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 invention relates to a control method of automatic walking equipment and an automatic working system.
Background
The automatic walking equipment can automatically work without manual operation, such as an automatic mower or an automatic dust collector, so that users can mow grass or remove dust in working hours, and great convenience is brought to the users. The autonomous walking device generally walks in a predetermined work area and returns to a stop for replenishing energy when the electric quantity is low, and returns to the stop when the work is completed or it rains.
The existing automatic walking equipment generally returns to the stop station along a boundary line according to a preset direction, and the returning efficiency is low. Since the charging terminals of the docking station are disposed toward a specific direction, if the automatic traveling apparatus is controlled to directly return toward the docking station at any place, it may be impossible to successfully dock the automatic traveling apparatus with the docking station.
Disclosure of Invention
The invention provides an automatic walking equipment control method and an automatic working system, which can improve the returning efficiency of automatic walking equipment and realize effective butt joint of the automatic walking equipment and a stop station.
In order to achieve the purpose, the technical scheme of the invention is as follows: a control method of automatic walking equipment is used for controlling the automatic walking equipment to return to a stop, a direction mark which represents a butt joint direction when the automatic walking equipment and the stop return to a butt joint is arranged on the stop, an image acquisition device and a processor are arranged on the automatic walking equipment, and the method comprises the following steps: step S1: the processor identifies the direction identification; step S2: the processor judges that the walking direction of the automatic walking equipment is coincident with the butt joint direction shown by the direction mark, if so, the step S4 is carried out, otherwise, the step S311 is carried out; step S311: the processor controls the automatic walking equipment to rotate by a preset angle; step S312: the processor controls the automatic walking equipment to walk for a preset distance s; step S313: the processor controls the automatic walking equipment to turn and face to the direction mark; step S314: the processor judges whether the walking direction of the automatic walking equipment is coincident with the butt joint direction shown by the direction mark, if so, the step S4 is carried out, otherwise, the step S311 is carried out; step S4: and the processor controls the automatic walking equipment to be in butt joint with the docking station along the butt joint direction shown by the direction mark.
Preferably, the docking station is further provided with a docking station identifier, the docking station identifier has a specific shape and/or pattern, and the method further includes the following steps before the step S1: step S101: when the automatic walking equipment starts to return, the processor identifies the stop station identification; step S102: the processor judges whether the distance between the automatic walking device and the stop station identifier is smaller than or equal to a first distance value L1, if so, the step S1 is carried out, and if not, the step S103 is carried out; step S103: the processor controls the automated walking device to advance toward the stop identification.
Preferably, the stop sign is located on the top of the stop, and the stop sign is cylindrical in shape.
Preferably, in step S103, when the processor controls the automatic walking device to advance toward the stop mark, the processor controls the walking direction of the automatic walking device so that the stop mark is always located in a first specific area in the image acquired by the image acquisition device.
Preferably, in step S103, the processor determines the distance between the automatic walking device and the stop according to the size of the area of the image corresponding to the stop identifier in the image.
Preferably, the processor stores a predetermined area value, the processor calculates and compares the calculated area value of the image corresponding to the stop identification with the predetermined area value, and when the calculated area value of the image corresponding to the stop identification reaches the predetermined area value, the processor determines that the distance between the automatic walking device and the stop is the first distance value L1.
Preferably, the image is provided with a second predetermined area matching the shape of the stop sign, and when the image corresponding to the stop sign substantially overlaps the second predetermined area, the processor determines that the distance between the automatic walking device and the stop is the first distance value L1.
Preferably, the direction indication is a straight line pattern, a rectangular pattern or at least one arrow pattern.
Preferably, in step S2, the image acquired by the image acquisition device has a central line dividing the image into left and right parts, and when the central line in the image overlaps or substantially overlaps with the image of the direction indicator, the processor determines that the walking direction of the automatic walking device coincides with the docking direction indicated by the direction indicator.
Preferably, after step S312, the method further includes the steps of: s104: identifying a positioning identifier and controlling the automatic walking equipment to face the positioning identifier; s105: controlling the automatic walking equipment to move forward towards the positioning identifier; s106: judging whether the distance between the automatic walking equipment and the stop station is a first distance value L1 or not; if yes, go to step S1 again; otherwise, the process returns to step S105 again.
The invention also provides an automatic working system, which comprises automatic walking equipment and a stop station, wherein the stop station is provided with a direction identifier for indicating the butt joint direction when the automatic walking equipment and the stop station are in butt joint, the automatic walking equipment is provided with an image acquisition device and a processor, and the processor comprises: the direction identification module is used for identifying the direction identification; the docking direction judging module is used for judging whether the walking direction of the automatic walking equipment is overlapped with the docking direction represented by the direction identifier or not; the first steering control module controls the automatic walking equipment to rotate by a preset angle towards the direction indicated by the direction mark in the image when the walking direction of the automatic walking equipment is not coincident with the butting direction indicated by the direction mark; the distance control module is used for controlling the automatic walking equipment to walk for a preset distance s; the second steering control module controls the automatic walking equipment to rotate towards the direction identifier after the automatic walking equipment walks for a preset distance s; the direction judgment module is used for judging whether the walking direction of the automatic walking equipment is overlapped with the butt joint direction shown by the direction mark; and the second regression control module controls the automatic walking equipment to be in butt joint with the stop station along the butt joint direction indicated by the direction identification when the walking direction of the automatic walking equipment is coincident with the butt joint direction indicated by the direction identification.
