CN107825436B - Intelligent paint nursing robot and method for paint nursing by using same - Google Patents
Intelligent paint nursing robot and method for paint nursing by using same Download PDFInfo
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- CN107825436B CN107825436B CN201711217377.2A CN201711217377A CN107825436B CN 107825436 B CN107825436 B CN 107825436B CN 201711217377 A CN201711217377 A CN 201711217377A CN 107825436 B CN107825436 B CN 107825436B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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Abstract
The invention provides an intelligent paint nursing robot, wherein the intelligent paint nursing robot comprises: the system comprises a vision system, a control system and a mechanical arm, wherein the vision system acquires images of a vehicle waiting for nursing, establishes an external model of the vehicle and transmits the images to the control system through an RS232 serial port; the control system calculates the running path of the mechanical arm and controls the movement of the mechanical arm through a CAN bus; the mechanical arm moves according to the running path to execute a paint nursing task, and the real-time state is fed back to the control system. The invention further provides a method for paint nursing by using the intelligent paint nursing robot. The technical scheme provided by the invention can be used for quickly and automatically performing high-quality intelligent waxing service on automobiles of any vehicle type according to the requirements of users.
Description
Technical Field
The invention relates to the field of intelligent nursing, in particular to an intelligent paint nursing robot and a paint nursing method using the same.
Background
At present, the manual waxing of a handheld semi-automatic waxing machine appears in the market, the high-speed rotation of a manual speed-regulating motor replaces the circular motion of hands in manual waxing, and the tail end of the motor adopts various replaceable sponges or veil, so that various operations such as waxing, polishing, wax removing and the like in the process of waxing the surface of an automobile are realized. The wax-polishing machine has the advantages of better wax-polishing effect, smoother wax surface, longer duration, and labor and time saving. However, manual machine waxing still requires a significant amount of time and labor.
Disclosure of Invention
In view of the above, the present invention provides an intelligent paint nursing robot and a paint nursing method using the same, which is based on a mechanical design structure of six-axis mechanical arms, and adopts a brand new control chip (such as STM32F4) and control algorithm (such as ant colony algorithm), so as to simplify the mechanical structure and reduce the production cost on the premise of optimizing the functions, thereby realizing a fast and high-quality full-automatic intelligent waxing service.
The invention provides an intelligent paint nursing robot, wherein the intelligent paint nursing robot comprises: a vision system, a control system, and a robotic arm, wherein,
the mechanical arm is a six-degree-of-freedom mechanical arm which consists of six rotary joints, and the distribution conditions of the degrees of freedom are waist rotation, large arm pitching, small arm pitching and autorotation and wrist pitching and autorotation; the mechanical arm comprises a small arm servo motor driver, a large arm servo motor driver, a Z-axis servo motor driver, a small arm servo motor, a large arm servo motor, a Z-axis servo motor, a position and angle sensor, a plurality of incremental encoders and a plurality of steering engines;
the intelligent paint surface nursing robot further comprises two longitudinal rails distributed on two sides of the vehicle waiting for nursing and a door-shaped rail positioned above the two longitudinal rails; the three sides of the door-shaped track are respectively provided with a mechanical arm, the mechanical arms on the side surfaces of the door-shaped track are used for paint surface nursing on two sides of the automobile, the transverse track on the door-shaped track drives the third mechanical arm to carry out roof paint surface nursing, and the longitudinal movement of the door-shaped track is completed by the longitudinal track;
the vision system comprises two binocular cameras and a PC (personal computer) or an embedded system, wherein the vision system shoots the same scene through moving or rotating two or one binocular camera at different positions, and obtains the three-dimensional coordinate value of a space point by calculating the parallax of the space point in two images; the binocular camera collects images of vehicles waiting for nursing and sends the images to the PC or the embedded system through the USB interface module; the PC or the embedded system establishes an external model of the vehicle and transmits the external model to the control system through the RS232 serial port module; the PC or the embedded system is connected with a Bluetooth handle or a mobile phone through the Bluetooth and network card module so as to realize human-computer interaction;
