CN113778068A - Self-moving device and charging station docking method and device, self-moving device, system and readable storage medium - Google Patents

Self-moving device and charging station docking method and device, self-moving device, system and readable storage medium Download PDF

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Publication number
CN113778068A
CN113778068A CN202010438525.9A CN202010438525A CN113778068A CN 113778068 A CN113778068 A CN 113778068A CN 202010438525 A CN202010438525 A CN 202010438525A CN 113778068 A CN113778068 A CN 113778068A
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China
Prior art keywords
self
docking
charging station
moving equipment
moving
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Pending
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CN202010438525.9A
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Chinese (zh)
Inventor
朱绍明
任雪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Cleva Electric Appliance Co Ltd
Suzhou Cleva Precision Machinery and Technology Co Ltd
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Suzhou Cleva Precision Machinery and Technology Co Ltd
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Application filed by Suzhou Cleva Precision Machinery and Technology Co Ltd filed Critical Suzhou Cleva Precision Machinery and Technology Co Ltd
Priority to CN202010438525.9A priority Critical patent/CN113778068A/en
Priority to PCT/CN2020/117469 priority patent/WO2021232650A1/en
Publication of CN113778068A publication Critical patent/CN113778068A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals

Abstract

The invention discloses a method and a device for docking self-moving equipment with a charging station, self-moving equipment, a system and a readable storage medium, wherein the method comprises the following steps: controlling the self-moving device to move from a current position to a docking area; controlling the self-moving equipment to move around the charging station in the docking area and collecting an environment image; acquiring a docking identifier from the environment image, and judging whether the self-moving equipment is right opposite to the charging station or not according to the docking identifier; and if the self-moving equipment is right opposite to the charging station, controlling the self-moving equipment to move forwards towards the charging station until the docking is successful. According to the invention, the self-moving equipment is controlled to move around the charging station in the butt joint area, so that the time for the automatic moving equipment to search for the charging station can be reduced, and the return efficiency of the automatic moving equipment is improved.

Description

Self-moving device and charging station docking method and device, self-moving device, system and readable storage medium
Technical Field
The invention relates to a method and a device for docking self-moving equipment and a charging station, self-moving equipment, a system and a readable storage medium, in particular to a method and a device for docking self-moving equipment and a charging station, self-moving equipment, a system and a readable storage medium, which are used for improving regression efficiency.
Background
With the development of science and technology, the application of outdoor robots is more and more extensive. For example, the intelligent lawn mower can automatically help people maintain the lawn, and liberates people from tedious and time-consuming and labor-consuming housework of lawn maintenance, so that the intelligent lawn mower is very popular. In the process of executing the function task, the outdoor robot does not need to be operated by a user, so that the outdoor robot is required to have a good positioning function and can move in a working area.
In order to accurately reach the charging station by the intelligent mower, a boundary line is arranged on the periphery of a lawn, the boundary line can be a magnetic guide line which emits electromagnetic signals outwards, and an electromagnetic signal sensor of the intelligent mower enables the boundary line to be longitudinally located at the center of the intelligent mower through the strength of the induced electromagnetic signals, so that the intelligent mower moves to the charging station along the arranged boundary line. In the method, the intelligent mower searches the boundary line according to the random direction, and the time for searching the boundary line is long, so that the regression efficiency is not improved.
Disclosure of Invention
The invention provides a method and a device for docking self-moving equipment and a charging station, self-moving equipment, a system and a readable storage medium, which can improve the regression efficiency.
The invention provides a method for docking self-moving equipment with a charging station, which comprises the following steps:
controlling the self-moving device to move from a current position to a docking area;
controlling the self-moving equipment to move around the charging station in the docking area and collecting an environment image;
acquiring a docking identifier from the environment image, and judging whether the self-moving equipment is right opposite to the charging station or not according to the docking identifier;
and if the self-moving equipment is right opposite to the charging station, controlling the self-moving equipment to move forwards towards the charging station until the docking is successful.