Preferably, a stop sign is further provided on the stop, the stop sign has a specific shape or/and pattern, and the automatic work system further includes: the stop station identification recognition module is used for recognizing the stop station identification; the distance judgment module is used for judging whether the distance between the automatic walking equipment and the stop station identifier is smaller than or equal to a first distance value L1 or not; and the first returning control module is used for controlling the automatic walking equipment to move forward towards the stop station identifier.
Preferably, the stop sign is located on the top of the stop, and the stop sign is cylindrical in shape.
Preferably, the direction indication is a straight line pattern, a rectangular pattern or at least one arrow pattern.
Compared with the prior art, the control method of the automatic walking equipment and the automatic working system can improve the returning efficiency of the automatic walking equipment and realize effective butt joint of the automatic walking equipment and the stop station.
Drawings
The invention is further described with reference to the following figures and embodiments.
FIG. 1 is a schematic view of an automatic work system of the present invention.
Fig. 2 is a schematic diagram of a stop sign, a first specific area or a second specific area, a direction sign and a center line in an image acquired by the image acquisition device in fig. 1.
Fig. 3 is a partially enlarged schematic view of fig. 2.
FIG. 4 is a block schematic diagram of the automatic work system of the present invention.
Fig. 5 is a schematic operation diagram of the first preferred embodiment of the automatic working system of the present invention.
FIG. 6 is a block diagram of a regression path control module in the first preferred embodiment of the automatic work system according to the present invention.
FIG. 7 is a block diagram of a regression path control module in a second preferred embodiment of the automatic work system according to the present invention.
Fig. 8 is an operation diagram of the second preferred embodiment of the automatic working system of the present invention.
FIG. 9 is a block diagram of a regression path control module in a third preferred embodiment of the automatic work system according to the present invention.
Fig. 10 is an operation diagram of the third preferred embodiment of the automatic working system of the present invention.
Fig. 11 is a flow chart illustrating a control method of the automatic walking device of the present invention.
Fig. 12 is a partial flow chart of the first preferred embodiment of the control method of the automatic walking device of the present invention.
Fig. 13 is a partial flow chart of a second preferred embodiment of the control method of the automatic walking device of the present invention.
Fig. 14 is a partial flow chart of a third preferred embodiment of the control method of the automatic walking device of the present invention.
Wherein,
100. an automatic walking device; 200. a docking station; 300. a boundary;
400. a working area; 202. a charging terminal; 210. a stop identification;
220. direction identification; 212. a top portion; 214. a middle part;
216. a bottom; 230. a flat plate; 110. a housing;
120. a wheel; 130. a processor; 140. an image acquisition device;
131. a stop identification recognition module 132 and a first return control module; 133. a distance judgment module; a block;
134. a direction identification module; 135. a butt joint direction judgment module; 136. a second regression control module;
137. a regression path control module; 1371. an angle calculation module; 1372. a distance calculation module;
1373. a first steering control module 1374, a distance control module; 1375. a second steering control module; a block;
1376. a spacing control module; 1377. a side length calculation module; 1378. a radius calculation module;
142. an image; 144. a first specific area; 218. connecting wires;
146. a midline; 1379. a tangent point control module; 1370. an arc path control module;
137a, positioning mark recognition module 137b and direction judgment module
Detailed Description
Referring to fig. 1, an embodiment of the invention provides an automatic working system and an automatic traveling apparatus control method.
The autonomous working system includes an autonomous walking device 100, such as an autonomous mower or an autonomous vacuum cleaner, and a docking station 200. The automatic walking device 100 walks within the work area 400 defined by the predetermined boundary 300 and returns to the docking station 200 for replenishing energy when the charge is low, and returns to the docking station 200 when the work is completed or it rains.
The front of the automatic walking device 100 has at least two docking terminals (not shown), and the docking station 200 has at least two charging terminals 202, which are connected with the corresponding charging terminals 202 when the automatic walking device 100 is docked with the docking station 200.
In the present embodiment, the docking station 200 is located on the boundary 300 of the work area 400, and the charging terminal 202 is disposed toward a specific direction, such as toward the boundary 300 on the left or right side of the docking station 200.
Referring to fig. 2 and fig. 3, the direction indicator 220, the docking station indicator 210 and the positioning indicator (not shown) located at the front end of the direction indicator 220 are shown in the docking direction when the automatic walking device 100 is docked with the docking station 200. The docking station identifier 210 may be located at any position of the docking station 200, and the positioning identifier has a specific shape and/or pattern, such as the pointing end of the direction identifier 220.