the control system comprises a main control board, wherein the main control board comprises a main board power supply module, an RS232/TTL serial port communication module, a 5V sensor module, a 12V sensor module, a toggle switch module, a buzzer module, an ADC module, a CAN bus module, an encoder module and a PWM module, and the main control board receives a vehicle external model sent by the vision system through the RS232/TTL serial port communication module; the main control board acquires a return value of the incremental encoder through the encoder module to obtain a mechanical arm state; the main control board is communicated with a small arm servo motor driver, a large arm servo motor driver and a Z-axis servo motor driver of the mechanical arm through the CAN bus module so as to control the rotating speed and displacement of the small arm servo motor, the large arm servo motor and the Z-axis servo motor; the main control board controls the steering engine to rotate through the PWM module; the main control board collects the position information of the mechanical arm through the 5V sensor module and the 12V sensor module and controls the mechanical arm to operate; the MCU of the main control board calculates a mechanical arm running path according to the obtained vehicle external model through a path planning algorithm based on an ant colony algorithm, the mechanical arm moves according to the running path to execute a paint nursing task, and a real-time state is fed back to the control system;
the main board power supply module inputs a 24V direct-current power supply and outputs 12V voltage and 5V voltage through an XRE24S12 and a DFC10E24S5 isolation module power supply respectively, wherein the 12V voltage supplies power for the 12V sensor module, and the 5V voltage supplies power for the 5V sensor module, the CAN bus module, the RS232/TTL serial port communication module, the relay, the encoder module, the ADC module and the PWM module; and outputting 3.3V voltage by using the TPS76833Q fast transient response 1-A low-voltage difference voltage stabilizer, and supplying power to one sides of chips of the 12V sensor module, the 5V sensor module, the RS232/TTL serial port communication module, the encoder module, the ADC module, the buzzer module, the PWM module and the toggle switch module.
In another aspect, the present invention further provides a paint nursing method using the intelligent paint nursing robot described above, where the method includes:
the vision system is used for acquiring images of the vehicle waiting for nursing, establishing an external model of the vehicle and transmitting the images to the control system through the RS232 serial port module;
calculating the running path of the mechanical arm by using the control system, and controlling the motion of the mechanical arm through a CAN bus module;
and the mechanical arm moves according to the running path to execute a paint nursing task and feed back a real-time state to the control system. Preferably, the method further comprises:
starting the intelligent paint surface nursing robot and judging whether the intelligent paint surface nursing robot is used for the first time;
if the camera is used for the first time, acquiring a plurality of pictures by using the vision system to calibrate the binocular camera;
if the mobile phone is not used for the first time, the starting signal and the related parameters are input by using the man-machine interaction mode.
Preferably, the method further comprises:
after a system of the intelligent paint surface nursing robot starts an initialization program, judging whether a vehicle is stopped in a parking space;
if the vehicle is parked in the parking space, acquiring an image of the vehicle waiting for nursing by using the vision system;
if no vehicle is in the parking space, the vehicle waits until the vehicle enters.
The technical scheme provided by the invention is based on the mechanical design structure of the six-axis mechanical arm, adopts a brand-new control chip (such as STM32F4) and a control algorithm (such as an ant colony algorithm), simplifies the mechanical structure and reduces the production cost on the premise of optimizing the function, so as to realize the quick and high-quality full-automatic intelligent waxing service.
Drawings
FIG. 1 is a schematic overall view of an intelligent paint care robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a visual system according to an embodiment of the present invention;
FIG. 3 is a block diagram of a robot according to one embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a control system according to an embodiment of the present invention;
FIG. 5 is a detailed structural diagram of a system of an intelligent paint nursing robot according to an embodiment of the present invention;
fig. 6 is a flowchart illustrating a paint nursing method performed by an intelligent paint nursing robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The intelligent paint nursing robot provided by the invention will be described in detail below.
Fig. 1 is a general schematic view of an intelligent paint surface nursing robot according to an embodiment of the present invention.