Optionally, the docking identifier is disposed on the charging station, the docking identifier is provided with a concave surface and a convex surface, and the colors of the concave surface and the convex surface are different;
the obtaining of the docking identifier from the environment image and the determining of whether the self-moving device is directly opposite to the charging station according to the docking identifier include:
acquiring color features and contour features of the docking identifier from the environment image;
judging whether the color features of the butt joint marks accord with preset colors and preset color arrangement sequences or not, and judging whether the contour features of the butt joint marks accord with preset contour features or not;
if the color features of the butt joint marks accord with preset colors and a preset color arrangement sequence, and the contour features of the butt joint marks accord with preset contour features; the self-moving device is controlled to move straight towards the charging station until the docking is successful.
Optionally, the docking identifier is disposed on the charging station, and the docking identifier includes a plurality of light emitters;
the obtaining of the docking identifier from the environment image and the determining of whether the self-moving device is directly opposite to the charging station according to the docking identifier include:
acquiring the number of the luminophores from the environment image;
judging whether the number of the luminous bodies accords with the preset number of the luminous bodies;
and if the number of the luminous bodies accords with the preset number of the luminous bodies, controlling the self-moving equipment to move forwards towards the charging station until the docking is successful.
Optionally, the docking identifier is disposed on the charging station, the docking identifier is provided with a concave surface and a convex surface, and the concave surface and the convex surface respectively include a light-emitting body;
the obtaining of the docking identifier from the environment image and the determining of whether the self-moving device is directly opposite to the charging station according to the docking identifier include:
acquiring the arrangement direction of the luminophors from the environment image;
judging whether the arrangement direction of the luminous bodies accords with the preset arrangement direction of the luminous bodies;
if the arrangement direction of the luminous bodies accords with the preset arrangement direction of the luminous bodies; the self-moving device is controlled to move straight towards the charging station until the docking is successful.
Optionally, the self-moving device is controlled to move around the charging station in the docking area and is controlled to acquire an environment image; the method comprises the following steps:
controlling the self-moving equipment to move around the charging station in the butt joint area through a radio detection device, and controlling the self-moving equipment to acquire an environment image according to a preset condition;
the wireless detection device is arranged on the self-moving equipment, and the self-moving equipment is controlled to move around the charging station in the docking area according to the distance between the self-moving equipment and the charging station sensed by the wireless detection device.
The invention also provides a docking device for self-moving equipment and a charging station, which comprises:
the mobile control module is used for controlling the self-moving equipment to move from the current position to the docking area;
the image acquisition module is used for controlling the self-moving equipment to move around the charging station in the docking area and controlling the self-moving equipment to acquire an environment image;
the right alignment judgment module is used for acquiring a docking identifier from the environment image and judging whether the self-moving equipment is right aligned to the charging station or not according to the docking identifier;
and the docking control module is used for controlling the self-moving equipment to move forwards towards the charging station until the docking is successful.
The invention also provides self-moving equipment which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the self-moving equipment and the charging station docking method when executing the computer program.
The invention also provides a system for docking the self-moving equipment with the charging station, wherein the system comprises the self-moving equipment and a docking identifier.
Optionally, the docking indicator is provided with a concave surface and a convex surface, and the color of the concave surface is different from that of the convex surface.
Optionally, the docking indicator is provided with a concave surface and a convex surface, and the concave surface and the convex surface respectively include a light emitter.
Optionally, the docking identifier comprises a number of lights.
The invention also provides a readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method for docking a self-moving device with a charging station.
Compared with the prior art, the self-moving equipment is controlled to move around the charging station in the docking area and an environment image is collected; and acquiring a docking identifier from the environment image, and judging whether the self-moving equipment is right opposite to the charging station according to the docking identifier, so that the time for the self-moving equipment to search for the charging station can be reduced, and the regression efficiency of the self-moving equipment is improved. According to the invention, whether the self-moving equipment is over against the charging station is judged by acquiring the color characteristic and the contour characteristic of the butt joint identification, so that the over-against identification efficiency of the self-moving equipment is improved. According to the invention, whether the self-moving equipment is over against the charging station or not is judged by acquiring the number of the luminous bodies or the arrangement direction of the luminous bodies, so that misjudgment caused by color distortion is avoided. According to the invention, the distance between the self-moving equipment and the charging station is obtained through the ultrasonic sensor so as to control the self-moving equipment to move around the charging station in the docking area, so that the occupation ratio of the docking identifier in the environmental image is favorably controlled, and the identification and comparison are facilitated.