In this embodiment, the docking station identifier 210 is located at the front end of the direction identifier 220 in the docking direction, and the docking station identifier 210 is also used as a positioning identifier.
The docking station identifier 210 is vertically disposed on the top of the docking station 200, and the docking station identifier 210 has a substantially cylindrical shape such that the area of the figure formed by the docking station identifier 210 is the same regardless of the direction viewed from a certain horizontal plane.
Specifically, the docking station identifier 210 has the shape: a top portion 212, a middle portion 214, and a bottom portion 216 having a cylindrical shape from top to bottom; the top portion 212 and the bottom portion 216 have the same diameter, and the middle portion 214 has a smaller diameter than the top portion 212 and the bottom portion 216.
Further, the stop sign 210 has a specific pattern, such as: the top portion 212 is of the same first color as the periphery of the bottom portion 216 and the middle portion 214 is of a second color that is substantially different from the first color. In other embodiments, the top portion 212 and the bottom portion 216 may be provided with a first regular stripe around their peripheries, and the middle portion 214 may be provided with a second regular stripe or no stripe.
The docking station 200 has a plate 230 on which the automatic walking apparatus is docked, and the plate 230 is laid on the ground. When the self-propelled device 100 is entirely placed on the plate 230, it is possible to prevent the self-propelled device 100 from being skewed due to the uneven ground so that the docking terminal cannot be docked with the charging terminal 202. The direction indicator 220 is located on the upper surface of the flat plate 230, and the direction indicator 220 has a straight line pattern, a rectangular pattern, or at least one arrow pattern parallel to the charging terminal 202. In the present embodiment, the direction indicator 220 is a plurality of arrow patterns connected end to end, and the other arrow patterns except for the last arrow pattern only have a diagonal line part indicating the direction and no extending straight line part. All the arrow patterns are directed to the charging terminal 202.
The automatic walking device 100 includes a housing 110, a plurality of wheels 120 disposed at the bottom of the housing 110, a power system (not shown) disposed inside the housing 110 for driving the wheels 120, a processor 130 disposed inside the housing 110, and an image capturing device 140 disposed on the housing 110. The power system comprises a battery pack, a transmission mechanism and the like.
The image capturing device 140 is used for capturing images of the docking station 200, and the processor 130 is used for processing and analyzing the images captured by the image capturing device 140 and controlling the automatic walking device 100 to walk. In this embodiment, the image capturing device 140 is a camera.
Referring to fig. 4, the processor 130 of the automatic operating system of the present invention has the following operating modules: a stop station identifier recognition module 131, a first regression control module 132, a distance determination module 133, a direction identifier recognition module 134, a docking direction determination module 135, a second regression control module 136, and a regression path control module 137.
The stop identification recognition module 131 is configured to recognize the stop identification 210 according to the image of the stop 200 acquired by the image acquisition device 140.
The station identifier recognition module 131 may recognize whether it is the station identifier 210 according to the shape, pattern, or the combination of the shape and pattern of the object in the image.
The processor 130 stores a first preset pattern corresponding to the pattern of the docking station identifier 210, and the processor 130 also stores a first preset shape corresponding to the shape of the docking station identifier 210; the docking station identifier recognition module 131 compares the shape of the object in the image with a first preset shape, and determines whether the shape of the object matches the first preset shape; the stop identification recognition module 131 compares the pattern of the object with a first preset pattern, and determines whether the pattern of the object matches the first preset pattern.
The first homing control module 132 is used to control the automated walking device 100 to advance toward the stop sign 210. Thereby guiding the automatic walking device 100 to move from a position farther from the docking station 200 to a position closer to the docking station 200, facilitating subsequent recognition of the direction indicator 220 and control of the path of the automatic walking device 100.
Referring to fig. 2 and 3 again, the image 142 acquired by the image acquisition device 140 has a first specific area 144, and when the first return control module 132 controls the automatic walking device 100 to move forward toward the stop mark 210, the walking direction of the automatic walking device 100 is adjusted, so that the image corresponding to the stop mark 210 is always located in the first specific area 144 of the image 142. Thus, the automatic walking device 100 can be prevented from deviating, and the returning efficiency is improved.
The distance determination module 133 is used to determine whether the distance between the automatic walking device 100 and the docking station 200 is less than or equal to the first distance value L1. The distance determination module 133 determines whether the distance between the automatic walking device 100 and the docking station 200 is the first distance value L1 according to the side length or the size of the area value of the docking station identification 210 in the image 142.
Specifically, a predetermined length value is stored in the processor 130, the processor 130 calculates a side length of at least one side of the stop identifier 210 in the image 142, compares the calculated side length with the predetermined length value, and determines that the distance between the automatic walking device 100 and the stop 200 is the first distance value L1 when the calculated side length reaches the predetermined length value.