In this embodiment, the intelligent paint care robot includes: a vision system, a control system, and a robotic arm, wherein,
the vision system collects images of the vehicles waiting for nursing, establishes an external model of the vehicles and transmits the images to the control system through an RS232 serial port;
the control system calculates the running path of the mechanical arm and controls the motion of the mechanical arm through a CAN bus;
and the mechanical arm moves according to the running path to execute a paint nursing task, and feeds back a real-time state to the control system.
In the present embodiment, the robot arm is a six-degree-of-freedom robot arm, and is configured by six rotational joints, and the degree-of-freedom distribution is waist rotation, large arm pitch, small arm pitch and rotation, and wrist pitch and rotation.
In this embodiment, the vision system is a binocular vision system, that is, two or one camera (CCD) at different positions capture the same scene through movement or rotation, and the three-dimensional coordinate values of the points are obtained by calculating the parallax of the spatial points in the two images.
The invention combines the six-degree-of-freedom mechanical arm with the binocular vision system, changes the form of mainly manual waxing in the prior art, and realizes that the machine receives instructions to fully automatically complete the waxing service.
Fig. 2 is a schematic structural diagram of a vision system according to an embodiment of the present invention.
In this embodiment, the vision system is composed of a PC or an embedded system (also called an embedded device) of the Linux system and a binocular camera, wherein the PC or the embedded system includes a bluetooth and network card module, a serial port module and a USB interface module.
In this embodiment, the binocular camera collects images of a vehicle waiting for nursing, and the images are sent to the PC or the embedded system through the USB3.1 interface.
In this embodiment, the PC or the embedded system establishes an external model of the vehicle, and transmits the external model to the control system through an RS232 serial port;
the PC or the embedded system is connected with the Bluetooth handle or the mobile phone through the Bluetooth and network card module to realize human-computer interaction.
Fig. 3 is a schematic block diagram of a robot according to an embodiment of the present invention.
In this embodiment, the mechanical arm includes a small arm servo motor driver, a large arm servo motor driver, a Z-axis servo motor driver, a small arm servo motor, a large arm servo motor, a Z-axis servo motor, a position and angle sensor, a plurality of incremental encoders, and a plurality of steering engines.
In the embodiment, the whole structure is composed of two longitudinal rails at the bottom (located at two sides of the automobile), a door-shaped rail above the door-shaped rail and three mechanical arms located at three sides respectively, the mechanical arms at the side surfaces of the door-shaped rail are used for paint surface nursing at two sides of the automobile, the transverse rail above the door-shaped rail is used for driving the third mechanical arm to be used for paint surface nursing at the top of the automobile, and the longitudinal movement of the door-shaped rail is completed by the longitudinal rails at the bottom. The sliding joint connecting the base and the platform is driven by a Z-axis servo motor and is responsible for horizontal movement of the whole mechanism; the rotary joint connecting the platform and the large arm is driven by a large arm servo motor and is responsible for pitching the large arm; the rotary joint connecting the large arm and the small arm is driven by the small arm servo motor and is responsible for pitching the small arm; the rotary joint connecting the small arm and the wrist is driven by the steering engine 1 and is responsible for the rotation of the wrist relative to the small arm; the rotary joint connecting the wrist and the actuating mechanism (such as a waxing machine) is driven by the steering engine 2 and is responsible for pitching the wrist relative to the forearm. The drivers of the Z-axis servo motor, the large arm servo motor and the small arm servo motor are driven by a CAN bus of a control system, and the steering engine 1 and the steering engine 2 are driven by PWM signals of the control system. The incremental encoder is connected to the connecting base of the mechanical arm and the sliding joint of the platform, the rotating joint of the connecting platform and the large arm and the rotating joint of the connecting large arm and the small arm, so that the motion state information of the mechanical arm is fed back to the control system through differential signals, and more accurate position and angle information is obtained through a plurality of additionally added 5V sensors and 12V sensors and fed back to the control system.
Fig. 4 is a schematic structural diagram of a control system according to an embodiment of the present invention.
