device 100 walks predetermined distance s, and direction mark 220.
Walking direction module 137b, for judging whether the direction of travel of automatic running device 100 overlaps with the abutting direction shown in direction signs 220.
In present embodiment, the second rehabilitation control module 1375 controls automatic running device 100 and rotates to the left or to the right, until direction signs 220 are positioned at the middle part of image.
Preferably, return path control module 137 also can comprise the first rehabilitation control module 132, Distance Judgment module 133 and positioning mark identification module 137a.After automatic running device 100 walks predetermined distance s, positioning mark identification module 137a identifies positioning mark, and control described automatic running device towards described positioning mark, first rehabilitation control module 132 also controls automatic running device 100 and to advance a segment distance towards positioning mark afterwards, Distance Judgment module 133 judges whether the distance between automatic running device 100 and bus stop 200 is the first distance value L1, control automatic running device 100 by the second course changing control module 1375 afterwards to rotate, and direction mark 220.
Especially, when bus stop mark 210 to be positioned in abutting direction and simultaneously as positioning mark time, positioning mark identification module 137a is bus stop mark identification module 131.
To sum up, please refer to Fig. 8, in the second better embodiment of automatic working system of the present invention, after automatic running device 100 arrives distance bus stop first distance value L1, along the path walking shown in the single arrow mark in figure under the control of processor 130.
Please refer to Fig. 9 and Figure 10, in 3rd better embodiment of automatic working system of the present invention, return path control module 137 comprises: positioning mark identification module 137a, angle calculation module 1371, length of side computing module 1377, radius calculation module 1378, first course changing control module 1373, point of contact control module 1379, curved path control module 1370.
Positioning mark identification module 137a identifies positioning mark, and controls described automatic running device towards described positioning mark.Especially, when bus stop mark 210 to be positioned in abutting direction and simultaneously as positioning mark time, positioning mark identification module 137a is bus stop mark identification module 131.
Angle calculation module 1371 take positioning mark as the first angle [alpha] formed between basic point calculated direction mark 220 and center line 146.
If the first angle [alpha] is acute angle, then with the some A residing for automatic running device 100 for right angle, form a right-angle triangle ABC by the extended line of center line 146, direction signs 220 and the first angle [alpha].Length of side computing module 1377 calculates the length of an other right-angle side L2 and hypotenuse Lx of right-angle triangle according to the first angle [alpha] and the first distance value L1.
Radius calculation module 1378 fabricate out one on hypotenuse Lx distance bus stop identify 210 predetermined the 3rd distance L3 places (D point) incircle tangent and tangent with right-angle side L2 with hypotenuse Lx.Radius calculation module 1378 calculates the radius R of this incircle (with O point for the center of circle) further.
Particularly, calculate second angle beta of angle C in right-angle triangle ABC, the focus O of the vertical line DO of the angular bisector CO of the second angle beta and D point place hypotenuse Lx is the center of circle of incircle.Calculate CD segment length according to hypotenuse Lx and the 3rd distance L3, and then calculate the length of the OD section in triangle CDO, the length of OD section is the radius R of incircle.
First course changing control module 1373 is for controlling automatic running device 100 towards the direction 90-degree rotation indicated by direction signs in image.Now the state of automatic running device 100 as shown in Figure 10.
Point of contact control module 1379 to be advanced the 4th distance L4 for controlling automatic running device 100, arrives the E place, point of contact of incircle and right-angle side L2.Because CD segment length equals the length of CE section, the 4th distance L4 is AE segment length, and the 4th distance L4 is the difference of the length of right-angle side L2 and CE section.
Curved path control module 1370 is for calculating the rotating ratio of the wheel of the left and right sides according to the radius R of incircle and the wheel spacing 2d of left and right wheel, and control automatic running device 100 and make left and right wheel have specific rotating ratio, thus make automatic running device 100 along the walking of predetermined curved path, until the abutting direction shown in the direction of travel of automatic running device 100 with direction signs 220 is consistent.
Particularly, in Figure 10, the external radius of the revolver distance center of circle O of automatic running device 100 is R+d, and right inside radius of taking turns distance center of circle O is R-d, and the rotating ratio of the wheel of the left and right sides equals the ratio of external radius R+d and inside radius R-d.