Specifically, the processor 130 may also store a predetermined area value, and the processor 130 calculates an area value of at least a portion of the stop identifier 210 in the image 142, compares the calculated area value with the predetermined area value, and determines that the distance between the automatic walking device 100 and the stop 200 is the first distance value L1 when the calculated area value reaches the predetermined area value.
In this embodiment, to simplify the processing, the processor 130 connects the four endpoints of the graphic of the docking station identifier 210 with the lines 218 to form a rectangle. Since the length and width of the rectangle are the same when the distance from the stop sign 210 is constant regardless of the direction in which the rectangle is viewed on a certain horizontal plane, the area of the rectangle can be used as the area value of the pattern of the stop sign 210.
In another embodiment, the image 142 acquired by the image acquisition apparatus 140 has a second specific area matching the shape of the stop sign 210, and when the stop sign 142 in the image 142 substantially overlaps the second specific area, the distance determination module 133 determines that the distance between the automatic walking device 100 and the stop 200 is the first distance value L1. To simplify the processing, the processor 130 connects the four end points of the graphic of the stop sign 210 with the connection lines 218 to form a rectangle, and the distance determination module 133 determines whether the rectangle overlaps the second specific area. The second specific region may be the same as the first specific region 144.
Referring to fig. 5, the direction identifier recognition module 134 recognizes the direction identifier 220 according to the image 142 of the docking station 200 acquired by the image acquisition device 140. The direction indicator 220 has a specific pattern, the processor 130 stores a corresponding second preset pattern, the direction indicator recognition module 134 compares the pattern in the image 142 with the second preset pattern, and if the image 142 has a pattern matching the second preset pattern, the pattern is recognized as the direction indicator 220.
The image acquired by the image acquisition device has a central line 146 dividing the image into a left part and a right part, and the docking direction determination module 135 determines whether the central line 146 coincides with or substantially coincides with the docking direction indicated by the direction indicator 220.
If the centerline 146 coincides or substantially coincides with the docking direction indicated by the direction indicator 220, the second regression control module 136 controls the automated walking device 100 to dock with the docking station in the docking direction indicated by the direction indicator 220.
If the central line 146 and the docking direction indicated by the direction indicator 220 do not coincide or substantially coincide, the return path control module 137 controls the walking path of the automatic walking apparatus 100 so that the walking direction of the automatic walking apparatus 100 coincides or substantially coincides with the docking direction indicated by the direction indicator 220. The automated walking device is then controlled by the second regression control module 136.
It can be understood that the processor 130 may also directly recognize the direction identifier 220, and further determine whether the traveling direction of the automatic traveling device 100 coincides with the docking direction indicated by the direction identifier 220, if so, control the automatic traveling device 100 to dock with the docking station along the docking direction indicated by the direction identifier 220, and if not, control the traveling path of the automatic traveling device 100, so that the traveling direction of the automatic traveling device 100 coincides with the docking direction indicated by the direction identifier 220.
Referring to fig. 5 and fig. 6, in the first preferred embodiment of the automatic working system of the present invention, the return path control module 137 includes: location identifier recognition module 137a, angle calculation module 1371, distance calculation module 1372, first steering control module 1373, distance control module 1374, and second steering control module 1375.
The location identifier recognition module 137a recognizes a location identifier and controls the automatic walking device to face the location identifier. In particular, when the docking station identifier 210 is located in the docking direction and also serves as a positioning identifier, the positioning identifier recognition module 137a is the docking station identifier recognition module 131.
The angle calculation module 1371 calculates a first angle α formed between the direction marker 220 and the center line 146 with the positioning marker as a base point.
The distance calculating module 1372 is configured to calculate a second distance value L2 according to the first distance value L1 and the first angle α.
If the first angle α is an acute angle, the point where the automatic walking apparatus 100 is located is taken as a right angle, a right triangle is formed by the central line 146, the extension line of the direction indicator 220 and the first angle α, the length of the other right-angle side is the second distance value L2, and the distance calculating module 1372 calculates the second distance value L2 according to the first distance value L1 and the first angle α. The first distance value L1, the second distance value L2, and the first angle α satisfy the relationship: tan α ═ L2/L1.
If the first angle α is a right angle, the point where the automatic walking apparatus 100 is located is a specific acute angle α 1, for example, 60 degrees, a right triangle is formed by the central line 146, the extension line of the direction indicator 220 and the first angle α, the length of the hypotenuse is the second distance value L2, and the distance calculating module 1372 calculates the second distance value L2 according to the first distance value L1 and the acute angle α 1. The first distance value L1, the second distance value L2, and the acute angle α 1 satisfy the relationship: cos α 1 — L1/L2.
If the first angle α is an obtuse angle, the length of the edge where the direction indicator 220 is located is the same as the length of the first distance value L1 to form an isosceles triangle, the angle bisector of the first angle α is perpendicular to the opposite edge L2 of the first angle α, and the length of the opposite edge L2 can be calculated according to the first angle α.