In the present embodiment, the core of the control system comprises a main control board, the main control board comprises a main board power module, an RS232/TTL serial port communication module, a 5V sensor module, a 12V sensor module, a toggle switch module, a buzzer module, an ADC module, a CAN bus module, an encoder module and a PWM module, wherein,
the main control board adopts a uC/OS real-time operating system and receives a vehicle external model sent by the vision system through the RS232/TTL serial port communication module;
the main control board acquires a return value of the encoder through the encoder module to obtain a mechanical arm state;
the main control board is communicated with a motor driver of the mechanical arm through the CAN bus module so as to accurately control the rotating speed and displacement of a motor;
the main control board controls the turning angle of the steering engine through the PWM module;
the main control board collects more accurate position information of the mechanical arm through the 5V sensor module and the 12V sensor module, and the mechanical arm is controlled to run more safely.
In the embodiment, the MCU of the main control board calculates the mechanical arm running path from the obtained vehicle external model through the ant colony algorithm-based path planning algorithm, and controls the motor and the steering engine to efficiently and fully intelligently execute the waxing service.
Fig. 5 is a schematic diagram illustrating a detailed structure of a system of an intelligent paint surface nursing robot according to an embodiment of the present invention.
The full-automatic intelligent wax polishing machine can realize full-automatic intelligent wax polishing without long-time manual operation, and saves labor cost. The invention adopts the ant colony algorithm to plan the optimal path and improves the waxing efficiency.
In this embodiment, the motherboard power module inputs a 24V dc power supply (the main switching power supply outputs 24V and the motor share), and isolates the module power supply outputs 12V and 5V voltages through XRE24S12 and DFC10E24S5, respectively, where 12V supplies power to the 12V sensor, and 5V supplies power to the 5V sensor, the CAN bus, the RS232/TTL serial communication module, the relay, the encoder, the ADC module, and the PWM output module. And outputting 3.3V voltage with higher precision by using the TPS76833Q rapid transient response 1-A low-voltage difference voltage stabilizer, and supplying power to one side of a chip of a 12V sensor, a 5V sensor, an RS232/TTL serial port communication module, an encoder, an ADC module, a buzzer module, a PWM output module and a toggle switch.
In this embodiment, STM32F407ZET6 is powered with 5V using a minimum system module design.
In the embodiment, the encoder module collects 6 paths of incremental encoder signals, and the signals are converted into 3V signals by the 5V encoder module and then output to the MCU in a reversed phase mode.
In the embodiment, the CAN bus module directly adopts the peripheral work CTM1050T module, has isolated and stable signals, inputs the MCU signals, and outputs the CAN bus.
In the embodiment, a 6-path 12V sensor module is adopted, optical coupling isolation is carried out, a 12V sensor signal is input, and the signal is output to an MCU.
In the present embodiment, the 5V sensor module inputs 2 channels of 5V sensor signals and outputs the signals to the MCU.
In this embodiment, the PWM module inputs PWM signals of the 2-way MCU and outputs the PWM signals to the steering engine.
In this embodiment, the RS232/TTL serial communication module is responsible for the MCU to communicate with other systems.
In the embodiment, 2 paths of I/O signals of the MCU are input to control the switch and the speed of the waxing machine.
In the present embodiment, the pwm signal of the MCU is input as a warning signal.
In the present embodiment, an I/O signal of the MCU is output, and simple debugging and control are performed.
In the embodiment, one path of AD acquisition is reserved, an analog signal is input, and a digital signal is output to the MCU.
The intelligent paint nursing robot provided by the invention is based on the mechanical design structure of the six-axis mechanical arm, adopts a brand-new control chip (such as STM32F4) and control algorithm (such as ant colony algorithm), simplifies the mechanical structure and reduces the production cost on the premise of optimizing the function, so as to realize quick and high-quality full-automatic intelligent wax polishing service.
The method for paint care using the intelligent paint care robot according to the present invention will be described in detail below.
Fig. 6 is a schematic flow chart illustrating a paint nursing method using an intelligent paint nursing robot according to an embodiment of the present invention.
In this embodiment, the intelligent paint care robot includes: the intelligent paint nursing robot comprises a vision system, a control system and a mechanical arm, wherein the method for nursing paint by using the intelligent paint nursing robot specifically comprises the following steps:
the vision system is used for acquiring images of the vehicle waiting for nursing, establishing an external model of the vehicle and transmitting the images to the control system through an RS232 serial port;
calculating the running path of the mechanical arm by using the control system, and controlling the motion of the mechanical arm through a CAN bus;
and the mechanical arm moves according to the running path to execute a paint nursing task, and feeds back a real-time state to the control system.
