CN109782753A - It is a kind of to receive the control method for picking device - Google Patents
It is a kind of to receive the control method for picking device Download PDFInfo
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- CN109782753A CN109782753A CN201811548618.6A CN201811548618A CN109782753A CN 109782753 A CN109782753 A CN 109782753A CN 201811548618 A CN201811548618 A CN 201811548618A CN 109782753 A CN109782753 A CN 109782753A
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Abstract
The invention discloses the control methods that a kind of receipts pick device, belong to Mechanical course field.Control method includes: collection scene image；Judge that whether there is receipts in scene image picks object, pick object if existing to receive in scene image, drives receipts to pick device and pick object movement towards receipts, with to receipts pick object carry out receive pick, if driving receipts to pick device mobile, and collect scene image again there is no receiving to pick object in scene image；When receipts pick device movement, real-time detection receipts are picked with the presence or absence of obstacle around device, if receipts pick around device, there are obstacles, carry out avoidance operation.The present invention, which can control receipts and pick device and carry out automatic receive, to be picked.
Description
Technical field
The invention belongs to Mechanical course fields, in particular to a kind of to receive the control method for picking device.
Background technique
Golf is a kind of ball game of prevalence.Common motion mode is that golf is hit by one to another
It at one, is resulted in after movement in this way, a large amount of golf that can be scattered on court needs to recycle.Now common recycling
Mode or artificial receive pick, and efficiency is very beneath, and consumes a large amount of manpower.
Summary of the invention
The embodiment of the invention provides a kind of receive to pick the control method of device, can control receipts and picks device and is received automatically
It picks.The technical solution is as follows:
The embodiment of the invention provides the control method that a kind of receipts pick device, the control method includes:
Collect scene image；
Judge to pick object with the presence or absence of receipts in the scene image, if there are the receipts to pick object in the scene image,
Driving the receipts to pick device, towards the receipts to pick object mobile, receive to pick object to the receipts and picks, if in the scene image
There is no the receipts to pick object, then drives the receipts to pick device mobile, and collect scene image again；
When the receipts pick device movement, receives and picked with the presence or absence of obstacle around device, if the receipts described in real-time detection
It picks around device that there are obstacles, then carries out avoidance operation.
Optionally, the collection scene image, comprising:
Shoot the photochrome received and picked immediately ahead of device；
According to the color for picking object is received, binary conversion treatment is carried out to the photochrome, black-and-white photograph is obtained, so that described black
White region is to receive to pick region locating for object in white photo；
Morphological scale-space is carried out to the black-and-white photograph, obtains the scene image.
Optionally, before the shooting receipts pick the photochrome immediately ahead of device, comprising:
Detect whether the ambient brightness that the receipts pick around device is less than setting brightness, if the receipts pick around device
Ambient brightness then executes light filling operation lower than setting brightness.
Optionally, object is picked with the presence or absence of receipts in the judgement scene image, comprising:
By Hough transformation, detect in the scene image with the presence or absence of picking the identical shape of the outer profile of object with receiving,
If existing in the scene image and picking the identical shape of the outer profile of object with receiving, there are the receipts to pick in the scene image
Object, if be not present in the scene image in the scene image there is no the identical shape of the outer profile of object is picked with receiving
The receipts pick object.
Optionally, if there is no the receipts to pick object in the scene image, the receipts is driven to pick device movement, packet
It includes:
It drives the receipts to pick device and rotates clockwise 90 °；
After the receipts pick device continuous four times and rotate clockwise 90 °, drives the receipts to pick device and move forward setting
Distance.
Optionally, the control method includes:
It detects the receipts to pick device only whether front is there are obstacle, if the receipts pick device, only front has barrier
Hinder, then drives the receipts to pick device and rotate clockwise 90 °.
Optionally, the control method includes:
It detects the receipts to pick device only whether left diagonally forward is there are obstacle, if the receipts pick device, only left diagonally forward exists
Obstacle then drives the receipts to pick device and repeatedly rotates clockwise, and the angle rotated every time gradually decreases, until the receipts pick dress
The left diagonally forward set can't detect obstacle；
It detects the receipts to pick device only whether right diagonally forward is there are obstacle, if the receipts pick device, only right diagonally forward exists
Obstacle then drives the receipts to pick device and repeatedly rotates counterclockwise, and the angle rotated every time gradually decreases, until the receipts pick dress
The right diagonally forward set can't detect obstacle.