Drawings
FIG. 1 is a flow chart of a method for docking a self-moving device with a charging station according to the present invention;
FIG. 2 is a detailed flowchart of step S1 in FIG. 1;
FIG. 3 is a diagram of the coarse positioning regression state of step S1 in FIG. 1;
FIG. 4 is a diagram of the fine positioning regression state of step S2 in FIG. 1;
FIG. 5 is a schematic diagram of ranging from a mobile device according to the present invention;
FIG. 6A is a schematic structural diagram of a docking identifier used in the docking method for a self-moving device and a charging station according to a first embodiment of the present invention;
FIG. 6B is a schematic diagram of the docking indicator of FIG. 6A obtained from the environment image in step S3, which is obtained when the mobile device is aligned with the charging station;
FIG. 7A is a schematic structural diagram of a docking identifier used in the docking method for a self-moving device and a charging station according to a second embodiment of the present invention;
FIG. 7B is a schematic diagram of the docking indicator of FIG. 7A obtained from the environment image in step S3, which is obtained when the mobile device is aligned with the charging station;
FIG. 8A is a schematic structural diagram of a docking identifier used in the docking method for a self-moving device and a charging station according to a third embodiment of the present invention;
fig. 8B is a schematic diagram of the docking indicator of fig. 8A obtained from the environment image in step S3, which is obtained when the mobile device is aligned with the charging station;
FIG. 9 is a detailed flowchart of the first embodiment of step S3 in FIG. 1 in the use environment of FIGS. 6A, 7A, and 8A;
FIG. 10A is a schematic structural diagram illustrating a docking identifier used in the docking method for a self-propelled device and a charging station according to a fourth embodiment of the present invention;
FIG. 10B is a schematic diagram of the docking indicator of FIG. 10A obtained from the environment image in step S3, which is obtained when the mobile device is aligned with the charging station;
FIG. 11 is a detailed flowchart of the second embodiment of step S3 in FIG. 1 in the use environment of FIG. 10A;
FIG. 12A is a schematic structural diagram illustrating a docking identifier used in the docking method for a self-propelled device and a charging station according to a fourth embodiment of the present invention;
fig. 12B is a schematic diagram of the docking indicator of fig. 12A obtained from the environment image in step S3, which is obtained when the mobile device is aligned with the charging station;
FIG. 13 is a detailed flowchart of the third embodiment of step S3 in FIG. 1 in the use environment of FIG. 12A;
fig. 14 is a detailed flowchart of step S2 in fig. 1;
fig. 15 is a schematic block diagram of the docking apparatus for a self-propelled device and a charging station according to the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-15, the self-moving device 1 may be a robotic lawnmower, or a robotic vacuum cleaner, which automatically travels in a work area to cut grass, vacuum, etc. The self-moving device 1 supplies power through a power module (not shown), in order to ensure normal power supply of the power module, the self-moving device 1 can be intelligently controlled to return to the charging station 2 for charging and energy continuing according to the residual capacity or working time of the power module, can also return to the charging station 2 for charging and energy continuing through a trigger button (not shown) on the self-moving device 1 according to needs, and can also return to the self-moving device 1 for charging and energy continuing through sending a charging signal to the self-moving device 1 on a mobile terminal (not shown).
Referring to fig. 1, the present invention provides a docking method for a self-moving device and a charging station, the method includes the following steps:
step S1: controlling the self-moving device to move from a current position to a docking area;
step S2: controlling the self-moving equipment to move around the charging station in the docking area and collecting an environment image;
step S3: acquiring a docking identifier from the environment image, and judging whether the self-moving equipment is right opposite to the charging station or not according to the docking identifier; if the self-moving device is directly opposite to the charging station, executing step S4; otherwise, returning to step S2;
step S4: and controlling the self-moving equipment to move forwards towards the charging station until the docking is successful.