If the first angle [alpha] is right angle, be then specific sharp angle α 1 with the point residing for automatic running device 100, as 60 degree, form a right-angle triangle ABC by the extended line of center line 146, direction signs 220 and sharp angle α 1.Calculate each length of side of right-angle triangle ABC, inscribe radius of a circle etc. afterwards, similar when concrete grammar is acute angle to the first angle [alpha].
If the first angle [alpha] is obtuse angle, get the length identical with the first distance value L1 on the limit at direction signs 220 place and build isosceles triangle, the angular bisector of the first angle [alpha] is vertical with the opposite side L2 of the first angle [alpha], thus forms two right-angle triangles.Calculate each length of side of two right-angle triangles, the inscribe radius of a circle etc. tangent with leg-of-mutton two limits at direction signs 220 place afterwards, similar when concrete grammar is acute angle to the first angle [alpha].
Please refer to Figure 11, comprising the following steps of the automatic running device control method that the embodiment of the present invention provides:
Step S101: when automatic running device 100 starts recurrence, the image recognition bus stop mark 210 of the bus stop 200 that processor 130 obtains according to image collecting device 140.
Processor 130 can according to the shape of objects in images, pattern, or comprehensively its shape and pattern, to identify this bus stop mark 210.
Step S102: processor 130 judges whether the distance between automatic running device 100 and bus stop 200 is less than or equal to the first distance value L1, is enter step S1, otherwise enters step S103.
Step S103: processor 130 controls automatic running device 100 and advances towards bus stop mark 210.
The image 142 that image collecting device 140 obtains has the first specific region 144, processor 130 is when controlling automatic running device 100 and advancing towards bus stop mark 210, the direction of travel of continuous adjustment automatic running device 100, makes bus stop mark 210 be arranged in the first specific region 144 of image 142 all the time.So can prevent automatic running device 100 from wandering off, improve recurrence efficiency.
According to the size of the area value of the bus stop mark 210 in image 142, processor 130 judges whether the distance between automatic running device 100 and bus stop 200 is the first distance value L1.Automatic running device 100 is so made to move to the nearer position of distance bus stop 200 from the position that distance bus stop 200 is far away.
Particularly, store predetermined face product value in processor 130, processor 130 calculates the area value that bus stop identifies the image of 210 correspondences, and the bus stop comparing calculating identifies area value and the predetermined face product value of the image of 210 correspondences; When the area value that the bus stop calculated identifies the image of 210 correspondences reaches predetermined face product value, namely judge that the distance between automatic running device 100 and bus stop 200 is the first distance value L1.
In another embodiment, the image 142 that image collecting device 140 obtains has the second specific region identifying the mating shapes of 210 with bus stop, when the bus stop mark 210 in image 142 is basic overlapping with the second specific region, namely processor 130 judges that the distance between automatic running device 100 and bus stop 200 is the first distance value L1.In present embodiment, the second specific region can be identical with the first specific region.
Step S1: the image recognition direction signs 220 of the bus stop 200 that described processor 130 obtains according to image collecting device 140.
Direction signs 220 have specific pattern, and processor 130 stores the second corresponding predetermined pattern, and pattern in movement images and the second predetermined pattern, if the pattern in image mates with the second predetermined pattern, then identify that this pattern is direction signs 220.
Step S2: processor 130 judges whether the direction of travel of automatic running device 100 overlaps with the abutting direction shown in direction signs 220.Particularly, the image 142 that image collecting device 140 obtains has image 142 is divided the two-part center line 146 in left and right, and the center line 146 in processor 130 movement images and the position relationship of direction signs 220 judge whether direction of travel overlaps with abutting direction.
Step S3: when processor 130 judges that center line 146 does not overlap with direction signs 220, then control the walking path of automatic running device 100, the direction of travel of automatic running device 100 overlapped with the abutting direction shown in direction signs.
Step S4: processor 110 controls automatic running device 100 and docks with bus stop 200 along the abutting direction shown in direction signs.
Be understandable that, above-mentioned steps S101, S102, S103 also can omit, namely processor 130 also can Direct Recognition direction signs 220, and then judge whether the direction of travel of automatic running device 100 overlaps with the abutting direction that described direction signs 220 represent, if overlap, control automatic running device 100 and dock with bus stop along the abutting direction shown in direction signs 220, if do not overlap, control the walking path of automatic running device 100, the abutting direction shown in the direction of travel of automatic running device 100 with direction signs 220 is overlapped.