Optionally, the control method includes:
It detects the receipts to pick device only whether left side side is there are obstacle, if the receipts pick device, only the presence of left side side hinders
Hinder, then drive the receipts to pick device and repeatedly rotate clockwise, and the angle rotated every time gradually decreases, until the receipts pick device
Left side side can't detect obstacle；
It detects the receipts to pick device only whether right side side is there are obstacle, if the receipts pick device, only the presence of right side side hinders
Hinder, then drive the receipts to pick device and repeatedly rotate counterclockwise, and the angle rotated every time gradually decreases, until the receipts pick device
Right side side can't detect obstacle.
Optionally, the control method includes:
It detects at least two directions that the receipts pick in the whether left diagonally forward of device, front and right diagonally forward and there is barrier
Hinder, if the receipts pick at least two directions in the left diagonally forward of device, front and right diagonally forward, there are obstacles, drive institute
State receipts and pick device and repeatedly rotate clockwise, and the angle rotated every time gradually decreases, until it is described receive pick device left diagonally forward,
Obstacle is not present at least two directions in front and right diagonally forward.
Optionally, the control method includes:
It detects the receipts and picks whether device is fully loaded with, be fully loaded with if the receipts pick device, execute operation of making a return voyage.
Technical solution provided in an embodiment of the present invention has the benefit that
Receipts provided by through the embodiment of the present invention pick the control method of device to realize that receipts pick the control of device, pass through receipts
Collect scene image, and judged according to scene image to receive pick around device with the presence or absence of receive pick object (golf) if there is
It then drives receipts to pick device movement and receive to pick, picks mobile if it does not exist, then driving is received and collect scene image again.Also
Be say, if according to scene image judgement receive pick around device there is no receive pick object, drive receipts pick device replacement direction or
Person is position, then repeats and collects scene image and judge whether there is receipts and pick object.Also, it is received in driving and picks device movement
In the process, it checks that receipts are picked with the presence or absence of obstacle around device for real-time, and if so, carrying out avoidance, is picked so as to avoid receipts
Device and obstacle bump against, and ensure that receipts pick the reliability of device.Dress is picked it can be seen that receiving provided by through the embodiment of the present invention
The control method set, realize receive pick device it is automatic receive pick golf, and automatic obstacle-avoiding.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the control method flow chart that a kind of receipts provided in an embodiment of the present invention pick device；
Fig. 2 is the control method flow chart that another receipts provided in an embodiment of the present invention pick device；
Fig. 3 is that receipts provided in an embodiment of the present invention pick device sensor arrangement figure；
Fig. 4 is a kind of structural schematic diagram of control system provided in an embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
The embodiment of the invention provides the control methods that a kind of receipts pick device, as shown in Figure 1, the control method includes:
Step 101: collecting scene image.
Optionally, scene image can be the image received and picked immediately ahead of device.
Step 102: judging to pick object with the presence or absence of receipts in scene image.If existing to receive in scene image and picking object, execute
Step 103, if thening follow the steps 104 there is no receiving to pick object in scene image.
Step 103: driving, which is received, to be picked device to pick object mobile towards receiving, and receive to pick object to receipts and is picked.
It should be noted that the bottom that receipts pick device, which is provided with receipts, picks wheel, it is (high for picking object to the receipts on ground that receipts pick wheel
Golf ball) carry out receive pick, and receive pick wheel receipts pick range be greater than scene image taken by range.As long as that is,
The receipts that can be taken in scene image pick object, and receipts pick device only need to be mobile towards front, can pick object to all receipts and carry out
Receipts pick.
Step 104: driving, which is received, picks device movement, and executes step 101 again.
In this way, the coverage of scene image can be expanded.
Specifically, real-time detection receipts are picked with the presence or absence of obstacle around device when receipts pick device movement, device is picked if received
There are obstacles for surrounding, then carry out avoidance operation.