Referring to fig. 2-3, in another embodiment of the present invention, a docking area 3 is provided in an area close to a charging station 2, and the mobile device 1 is guided to work in a working area by a radio detection device or a vision system, or the mobile device 1 is guided to perform coarse positioning regression from an area outside the docking area 3 by the radio detection device or the vision system until the mobile device moves to the docking area 3 (step S1), so that the mobile device 1 approaches to the charging station 2; and guiding the self-moving device 1 to move around the charging station in the docking area 3 through a radio detection device (step S2), acquiring an environment image through a vision system (step S2), and obtaining a docking identifier through the vision system to judge whether the self-moving device 1 is directly opposite to the charging station 2 or not so as to complete fine positioning regression (step S3).
In another embodiment of the present invention, the docking area 3 is a docking circle with the positioning base station as a center, and the radius of the docking circle is dst.
In another embodiment of the present invention, the step S1 includes:
and controlling the self-moving equipment to move from the current position to the docking area 3 through a radio detection device in the coarse positioning regression, wherein the radio detection device in the coarse positioning regression can be a positioning system such as UWB, Zigbee and GPS. The radio detection device in the coarse positioning regression includes a positioning base station and a positioning tag, the positioning base station is located within a preset distance of the charging station 2, for example, the positioning base station is located at the charging station 2; the positioning tag is arranged on the self-moving equipment 1, and the self-moving equipment 1 is controlled to move to the docking area 3 from the current position according to the distance between the positioning tag and the positioning base station.
In another embodiment of the present invention, the step S1 includes:
in another embodiment of the present invention, the step S1 further includes the steps of:
step S11: controlling the self-moving equipment 1 to advance from the current position along the current direction, and judging whether the self-moving equipment 1 reaches the docking area 3; if the self-mobile device 1 does not reach the docking area 3, step S13 is performed; if the self-mobile device 1 has reached the docking area 3, step S3 is performed;
step S13: judging whether the distance between the self-mobile equipment 1 and the positioning base station is reduced or not; if the distance between the self-mobile equipment 1 and the positioning base station is reduced, returning to execute the step S11; if the distance between the self-mobile device 1 and the positioning base station is not shrinking, executing step S14;
step S14: controlling the self-moving equipment 1 to rotate by a first preset rotation angle along a first rotation direction, controlling the self-moving equipment 1 to advance along the current direction from the current position, and judging whether the distance between the self-moving equipment 1 and the positioning base station is reduced or not; if the distance between the self-mobile equipment 1 and the positioning base station is reduced, returning to execute the step S11; if the distance between the self-mobile device 1 and the positioning base station is not shrinking, executing step S15;
step S15: controlling the self-moving equipment 1 to rotate by a second preset rotation angle along the reverse direction of the first rotation direction, and then controlling the self-moving equipment 1 to advance along the current direction from the current position; and then returns to perform step S11.
Controlling the self-moving device 1 to move close to the docking area 3, the self-moving device 1 being at point A1Point Ai-1Point AiPoint Ai+1Point AnThe distances between the positioning base stations 3 at the time of positioning are respectively D1、Di-1、Di、Di+1、DnFrom the current position A, the self-moving device 11(D1>Ddst) Sequentially passing through point Ai-1(Di-1>Ddst) Point Ai(Di>Ddst) Point Ai+1(Di+1>Ddst) Then reaches point a on the docking area 3n(Dn＝Ddst)。
From mobile device 1 at point aiThe position is randomly rotated in situ by a first preset rotation angle theta (for example, rotated by 90 degrees leftwards), and then the position is advanced after being rotated; if the distance between the self-moving equipment 1 and the positioning base station 3 is not reduced, the self-moving equipment stops advancing (as shown in point A of figure 6)i+1Position), from the mobile device 1 in place, by a second predetermined rotation angle 2 x θ in the reverse direction (e.g. by 180 degrees to the right), and then forward to point a after rotationnLocation.
Referring to fig. 4, 5 and 14, in another embodiment of the present invention, a radio detecting device 11 is respectively disposed at the left and right sides of the mobile device 1, and a camera 12 is disposed at the front of the mobile device 1 for collecting an environmental image. In another embodiment of the invention, a camera 12 is provided on one side of the mobile device 1 to capture the environment image, and the camera 12 faces the charging station 2 when the mobile device 1 moves around the charging station 2.