In this embodiment, the method for paint care using the intelligent paint care robot further includes:
starting the intelligent paint surface nursing robot and judging whether the intelligent paint surface nursing robot is used for the first time;
if the camera is used for the first time, the vision system is utilized to collect a plurality of pictures for camera calibration;
if the mobile phone is not used for the first time, the starting signal and the related parameters are input by using the man-machine interaction mode.
In this embodiment, the method for paint care using the intelligent paint care robot further includes:
after a system of the intelligent paint surface nursing robot starts an initialization program, judging whether a vehicle is stopped in a parking space;
if the vehicle is parked in the parking space, acquiring an image of the vehicle waiting for nursing by using the vision system;
if no vehicle is in the parking space, the vehicle waits until the vehicle enters.
In the embodiment, the vision system comprises a PC or an embedded system and a binocular camera, wherein the PC or the embedded system comprises a Bluetooth and network card module, a serial port module and a USB interface module,
the binocular camera collects images of the vehicles waiting for nursing and sends the images to the PC or the embedded system through the USB interface;
the PC or the embedded system establishes an external model of the vehicle and transmits the external model to the control system through an RS232 serial port;
the PC or the embedded system is connected with the Bluetooth handle or the mobile phone through the Bluetooth and network card module to realize human-computer interaction.
In this embodiment, the mechanical arm includes a small arm servo motor driver, a large arm servo motor driver, a Z-axis servo motor driver, a small arm servo motor, a large arm servo motor, a Z-axis servo motor, a position and angle sensor, a plurality of incremental encoders, and a plurality of steering engines.
In the present embodiment, the control system comprises a main control board, the main control board comprises a main board power module, an RS232/TTL serial port communication module, a 5V sensor module, a 12V sensor module, a toggle switch module, a buzzer module, an ADC module, a CAN bus module, an encoder module and a PWM module, wherein,
the main control board receives a vehicle external model sent by the vision system through the RS232/TTL serial port communication module;
the main control board acquires a return value of the encoder through the encoder module to obtain a mechanical arm state;
the main control board is communicated with a motor driver of the mechanical arm through the CAN bus module so as to accurately control the rotating speed and displacement of a motor;
the main control board controls the steering engine to rotate through the PWM module;
the main control board collects the position information of the mechanical arm through the 5V sensor module and the 12V sensor module and controls the mechanical arm to operate.
The method for paint care by using the intelligent paint care robot provided by the invention is based on the mechanical design structure of the six-axis mechanical arm, adopts a brand-new control chip (such as STM32F4) and control algorithm (such as ant colony algorithm), simplifies the mechanical structure and reduces the production cost on the premise of optimizing the function, so as to realize quick and high-quality full-automatic intelligent wax polishing service.