Receipts provided by through the embodiment of the present invention pick the control method of device to realize that receipts pick the control of device, pass through receipts
Collect scene image, and judged according to scene image to receive pick around device with the presence or absence of receive pick object (golf) if there is
It then drives receipts to pick device movement and receive to pick, picks mobile if it does not exist, then driving is received and collect scene image again.Also
Be say, if according to scene image judgement receive pick around device there is no receive pick object, drive receipts pick device replacement direction or
Person is position, then repeats and collects scene image and judge whether there is receipts and pick object.Also, it is received in driving and picks device movement
In the process, it checks that receipts are picked with the presence or absence of obstacle around device for real-time, and if so, carrying out avoidance, is picked so as to avoid receipts
Device and obstacle bump against, and ensure that receipts pick the reliability of device.Dress is picked it can be seen that receiving provided by through the embodiment of the present invention
The control method set, realize receive pick device it is automatic receive pick golf, and automatic obstacle-avoiding.
Fig. 2 be it is provided in an embodiment of the present invention it is another receive the control method for picking device, shown in the control method and Fig. 1
Control method compare, further to the collection of scene image and hide obstacle and be described, referring to fig. 2, the control
Method processed includes:
Step 201: detection receives whether the ambient brightness picked around device is less than setting brightness, picks around device if received
Ambient brightness thens follow the steps 202 lower than setting brightness.If receiving the ambient brightness picked around device is not less than setting brightness,
Then directly carry out step 203.
When specific implementation, it can check that receipts pick the ambient brightness around device by photosensitive sensor.
Need to illustrate when, setting brightness can be artificial settings value, can be adjusted correspondingly according to actual needs,
The present invention is without limitation.
Step 202: light filling operation.
When specific implementation, the environment around device can be picked to receipts and illuminated by LED light.
Step 203: the photochrome picked immediately ahead of device is received in shooting.
When specific implementation, OPENMV3 photographing module can be used to realize the shooting and subsequent processing of photochrome.
More specifically, photochrome is converted into HSV mode by RGB mode, in order to execute step 204.
Step 204: according to the color for picking object is received, binary conversion treatment being carried out to photochrome, black-and-white photograph is obtained, so that black
White region is to receive to pick region locating for object in white photo.
In above-mentioned implementation, since golf is white, so when carrying out binary conversion treatment, by photochrome
The part of middle white is handled as the white in black white image, so that the region of white be that receipts pick region locating for object.
Step 205: Morphological scale-space being carried out to black-and-white photograph, obtains scene image.
In above-mentioned implementation, by Morphological scale-space, interference present in the black-and-white photograph of binaryzation is reduced, from
And the execution of step 205 can be convenient for, improve accuracy of judgement degree.That is, scene image be by Morphological scale-space after,
Remove the black-and-white photograph of interference.
The collection of scene image is realized by step 202-204.
Step 206: judging to pick object with the presence or absence of receipts in scene image, pick object if existing to receive in scene image, execute
Step 207.If thening follow the steps 208 there is no receiving to pick object in scene image.
When implementing step 205, by Hough transformation, detect in scene image with the presence or absence of the foreign steamer for picking object with receipts
Wide identical shape picks the identical shape of the outer profile of object with receiving if existed in scene image, exists in scene image and receive
Object is picked, if there is no receive to pick object in scene image there is no the identical shape of the outer profile of object is picked with receiving in scene image.
It should be noted that it is golf that receipts, which pick object, so in step 205, that is, passing through due in the present embodiment
Hough transformation is detected with the presence or absence of circle in scene image, if there is circle, then it represents that be there are receipts in scene image and is picked object, such as
There is no circles for fruit, then it represents that there is no receive to pick object in scene image.
Step 207: driving, which is received, to be picked device to pick object mobile towards receiving, and receive to pick object to receipts and is picked.
In above-mentioned implementation, since scene image is to receive the image picked immediately ahead of device, so when in scene image
When picking object there are receipts, control receipts pick device and pick towards the mobile receipts for picking object to receipts that can be realized in front.
Step 208: driving, which is received, picks device movement, and collects scene image again, i.e. execution step 201.
When specific implementation, driving receipts pick device and rotate clockwise 90 °.Also, whenever receipts pick device continuous four times clockwise
After being rotated by 90 °, driving, which is received, picks device forward movement set distance.