The step S2 includes:
step S21: controlling the self-moving equipment 1 to move around the charging station 2 in the docking area 3 through a radio detection device 11, and controlling the self-moving equipment 1 to acquire an environment image according to preset conditions; the preset condition is to rotate the body of the mobile device 1 or to rotate the camera 12 of the mobile device 1;
the radio detection device 11 in the fine positioning regression can be an ultrasonic sensor, the radio detection device 11 is arranged on the self-moving equipment, and the self-moving equipment 1 is controlled to move around the charging station 2 in the docking area 3 according to the distance between the self-moving equipment 1 and the charging station 2 sensed by the radio detection device 11.
The sensing range of the radio detection device 11 is as follows the sector area shown in fig. 5:
θ (i is 1,2) is an angle range detected by the radio detection device 11;
si (i ═ 1,2) is the distance from the mobile device 1 to the charging station 2 determined by the reception of the echo signal by the radio detection device 11;
diMax (i ═ 1,2) is the maximum threshold value for the safe distance of the radio detection device 11 from the charging station 2;
diMin (i ═ 1,2) is the minimum threshold value for the safe distance of the radio detection device 11 from the charging station 2;
(diMax>Ddst>diMin)
when the distance Si is smaller than the safe distance threshold diMax, it is determined that the self-moving apparatus 1 approaches the charging station 2.
When the distance Si is greater than the safe distance threshold diMax, it is determined that the mobile device 1 is deviated from the charging station 2.
Walking from the mobile device 1 to a position A, rotating in situ at the position A, collecting an environment image according to the camera 12, and executing the step S3 to judge whether the mobile device 1 is right opposite to the charging station 2; if the self-moving device 1 is directly opposite to the charging station 2, the self-moving device 1 stops rotating and step S4 is executed; otherwise, the self-moving device 1 continues to rotate at the position a, and acquires an environment image according to the camera 12, and determines whether the self-moving device 1 is directly opposite to the charging station 2 by executing the step S3; until one rotation from the mobile device 1 in position a.
If the self-moving equipment 1 rotates one circle at the position A, the self-moving equipment 1 and the charging station 2 cannot be aligned, the self-moving equipment 1 rotates in place until the distance measuring diMin < Si < diMax of the ultrasonic wave (1 or 2) stops rotating, and then the distance measuring by the radio detection device 11 is taken as the standard. The self-moving equipment 1 walks forwards at the current posture, and performs left radian and right arc adjustment on the body posture according to the distance measurement Si of the radio detection device 11, and keeps diMin < S _ i < diMax.
The control is stopped when the mobile device 1 advances for a certain distance or a certain time (as shown in the position B in FIG. 5), and the steps described in the position A are repeatedly executed.
Referring to fig. 6A, fig. 6B, fig. 7A, fig. 7B, fig. 8A, and fig. 8B, in another embodiment of the present invention, the docking identifier 5 is disposed on the charging station 2, for example, the docking identifier 5 is disposed on the top of the charging station 2, so as to be easily obtained from the mobile device 1 through a vision system. The butt joint mark 5 has a three-dimensional structure, the butt joint mark is provided with a concave surface 51 and a convex surface 52, and the colors of the concave surface 51 and the convex surface 52 are different. The number and the position relationship of the concave surfaces 51 and the convex surfaces 52 can be set as required. The docking indicator 5 has different three-dimensional structures, and the color features and the contour features of the docking indicator obtained from the environment image are correspondingly different.
Referring to fig. 9, in another embodiment of the present invention, the step S3 includes:
step S31: acquiring color features and contour features of the docking identifier from the environment image;
step S32: judging whether the color features of the butt joint marks accord with preset colors and preset color arrangement sequences or not, and judging whether the contour features of the butt joint marks accord with preset contour features or not; if the color features of the butt joint marks accord with preset colors and a preset color arrangement sequence, and the contour features of the butt joint marks accord with preset contour features; step S4 is executed; otherwise, the process returns to step S2.
In another embodiment of the present invention, the preset profile feature includes a shape of the preset profile or a similarity threshold of the preset profile.