Please refer to Figure 12, in the first better embodiment of automatic running device control method of the present invention, step S3 comprises:
Step S311: described processor controls described automatic running device and rotates predetermined angle;
Step S312: described processor controls described automatic running device and to walk predetermined distance s;
Step S313: described processor controls described automatic running device and turns to and identify towards bus stop;
Step S314: described processor judges whether the direction of travel of described automatic running device overlaps with the abutting direction shown in described direction signs, is enter step S4, otherwise returns step S311.
Please refer to Figure 13, in the second better embodiment of automatic running device control method of the present invention, step S3 comprises:
Step S321: positioning mark described in described processor identification, and control described automatic running device towards described positioning mark.Especially, bus stop mark 210 also can be positioned in abutting direction and as positioning mark.
Step S322: the image that described image collecting device obtains has the two-part center line in described image division left and right, and described processor calculates the first angle [alpha] formed between described direction signs and described center line;
Step S323: described processor calculates second distance value L2 according to described first distance value L1 and the first angle [alpha];
Step S324: described processor controls described automatic running device and rotates predetermined angle;
Step S325: described processor controls described automatic running device walking second distance value L2;
Step S326: described processor controls described automatic running device and to turn to and towards described direction signs.
Please refer to Figure 14, in the 3rd better embodiment of automatic running device control method of the present invention, step S6 comprises:
Step S331: positioning mark described in described processor identification, and control described automatic running device towards described positioning mark.Especially, bus stop mark 210 also can be positioned in abutting direction and as positioning mark.
Step S332: the image that described image collecting device obtains has the two-part center line in described image division left and right, and described processor calculates the first angle [alpha] formed between described direction signs and described center line;
Step S333: the point of described processor residing for described automatic running device, described positioning mark and the first angle [alpha] construct specific triangle, according to another adjacent side Lx and the opposite side L2 length of side of the first angle [alpha] in the first angle [alpha], the first distance value L1 calculating triangle;
Step S334: described processor calculate on adjacent side Lx specific position and adjacent side Lx inscribe, while the incircle tangent with opposite side L2 radius R;
Step S335: described processor controls described automatic running device and rotates predetermined angle towards the direction indicated by the direction indicated by described direction signs;
Step S336: described processor controls the point of contact place that automatic running device proceeds to incircle and opposite side L2;
Step S337: described processor calculates the rotating ratio of the wheel of the left and right sides according to the wheel spacing 2d of the radius R of incircle and left and right wheel, described processor controls automatic running device and makes left and right wheel have specific rotating ratio, thus make automatic running device along the walking of predetermined curved path, until the abutting direction shown in the direction of travel of automatic running device with described direction signs is consistent.
The beneficial effect of automatic running device control method of the present invention and automatic working system is: the recurrence efficiency that can improve automatic running device 100, and realizes automatic running device 100 and dock with the effective of bus stop 200.
It may occur to persons skilled in the art that, the present invention can also have other implementation, as long as but its technical spirit adopted is identical with the present invention or close, or any change of making based on the present invention and replacing all within protection scope of the present invention.
Claims (14)
1. an automatic running device control method, bus stop is returned for controlling described automatic running device, described bus stop is provided with and represents that automatic running device and bus stop return the direction signs of abutting direction when docking, described automatic running device is provided with image collecting device and processor, it is characterized in that, said method comprising the steps of:
Step S1: direction signs described in described processor identification;
Step S2: described processor judges that the abutting direction shown in the direction of travel of described automatic running device with described direction signs overlaps, and is enter step S4, otherwise enters step S311;
Step S311: described processor controls described automatic running device and rotates predetermined angle;
Step S312: described processor controls described automatic running device and to walk predetermined distance s;
Step S313: described processor controls described automatic running device and turns to and direction mark;
Step S314: described processor judges whether the direction of travel of described automatic running device overlaps with the abutting direction shown in described direction signs, is enter step S4, otherwise returns step S311;
Step S4: described processor controls described automatic running device and docks with described bus stop along the abutting direction shown in described direction signs.
2. method according to claim 1, is characterized in that, described bus stop is also provided with bus stop mark, and described bus stop mark has specific shape and/or pattern, further comprising the steps of before above-mentioned steps S1:
Step S101: when described automatic running device starts recurrence, bus stop mark described in described processor identification;
Step S102: described processor judge described automatic running device and bus stop identify between distance whether be less than or equal to the first distance value L1, be enter step S1, otherwise enter step S103;
Step S103: described processor controls described automatic running device and advances towards described bus stop mark.