The first steering control module 1373 serves to control the automatic walking device 100 to rotate by a predetermined second angle. In the present embodiment, since the automatic walking device 100 is always directed toward the stop sign 210 before, the direction sign 220 is necessarily located entirely at one side of the center line 146, as shown at the left side in fig. 2. Steering control module 138 is configured to control automated walking device 100 to rotate a second angle in a direction indicated by direction indicator 220 in image 142, such as to the left.
If the first angle α is an acute angle, the second angle is 90 degrees.
If the first angle α is a right angle, the second angle is a specific acute angle α 1, such as 60 degrees.
If the first angle α is an obtuse angle, the other two same angles of the isosceles triangle are calculated, and the angles are taken as the second angle.
The distance control module 1374 is used to control the automatic walking device 100 to walk by the second distance value L2.
After the automatic walking device 100 walks the second distance value L2, the second steering control module 1375 is used to control the automatic walking device to steer and face the direction indicator 220. In this embodiment, the second regression control module 1375 controls the automatic walking device 100 to rotate left or right until the direction indicated by the direction indicator 220 in the image 142 coincides or substantially coincides with the center line 146, even though the walking direction of the automatic walking device 100 coincides with the docking direction indicated by the direction indicator 220.
In summary, referring to fig. 1, in the first preferred embodiment of the automatic working system of the present invention, the automatic walking device 100 walks along the path indicated by the single-headed arrow under the control of the processor 130.
Referring to fig. 7 and 8, in a second preferred embodiment of the automatic working system of the present invention, the regression path control module 137 includes: a first steering control module 1373, a spacing control module 1376, a second steering control module 1375, and a direction determination module 137 b.
The first steering control module 1373 is used to control the automatic walking device 100 to rotate by a predetermined second angle toward a direction indicated by the direction indicator 220 in the image. In the present embodiment, the second angle is 90 degrees.
The spacing control module 1376 serves to control the automatic walking device 100 to walk by a predetermined spacing s.
The second steering control module 1375 controls the automatic traveling apparatus 100 to rotate and face the direction indicator 220 after the automatic traveling apparatus 100 travels a predetermined distance s.
And a direction judging module 137b for judging whether the walking direction of the automatic walking device 100 coincides with the docking direction indicated by the direction indicator 220.
In this embodiment, the second regression control module 1375 controls the automatic walking device 100 to rotate left or right until the direction indicator 220 is located in the middle of the image.
Preferably, the regression path control module 137 may further include a first regression control module 132, a distance determination module 133, and a location identifier recognition module 137 a. After the automatic walking device 100 walks for the predetermined distance s, the positioning identifier recognition module 137a recognizes the positioning identifier and controls the automatic walking device to face the positioning identifier, then the first return control module 132 further controls the automatic walking device 100 to advance for a distance toward the positioning identifier, the distance judgment module 133 judges whether the distance between the automatic walking device 100 and the docking station 200 is the first distance value L1, and then the second steering control module 1375 controls the automatic walking device 100 to rotate and face the direction identifier 220.
In particular, when the docking station identifier 210 is located in the docking direction and also serves as a positioning identifier, the positioning identifier recognition module 137a is the docking station identifier recognition module 131.
In summary, referring to fig. 8, in the second preferred embodiment of the automatic working system of the present invention, after the automatic walking device 100 reaches the first distance value L1 from the stop, it walks along the path indicated by the single arrow mark in the figure under the control of the processor 130.
Referring to fig. 9 and 10, in a third preferred embodiment of the automatic working system of the present invention, the return path control module 137 includes: the positioning identification module 137a, the angle calculation module 1371, the side length calculation module 1377, the radius calculation module 1378, the first steering control module 1373, the tangent point control module 1379, and the arc path control module 1370.
The location identifier recognition module 137a recognizes a location identifier and controls the automatic walking device to face the location identifier. In particular, when the docking station identifier 210 is located in the docking direction and also serves as a positioning identifier, the positioning identifier recognition module 137a is the docking station identifier recognition module 131.
The angle calculation module 1371 calculates a first angle α formed between the direction marker 220 and the center line 146 with the positioning marker as a base point.
If the first angle α is an acute angle, a right triangle ABC is formed by the central line 146, the extension line of the direction indicator 220 and the first angle α, taking the point a where the automatic walking device 100 is located as a right angle. The side length calculating module 1377 calculates the lengths of the other cathetus L2 and the hypotenuse Lx of the right triangle according to the first angle α and the first distance value L1.
The radius calculation module 1378 makes an imaginary inscribed circle that is tangent to the hypotenuse Lx and tangent to the cathetus L2 at a predetermined third distance L3 (point D) from the stop sign 210 on the hypotenuse Lx. The radius calculation module 1378 further calculates the radius R of the inscribed circle (centered at point O).
Specifically, a second angle β of the angle C is calculated in the right triangle ABC, and a focal point O of an angle bisector CO of the second angle β and a perpendicular DO to the hypotenuse Lx at the point D is a center of the inscribed circle. And calculating the length of the CD segment according to the hypotenuse Lx and the third distance L3, and further calculating the length of an OD segment in the triangle CDO, wherein the length of the OD segment is the radius R of the inscribed circle.