In another embodiment of the present invention, for example, the preset colors may be three colors of red, yellow, and blue, and the preset colors are arranged in sequence: the leftmost side is red, the middle side is yellow, and the rightmost side is blue, and the preset profile is characterized by the shape of the preset profile (e.g., a rectangle).
Assuming that the color features of the docking indicator conform to the preset color and the preset color arrangement sequence, but the contour features (e.g. parallelogram) of the concave surface 51 and the convex surface 52 of the docking indicator do not conform to the preset contour features (e.g. rectangle), the self-moving device is not directly opposite to the charging station.
Assuming that the color features of the docking indicator conform to a preset color and a preset color arrangement sequence, and the contour features (e.g. rectangle) of the concave surface 51 and the convex surface 52 of the docking indicator conform to a preset contour feature (e.g. rectangle), the self-moving device is directly opposite to the charging station.
In another embodiment of the present invention, the preset colors may be three colors, red, yellow, and blue, and the preset colors are arranged in sequence: the leftmost side is red, the middle side is yellow, the rightmost side is blue, and the preset contour feature is a similarity threshold of the preset contour.
Assuming that the color features of the docking indicator conform to the arrangement sequence of the preset colors and the preset colors, but the similarity between the contours of the concave surface 51 and the convex surface 52 of the docking indicator does not conform to the similarity threshold of the preset contours (e.g. is not greater than the similarity threshold of the preset contours), i.e. the concave surface 51 and the convex surface 52 are not similar to each other, the self-moving device is not directly opposite to the charging station,
assuming that the color features of the docking identifier conform to a preset color and a preset color arrangement sequence, and the similarity between the contours of the concave surface 51 and the convex surface 52 of the docking identifier conforms to a similarity threshold of a preset contour (for example, is greater than the similarity threshold of the preset contour), that is, the concave surface 51 and the convex surface 52 are similar to each other, the self-moving device is directly opposite to the charging station.
In another embodiment of the present invention, the larger the distance between the concave surface 51 and the convex surface 52 along the direction in which the mobile device is directly opposite to the charging station, the smaller the range of the viewing angle for acquiring the concave surface 51 from the mobile device, and the step S3 may determine whether the mobile device is directly opposite to the charging station according to whether the concave surface 51 exists in the docking identifier; if a concave surface 51 exists in the docking identifier, controlling the self-moving equipment to move straight towards the charging station until docking is successful; and if the concave surface 51 does not exist in the docking identifier, judging that the self-moving equipment is not right opposite to the charging station. For example, a preset color yellow is set on the concave surface 51, and if a yellow area exists in the docking identifier, it indicates that the self-moving device is directly opposite to the charging station; otherwise, indicating that the self-moving equipment is not over against the charging station; the single color identification can greatly simplify the operation of the system and improve the identification efficiency.
Referring to fig. 10A, 10B and 11, in another embodiment of the present invention, the docking indicator 5 is disposed on the charging station 2, and the docking indicator 5 includes a plurality of light emitters 7;
in another embodiment of the present invention, the step S3 includes:
step S310: acquiring the number of the luminophores 7 from the environment image;
step S320: judging whether the number of the luminous bodies 7 accords with the preset number of the luminous bodies; if the number of the light emitters 7 meets the preset number of light emitters, executing step S4; otherwise, the process returns to step S2.
Assuming that the number of lights 7 obtained from the environment image is not equal to 1 or the number of lights 7 is equal to 1 but is not located on the left side of the docking station 5, the self-moving device 1 is not directly opposite to the charging station 2.
Assuming that the number of the luminous bodies 7 is 1 and located on the left side of the docking station 5, which is obtained from the environment image, the self-moving device 1 is directly opposite to the charging station 2.
Referring to fig. 12A, 12B and 13, in another embodiment of the present invention, the docking mark 5 is disposed on the charging station 2, the docking mark 5 has a concave 51 and a convex 52, and the concave 51 and the convex 52 respectively include the light emitter 7;
in another embodiment of the present invention, the step S3 includes:
step S301: acquiring the arrangement direction of the luminophors 7 from the environment image;
step S302: judging whether the arrangement direction of the luminous bodies 7 accords with a preset luminous body arrangement direction; if the arrangement direction of the light-emitting bodies conforms to the preset arrangement direction of the light-emitting bodies, executing step S4; otherwise, the process returns to step S2.