It should be noted that, in the above embodiments, the included units are only divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
In addition, it can be understood by those skilled in the art that all or part of the steps in the method for implementing the embodiments described above can be implemented by instructing the relevant hardware through a program, and the corresponding program can be stored in a computer-readable storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, or the like.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (4)
1. The utility model provides an intelligence finish nursing robot, its characterized in that, intelligence finish nursing robot includes: a vision system, a control system, and a robotic arm, wherein,
the mechanical arm is a six-degree-of-freedom mechanical arm which consists of six rotary joints, and the distribution conditions of the degrees of freedom are waist rotation, large arm pitching, small arm pitching and autorotation and wrist pitching and autorotation; the mechanical arm comprises a small arm servo motor driver, a large arm servo motor driver, a Z-axis servo motor driver, a small arm servo motor, a large arm servo motor, a Z-axis servo motor, a position and angle sensor, a plurality of incremental encoders and a plurality of steering engines;
the intelligent paint surface nursing robot further comprises two longitudinal rails distributed on two sides of the vehicle waiting for nursing and a door-shaped rail positioned above the two longitudinal rails; the three sides of the door-shaped track are respectively provided with a mechanical arm, the mechanical arms on the side surfaces of the door-shaped track are used for paint surface nursing on two sides of the automobile, the transverse track on the door-shaped track drives the third mechanical arm to carry out roof paint surface nursing, and the longitudinal movement of the door-shaped track is completed by the longitudinal track;
the vision system comprises a binocular camera and a PC (personal computer) or an embedded system, the vision system shoots the same scene through moving or rotating the binocular camera, and three-dimensional coordinate values of space points are obtained by calculating the parallax of the space points in two images; the binocular camera collects images of vehicles waiting for nursing and sends the images to the PC or the embedded system through the USB interface module; the PC or the embedded system establishes an external model of the vehicle and transmits the external model to the control system through the RS232 serial port module; the PC or the embedded system is connected with a Bluetooth handle or a mobile phone through the Bluetooth and network card module so as to realize human-computer interaction;
the control system comprises a main control board, wherein the main control board comprises a main board power supply module, an RS232/TTL serial port communication module, a 5V sensor module, a 12V sensor module, a toggle switch module, a buzzer module, an ADC module, a CAN bus module, an encoder module and a PWM module, and the main control board receives a vehicle external model sent by the vision system through the RS232/TTL serial port communication module; the main control board acquires a return value of the incremental encoder through the encoder module to obtain a mechanical arm state; the main control board is communicated with a small arm servo motor driver, a large arm servo motor driver and a Z-axis servo motor driver of the mechanical arm through the CAN bus module so as to accurately control the rotating speed and displacement of the small arm servo motor, the large arm servo motor and the Z-axis servo motor; the main control board controls the steering engine to rotate through the PWM module; the main control board collects the position information of the mechanical arm through the 5V sensor module and the 12V sensor module and controls the mechanical arm to operate; the MCU of the main control board calculates a mechanical arm running path according to the obtained vehicle external model through a path planning algorithm based on an ant colony algorithm, the mechanical arm moves according to the running path to execute a paint nursing task, and a real-time state is fed back to the control system;
the main board power supply module inputs a 24V direct-current power supply and outputs 12V voltage and 5V voltage through an XRE24S12 and a DFC10E24S5 isolation module power supply respectively, wherein the 12V voltage supplies power for the 12V sensor module, and the 5V voltage supplies power for the 5V sensor module, the CAN bus module, the RS232/TTL serial port communication module, the relay, the encoder module, the ADC module and the PWM module; and outputting 3.3V voltage by using the TPS76833Q fast transient response 1-A low-voltage difference voltage stabilizer, and supplying power to one sides of chips of the 12V sensor module, the 5V sensor module, the RS232/TTL serial port communication module, the encoder module, the ADC module, the buzzer module, the PWM module and the toggle switch module.
2. A method of paint care using the intelligent paint care robot of claim 1, the method comprising:
the vision system is used for acquiring images of the vehicle waiting for nursing, establishing an external model of the vehicle and transmitting the images to the control system through the RS232 serial port module;
calculating the running path of the mechanical arm by using the control system, and controlling the motion of the mechanical arm through a CAN bus module;
and the mechanical arm moves according to the running path to execute a paint nursing task and feed back a real-time state to the control system.
3. The method of claim 2, wherein the method further comprises:
starting the intelligent paint surface nursing robot and judging whether the intelligent paint surface nursing robot is used for the first time;
if the camera is used for the first time, acquiring a plurality of pictures by using the vision system to calibrate the binocular camera;
if the mobile phone is not used for the first time, the starting signal and the related parameters are input by using the man-machine interaction mode.
4. The method of claim 3, wherein the method further comprises:
after a system of the intelligent paint surface nursing robot starts an initialization program, judging whether a vehicle is stopped in a parking space;
if the vehicle is parked in the parking space, acquiring an image of the vehicle waiting for nursing by using the vision system;
if no vehicle is in the parking space, the vehicle waits until the vehicle enters.
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| CN112191354A (en) * | 2020-10-09 | 2021-01-08 | 矿冶科技集团有限公司 | Control method, device, system, control equipment and computer readable storage medium |
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