The first steering control module 1373 is used to control the automatic walking device 100 to rotate 90 degrees toward the direction indicated by the direction indicator in the image. The state of the automatic walking device 100 at this time is shown in fig. 10.
And the tangent point control module 1379 is used to control the automatic walking device 100 to advance a fourth distance L4 to reach the tangent point E between the inscribed circle and the right-angle side L2. Since the length of the CD segment is equal to that of the CE segment, the fourth distance L4 is the length of the AE segment, and the fourth distance L4 is the difference between the lengths of the right-angle side L2 and the CE segment.
The arc path control module 1370 is configured to calculate a rotation speed ratio of the left and right wheels according to the radius R of the inscribed circle and the wheel interval 2d between the left and right wheels, and control the automatic walking device 100 so that the left and right wheels have a specific rotation speed ratio, thereby enabling the automatic walking device 100 to walk along a predetermined arc path until a walking direction of the automatic walking device 100 is consistent with a docking direction indicated by the direction identifier 220.
Specifically, in fig. 10, the outer radius of the left wheel of the automatic walking device 100 from the center O is R + d, the inner radius of the right wheel from the center O is R-d, and the rotation speed ratio of the left and right wheels is equal to the ratio of the outer radius R + d to the inner radius R-d.
If the first angle α is a right angle, a right triangle ABC is formed by the central line 146, the extension line of the direction indicator 220 and the acute angle α 1 with the point where the automatic walking device 100 is located being a specific acute angle α 1, for example, 60 degrees. And then calculating the side lengths, the radiuses of inscribed circles and the like of the right-angled triangle ABC, wherein the specific method is similar to that when the first angle alpha is an acute angle.
If the first angle α is an obtuse angle, the side where the direction indicator 220 is located has the same length as the first distance value L1 to form an isosceles triangle, and the bisector of the first angle α is perpendicular to the opposite side L2 of the first angle α, so that two right-angled triangles are formed. Then, the side lengths of the two right-angled triangles, the radius of the inscribed circle tangent to the two sides of the triangle where the direction indicator 220 is located, and the like are calculated, and the specific method is similar to that when the first angle α is an acute angle.
Referring to fig. 11, the method for controlling an automatic walking apparatus according to an embodiment of the present invention includes the following steps:
step S101: when the automatic walking device 100 starts the return, the processor 130 recognizes the station identification 210 from the image of the station 200 acquired by the image acquisition apparatus 140.
The processor 130 may identify the docking station identifier 210 based on the shape, pattern, or a combination of the shape and pattern of the object in the image.
Step S102: the processor 130 determines whether the distance between the automatic walking device 100 and the docking station 200 is less than or equal to the first distance value L1, if so, it proceeds to step S1, otherwise, it proceeds to step S103.
Step S103: the processor 130 controls the automatic walking device 100 to advance toward the stop identification 210.
The image 142 acquired by the image acquisition device 140 has a first specific area 144, and the processor 130 continuously adjusts the walking direction of the automatic walking device 100 while controlling the automatic walking device 100 to advance toward the stop sign 210, so that the stop sign 210 is always located in the first specific area 144 of the image 142. Thus, the automatic walking device 100 can be prevented from deviating, and the returning efficiency is improved.
The processor 130 determines whether the distance between the automatic walking device 100 and the docking station 200 is the first distance value L1 according to the size of the area value of the docking station identification 210 in the image 142. This causes the automatic walking device 100 to move from a position farther from the docking station 200 to a position closer to the docking station 200.
Specifically, the processor 130 stores a predetermined area value therein, the processor 130 calculates an area value of an image corresponding to the stop identifier 210, and compares the calculated area value of the image corresponding to the stop identifier 210 with the predetermined area value; when the calculated area value of the image corresponding to the stop identification 210 reaches the predetermined area value, the distance between the automatic walking device 100 and the stop 200 is determined to be the first distance value L1.
In another embodiment, the image 142 acquired by the image acquisition device 140 has a second specific area matching the shape of the stop sign 210, and when the stop sign 210 in the image 142 substantially overlaps the second specific area, the processor 130 determines that the distance between the automatic walking device 100 and the stop 200 is the first distance value L1. In this embodiment, the second specific region may be the same as the first specific region.
Step S1: the processor 130 recognizes the direction identifier 220 from the image of the docking station 200 acquired by the image acquisition device 140.
The direction indicator 220 has a specific pattern, the processor 130 stores a corresponding second preset pattern, compares the pattern in the image with the second preset pattern, and identifies the pattern as the direction indicator 220 if the pattern in the image matches the second preset pattern.
Step S2: the processor 130 determines whether the walking direction of the automatic walking device 100 coincides with the docking direction indicated by the direction indicator 220. Specifically, the image 142 acquired by the image acquisition device 140 has a central line 146 dividing the image 142 into left and right parts, and the processor 130 compares the positional relationship between the central line 146 in the image and the direction indicator 220 to determine whether the walking direction coincides with the docking direction.