If the arrangement direction of the luminous bodies 7 obtained from the environment image is not located on the same straight line in the vertical direction, the self-moving device 1 is not directly opposite to the charging station 2.
Assuming that the arrangement directions of the light-emitting bodies 7 obtained from the environment image are located on the same straight line in the vertical direction, the self-moving device 1 is directly opposite to the charging station 2.
In another embodiment of the present invention, by pre-storing the environment image when the self-moving device 1 and the charging station 2 are aligned, similarity calculation is performed between the collected environment image (the environment image collected during the process of finding the alignment position) and the pre-stored environment image to obtain similarity, and whether the self-moving device 1 and the charging station 2 are aligned is determined according to the similarity. The method comprises the following specific steps:
the step S3 further includes:
preprocessing the acquired environment image to obtain a preprocessed environment image, wherein the preprocessing is to replace a background area except the docking identifier in the environment image with a background area of a prestored environment image;
and performing similarity calculation on the preprocessed environment image and a prestored environment image to obtain similarity, and judging whether the self-moving equipment 1 is right opposite to the charging station 2 according to the similarity, wherein the similarity calculation method comprises the conventional algorithms such as a Hash algorithm, template matching, PSNR (peak signal to noise ratio), SSIM (structural similarity) and the like.
Referring to fig. 14, the present invention also provides a docking apparatus 200 for a self-moving device and a charging station, the apparatus comprising:
a movement control module 201, configured to control the self-moving device to move from a current location to a docking area;
the image acquisition module 202 is used for controlling the self-moving equipment to move around the charging station in the docking area and controlling the self-moving equipment to acquire an environment image;
the right alignment judgment module 203 is configured to obtain a docking identifier from the environment image, and judge whether the self-moving device is right aligned with the charging station according to the docking identifier;
a docking control module 204, configured to control the self-moving device to move straight towards the charging station until docking is successful.
The invention also provides self-moving equipment which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the self-moving equipment and the charging station docking method when executing the computer program.
The invention also provides a system for docking the self-moving equipment with the charging station, wherein the system comprises the self-moving equipment and a docking identifier.
In another embodiment of the invention, the butt joint mark is provided with a concave surface and a convex surface, and the color of the concave surface is different from that of the convex surface.
In another embodiment of the present invention, the docking indicator has a concave surface and a convex surface, and the concave surface and the convex surface respectively include a light emitting body.
In another embodiment of the invention, the docking indicator comprises a number of lights.
The invention also provides a readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method for docking a self-moving device with a charging station.
Compared with the prior art, the self-moving equipment is controlled to move around the charging station in the docking area and an environment image is collected; and acquiring a docking identifier from the environment image, and judging whether the self-moving equipment is right opposite to the charging station according to the docking identifier, so that the time for the self-moving equipment to search for the charging station can be reduced, and the regression efficiency of the self-moving equipment is improved. According to the invention, whether the self-moving equipment is over against the charging station is judged by acquiring the color characteristic and the contour characteristic of the butt joint identification, so that the over-against identification efficiency of the self-moving equipment is improved. According to the invention, whether the self-moving equipment is over against the charging station or not is judged by acquiring the number of the luminous bodies or the arrangement direction of the luminous bodies, so that misjudgment caused by color distortion is avoided. According to the invention, the distance between the self-moving equipment and the charging station is obtained through the ultrasonic sensor so as to control the self-moving equipment to move around the charging station in the docking area, so that the occupation ratio of the docking identifier in the environmental image is favorably controlled, and the identification and comparison are facilitated.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the embodiments may be appropriately combined to form other embodiments understood by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention and is not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention are included in the scope of the present invention.

Claims (12)

1. A method for docking a self-moving device with a charging station, the method comprising the steps of:
controlling the self-moving device to move from a current position to a docking area;
controlling the self-moving equipment to move around the charging station in the docking area and collecting an environment image;
acquiring a docking identifier from the environment image, and judging whether the self-moving equipment is right opposite to the charging station or not according to the docking identifier;
and if the self-moving equipment is right opposite to the charging station, controlling the self-moving equipment to move forwards towards the charging station until the docking is successful.