3. method according to claim 2, is characterized in that, described bus stop mark is positioned at described bus stop top, and the shape of described bus stop mark is cylindrical.
4. method according to claim 2, it is characterized in that, in step s 103, when described processor controls described automatic running device towards described bus stop mark advance, control the direction of travel of described automatic running device, make described bus stop identify the first specific region being arranged in the image that described image collecting device obtains all the time.
5. the method according to any one of claim 2 to 4, is characterized in that, in step s 103, described processor judges the distance between described automatic running device and bus stop according to the size of the area of the image of the bus stop mark correspondence in described image.
6. method according to claim 5, it is characterized in that, described processor stores predetermined face product value, described processor calculates and compares area value and the predetermined face product value of the image of the bus stop mark correspondence of calculating, when the area value of the image of the bus stop mark correspondence calculated reaches described predetermined face product value, described processor judges that the distance between described automatic running device and bus stop is the first distance value L1.
7. method according to claim 5, it is characterized in that, described image is provided with the second presumptive area of the form fit identified with described bus stop, when the image that bus stop mark is corresponding is basic overlapping with described second presumptive area, described processor judges that the distance between described automatic running device and bus stop is the first distance value L1.
8. method according to claim 1, is characterized in that, described direction signs are straight-line pattern, rectangle pattern or at least one arrow pattern.
9. method according to claim 1, it is characterized in that, in step s 2, the image that described image collecting device obtains has the two-part center line in described image division left and right, when center line in described image is overlapping with the image of direction signs or substantially overlapping, described processor judges that the abutting direction shown in the direction of travel of described automatic running device with described direction signs overlaps.
10. method according to claim 1, is characterized in that, described method, after step S312, also comprises step:
S104: identify positioning mark and control described automatic running device towards described positioning mark;
S105: control automatic running device and advance towards positioning mark;
S106: judge whether the distance between automatic running device and bus stop is the first distance value L1; Again perform step S1; Otherwise again return step S105.
11. 1 kinds of automatic working systems, comprise automatic running device and bus stop, it is characterized in that, described bus stop is provided with and represents that automatic running device and bus stop return the direction signs of abutting direction when docking, described automatic running device is provided with image collecting device and processor, and described processor comprises:
Direction signs identification module, for identifying described direction signs;
Abutting direction judge module, for judging whether the direction of travel of described automatic running device overlaps with the abutting direction that described direction signs represent;
First course changing control module, when the direction of travel of described automatic running device does not overlap with the abutting direction that described direction signs represent, the first course changing control module controls automatic running device and rotates predetermined angle towards the direction indicated by the indicated in the picture direction of direction signs;
Spacing control module, to walk predetermined distance s for controlling described automatic running device;
Second course changing control module, controls described automatic running device and rotates direction mark after automatic running device walks predetermined distance s;
Walking direction module, for judging whether the direction of travel of described automatic running device overlaps with the abutting direction shown in described direction signs;
Second rehabilitation control module, when the direction of travel of described automatic running device overlaps with the abutting direction that described direction signs represent, described second rehabilitation control module controls described automatic running device and docks with described bus stop along the abutting direction shown in described direction signs.
12. automatic working systems according to claim 1, is characterized in that, described bus stop are also provided with bus stop mark, and described bus stop mark has specific shape and/or pattern, and described automatic working system also comprises:
Bus stop mark identification module, for identifying that described bus stop identifies;
Distance Judgment module, for judge described automatic running device and bus stop identify between distance whether be less than or equal to the first distance value L1;
First rehabilitation control module, advances towards described bus stop mark for controlling described automatic running device.
13. automatic working systems according to claim 12, is characterized in that, described bus stop mark is positioned at described bus stop top, and the shape of described bus stop mark is cylindrical.
14. automatic working systems according to claim 11, is characterized in that, described direction signs are straight-line pattern, rectangle pattern or at least one arrow pattern.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410312406.3A CN105334849A (en) | 2014-07-02 | 2014-07-02 | Automatic walking equipment control method and automatic operation system |
| PCT/CN2015/083100 WO2016000622A1 (en) | 2014-07-02 | 2015-07-01 | Automatically-walking device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410312406.3A CN105334849A (en) | 2014-07-02 | 2014-07-02 | Automatic walking equipment control method and automatic operation system |
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