Step S3: when the processor 130 determines that the central line 146 does not coincide with the direction indicator 220, it controls the walking path of the automatic walking device 100 so that the walking direction of the automatic walking device 100 coincides with the docking direction indicated by the direction indicator.
Step S4: the processor 110 controls the automated walking device 100 to dock with the docking station 200 in the docking direction shown by the direction indicator.
It is understood that the above steps S101, S102, and S103 may also be omitted, that is, the processor 130 may also directly recognize the direction identifier 220, and further determine whether the traveling direction of the automatic traveling apparatus 100 coincides with the docking direction indicated by the direction identifier 220, if so, the automatic traveling apparatus 100 is controlled to dock with the docking station along the docking direction indicated by the direction identifier 220, and if not, the traveling path of the automatic traveling apparatus 100 is controlled, so that the traveling direction of the automatic traveling apparatus 100 coincides with the docking direction indicated by the direction identifier 220.
Referring to fig. 12, in the first preferred embodiment of the method for controlling an automatic walking device of the present invention, step S3 includes:
step S311: the processor controls the automatic walking equipment to rotate by a preset angle;
step S312: the processor controls the automatic walking equipment to walk for a preset distance s;
step S313: the processor controls the automatic walking equipment to turn and face the stop station identification;
step S314: and the processor judges whether the walking direction of the automatic walking device is coincident with the butting direction shown by the direction mark, if so, the step S4 is carried out, and if not, the step S311 is carried out.
Referring to fig. 13, in a second preferred embodiment of the method for controlling an automatic walking device of the present invention, step S3 includes:
step S321: the processor identifies the positioning identifier and controls the automatic walking equipment to face the positioning identifier. In particular, the docking station identifier 210 may also be located in the docking direction and serve as a positioning identifier.
Step S322: the image acquired by the image acquisition device is provided with a central line dividing the image into a left part and a right part, and the processor calculates a first angle alpha formed between the direction identifier and the central line;
step S323: the processor calculates a second distance value L2 from the first distance value L1 and a first angle α;
step S324: the processor controls the automatic walking equipment to rotate by a preset angle;
step S325: the processor controls the automatic walking device to walk by a second distance value L2;
step S326: the processor controls the automatic walking equipment to turn and face the direction mark.
Referring to fig. 14, in a third preferred embodiment of the method for controlling an automatic walking device according to the present invention, step S6 includes:
step S331: the processor identifies the positioning identifier and controls the automatic walking equipment to face the positioning identifier. In particular, the docking station identifier 210 may also be located in the docking direction and serve as a positioning identifier.
Step S332: the image acquired by the image acquisition device is provided with a central line dividing the image into a left part and a right part, and the processor calculates a first angle alpha formed between the direction identifier and the central line;
step S333: the processor constructs a specific triangle according to the point where the automatic walking equipment is located, the positioning identifier and the first angle alpha, and calculates the other adjacent side Lx and the side length of the opposite side L2 of the first angle alpha in the triangle according to the first angle alpha and the first distance value L1;
step S334: the processor calculates a radius R of an inscribed circle inscribed on the adjacent edge Lx at a specific position on the adjacent edge Lx while being tangent to the opposite edge L2;
step S335: the processor controls the automatic walking device to rotate by a preset angle towards the direction indicated by the direction identification;
step S336: the processor controls the automatic walking device to advance to a tangent point of the inscribed circle and the opposite edge L2;
step S337: the processor calculates the rotating speed ratio of the wheels on the left side and the right side according to the radius R of the inscribed circle and the wheel spacing 2d of the left wheel and the right wheel, and controls the automatic walking equipment to enable the left wheel and the right wheel to have a specific rotating speed ratio, so that the automatic walking equipment can walk along a preset arc-shaped path until the walking direction of the automatic walking equipment is consistent with the butt joint direction shown by the direction mark.
The control method of the automatic walking equipment and the automatic working system have the advantages that: the returning efficiency of the automatic traveling apparatus 100 can be improved and the effective docking of the automatic traveling apparatus 100 with the docking station 200 can be realized.
It will be appreciated by those skilled in the art that the invention can be implemented in other ways, provided that the technical spirit of the invention is the same as or similar to the invention, or that any changes and substitutions based on the invention are within the protection scope of the invention.
Claims (14)
1. The control method of the automatic walking equipment is used for controlling the automatic walking equipment to return to a stop, the stop is provided with a direction identifier which represents the butt joint direction when the automatic walking equipment and the stop return to the butt joint, and the automatic walking equipment is provided with an image acquisition device and a processor, and is characterized by comprising the following steps of:
step S1: the processor identifies the direction identification;
step S2: the processor judges that the walking direction of the automatic walking equipment is coincident with the butt joint direction shown by the direction mark, if so, the step S4 is carried out, otherwise, the step S311 is carried out;
step S311: the processor controls the automatic walking equipment to rotate by a preset angle;
step S312: the processor controls the automatic walking equipment to walk for a preset distance s;
step S313: the processor controls the automatic walking equipment to turn and face to the direction mark;
step S314: the processor judges whether the walking direction of the automatic walking equipment is coincident with the butt joint direction shown by the direction mark, if so, the step S4 is carried out, otherwise, the step S311 is carried out;
step S4: and the processor controls the automatic walking equipment to be in butt joint with the docking station along the butt joint direction shown by the direction mark.