2. The method according to claim 1, wherein the docking indicator is provided on the charging station, the docking indicator has a concave surface and a convex surface, and the concave surface and the convex surface are different in color;
the obtaining of the docking identifier from the environment image and the determining of whether the self-moving device is directly opposite to the charging station according to the docking identifier include:
acquiring color features and contour features of the docking identifier from the environment image;
judging whether the color features of the butt joint marks accord with preset colors and preset color arrangement sequences or not, and judging whether the contour features of the butt joint marks accord with preset contour features or not;
if the color features of the butt joint marks accord with preset colors and a preset color arrangement sequence, and the contour features of the butt joint marks accord with preset contour features; the self-moving device is controlled to move straight towards the charging station until the docking is successful. .
3. The method of claim 1, wherein the docking identifier is disposed on the charging station, and the docking identifier comprises a plurality of lights;
the obtaining of the docking identifier from the environment image and the determining of whether the self-moving device is directly opposite to the charging station according to the docking identifier include:
acquiring the number of the luminophores from the environment image;
judging whether the number of the luminous bodies accords with the preset number of the luminous bodies;
and if the number of the luminous bodies accords with the preset number of the luminous bodies, controlling the self-moving equipment to move forwards towards the charging station until the docking is successful. .
4. The method according to claim 1, wherein the docking indicator is provided on the charging station, the docking indicator has a concave surface and a convex surface, and the concave surface and the convex surface respectively include a light emitter;
the obtaining of the docking identifier from the environment image and the determining of whether the self-moving device is directly opposite to the charging station according to the docking identifier include:
acquiring the arrangement direction of the luminophors from the environment image;
judging whether the arrangement direction of the luminous bodies accords with the preset arrangement direction of the luminous bodies;
if the arrangement direction of the luminous bodies accords with the preset arrangement direction of the luminous bodies; the self-moving device is controlled to move straight towards the charging station until the docking is successful. .
5. The method of claim 1, wherein said controlling the self-moving device to move around the charging station within the docking area and controlling the self-moving device to capture the environmental image comprises:
controlling the self-moving equipment to move around the charging station in the butt joint area through a radio detection device, and controlling the self-moving equipment to acquire an environment image according to a preset condition;
the wireless detection device is arranged on the self-moving equipment, and the self-moving equipment is controlled to move around the charging station in the docking area according to the distance between the self-moving equipment and the charging station sensed by the wireless detection device.
6. An apparatus for docking a self-moving device with a charging station, the apparatus comprising:
the mobile control module is used for controlling the self-moving equipment to move from the current position to the docking area;
the image acquisition module is used for controlling the self-moving equipment to move around the charging station in the docking area and controlling the self-moving equipment to acquire an environment image;
the right alignment judgment module is used for acquiring a docking identifier from the environment image and judging whether the self-moving equipment is right aligned to the charging station or not according to the docking identifier;
and the docking control module is used for controlling the self-moving equipment to move forwards towards the charging station until the docking is successful.
7. Self-moving device comprising a memory and a processor, said memory storing a computer program, characterized in that said processor, when executing said computer program, performs the steps of the self-moving device to charging station docking method according to any of claims 1-5.
8. A system for docking a self-moving device with a charging station, said system comprising the self-moving device of claim 9, said system further comprising a docking identifier.
9. The system of claim 8, wherein the docking indicator comprises a concave surface and a convex surface, and the concave surface and the convex surface are different colors.
10. The system of claim 8, wherein the docking indicator comprises a concave surface and a convex surface, and the concave surface and the convex surface each comprise a light emitter.
11. The self-moving device and charging station docking system as recited in claim 8, wherein the docking station identifier comprises a number of lights.
12. A readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, performs the steps of the method of docking a self-moving device with a charging station as claimed in any one of claims 1-5.
CN202010438525.9A 2020-05-22 2020-05-22 Self-moving device and charging station docking method and device, self-moving device, system and readable storage medium Pending CN113778068A (en)

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