2. The method as claimed in claim 1, wherein the docking station further comprises a docking station identifier having a specific shape and/or pattern, and before the step S1, the method further comprises the following steps:
step S101: when the automatic walking equipment starts to return, the processor identifies the stop station identification;
step S102: the processor judges whether the distance between the automatic walking device and the stop station identifier is smaller than or equal to a first distance value L1, if so, the step S1 is carried out, and if not, the step S103 is carried out;
step S103: the processor controls the automated walking device to advance toward the stop identification.
3. The method of claim 2, wherein the docking station identifier is located on top of the docking station, the docking station identifier being cylindrical in shape.
4. The method according to claim 2, wherein in step S103, the processor controls the walking direction of the automatic walking device while controlling the automatic walking device to advance toward the stop mark, so that the stop mark is always located in a first specific area in the image acquired by the image acquisition device.
5. The method according to any one of claims 2 to 4, wherein in step S103, the processor determines the distance between the automatic walking device and the stop according to the size of the area of the image corresponding to the stop identifier in the image.
6. The method according to claim 5, wherein the processor stores a predetermined area value, the processor calculates and compares the area value of the image corresponding to the calculated stop identification with the predetermined area value, and when the area value of the image corresponding to the calculated stop identification reaches the predetermined area value, the processor judges that the distance between the automatic walking device and the stop is the first distance value L1.
7. The method according to claim 5, wherein the image is provided with a second predetermined area matching the shape of the stop sign, and the processor determines that the distance between the autonomous walking apparatus and the stop is the first distance value L1 when the image corresponding to the stop sign substantially overlaps the second predetermined area.
8. The method of claim 1, wherein the directional indicia is a rectilinear pattern, a rectangular pattern, or at least one arrow pattern.
9. The method according to claim 1, wherein in step S2, the image captured by the image capturing device has a central line dividing the image into left and right parts, and when the central line in the image overlaps or substantially overlaps the image with the direction indicator, the processor determines that the walking direction of the automatic walking device coincides with the docking direction indicated by the direction indicator.
10. The method of claim 1, wherein after step S312, the method further comprises the steps of:
s104: identifying a positioning identifier and controlling the automatic walking equipment to face the positioning identifier;
s105: controlling the automatic walking equipment to move forward towards the positioning identifier;
s106: judging whether the distance between the automatic walking equipment and the stop station is a first distance value L1 or not; if yes, go to step S1 again; otherwise, the process returns to step S105 again.
11. The utility model provides an automatic work system, includes automatic walking equipment and stop, its characterized in that, be equipped with the direction identification who shows the butt joint direction when automatic walking equipment and stop return the butt joint on the stop, be equipped with image acquisition device and treater on the automatic walking equipment, the treater includes:
the direction identification module is used for identifying the direction identification;
the docking direction judging module is used for judging whether the walking direction of the automatic walking equipment is overlapped with the docking direction represented by the direction identifier or not;
the first steering control module controls the automatic walking equipment to rotate by a preset angle towards the direction indicated by the direction mark in the image when the walking direction of the automatic walking equipment is not coincident with the butting direction indicated by the direction mark;
the distance control module is used for controlling the automatic walking equipment to walk for a preset distance s;
the second steering control module controls the automatic walking equipment to rotate towards the direction identifier after the automatic walking equipment walks for a preset distance s;
the direction judgment module is used for judging whether the walking direction of the automatic walking equipment is overlapped with the butt joint direction shown by the direction mark;
and the second regression control module controls the automatic walking equipment to be in butt joint with the stop station along the butt joint direction indicated by the direction identification when the walking direction of the automatic walking equipment is coincident with the butt joint direction indicated by the direction identification.
12. The automatic working system according to claim 1, wherein a stop sign is further provided on the stop, the stop sign having a specific shape and/or pattern, the automatic working system further comprising:
the stop station identification recognition module is used for recognizing the stop station identification;
the distance judgment module is used for judging whether the distance between the automatic walking equipment and the stop station identifier is smaller than or equal to a first distance value L1 or not;
and the first returning control module is used for controlling the automatic walking equipment to move forward towards the stop station identifier.
13. The automated work system of claim 12, wherein the docking station identifier is located on top of the docking station, the docking station identifier being cylindrical in shape.
14. The automated work system according to claim 11, wherein the directional indicia is a rectilinear pattern, a rectangular 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 |
|---|---|---|---|
| CN201410312406.3A CN105334849A (en) | 2014-07-02 | 2014-07-02 | Automatic walking equipment control method and automatic operation system |
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Application publication date: 20160217 |