That is, when picking object there is no receipts, receipts pick device and revolve clockwise when receiving in the scene image picked immediately ahead of device
Turn 90 °, so as to collect the scene image for picking device left.If the scene image of left is still not present receipts and picks object,
Then receipts pick device and rotate clockwise 90 ° for the second time, so as to collect the scene image for picking device rear.If the field at rear
Scape image is still not present receipts and picks object, then receipts pick device third time and rotate clockwise 90 °, picks device right so as to collect receipts
Scene image.If the scene image of left is still not present receipts and picks object, receipts pick device the 4th time and rotate clockwise 90 °,
Front is come back to, picks device and continuous four times rotate clockwise 90 ° due to receiving, so driving, which is received, picks device forward movement
Set distance, and step 201 is executed again.
It should be noted that set distance can be artificial settings value, can be adjusted according to demand, such as can not
The distance that can be taken immediately ahead of device is being picked towards receipts greater than photographing module, the present invention is without limitation.
In the present embodiment, when receipts pick device movement, real-time detection receipts are picked with the presence or absence of obstacle around device, if received
It picks around device that there are obstacles, then carries out avoidance operation.
Avoidance operation is realized especially by following manner:
(1) it detects the receipts to pick device only whether front is there are obstacle, if the receipts pick device, only front exists
Obstacle then drives the receipts to pick device and rotates clockwise 90 °.
(2) it detects the receipts to pick device only whether left diagonally forward is there are obstacle, if the receipts pick device only left diagonally forward
There are obstacles, then drive the receipts to pick device and repeatedly rotate clockwise, and the angle rotated every time gradually decreases, until the receipts
The left diagonally forward for picking device can't detect obstacle.
In above-mentioned implementation, receipts picks device when detecting only left diagonally forward, can first clockwise there are when obstacle
Rotate a biggish angle, such as 25 °, then equal difference reduces the angle of rotation again, such as successively rotate clockwise 22 °,
19 °, 16 ° etc., after rotating each time, the barrier received and picked around device can be detected, again all to determine avoidance logic.It needs
Bright, initial rotation angle and tolerance can be adjusted according to actual needs, and the present invention is without limitation.
It detects the receipts to pick device only whether right diagonally forward is there are obstacle, if the receipts pick device, only right diagonally forward exists
Obstacle then drives the receipts to pick device and repeatedly rotates counterclockwise, and the angle rotated every time gradually decreases, until the receipts pick dress
The right diagonally forward set can't detect obstacle.
In above-mentioned implementation, receipts picks device when detecting only right diagonally forward is there are when obstacle, the inspection of avoidance logical AND
It measures receipts to pick device only left diagonally forward is there are essentially identical when obstacle, this will not be repeated here.
(3) it detects the receipts to pick device only whether left side side is there are obstacle, if described receive picks device only left side side's presence
Obstacle then drives the receipts to pick device and repeatedly rotates clockwise, and the angle rotated every time gradually decreases, until the receipts pick dress
The left side side set can't detect obstacle.
In above-mentioned implementation, receipts picks device when detecting only left side side can revolve clockwise first there are when obstacle
Turn a biggish angle, such as 10 °, then equal difference reduces the angle of rotation again, such as successively rotates clockwise 8 °, 6 °, 4 °
Deng after rotating each time, all detecting to receive again and pick barrier around device, to determine avoidance logic.It should be noted that
Initial rotation angle and tolerance can be adjusted according to actual needs, and the present invention is without limitation.
It detects the receipts to pick device only whether right side side is there are obstacle, if the receipts pick device, only the presence of right side side hinders
Hinder, then drive the receipts to pick device and repeatedly rotate counterclockwise, and the angle rotated every time gradually decreases, until the receipts pick device
Right side side can't detect obstacle.
In above-mentioned implementation, receipts picks device when detecting only right side side is there are when obstacle, the detection of avoidance logical AND
Picking device to receipts, only left side side is there are essentially identical when obstacle, and this will not be repeated here.
(4) at least two directions that the receipts pick in the whether left diagonally forward of device, front and right diagonally forward are detected to exist
Obstacle, if the receipts pick at least two directions in the left diagonally forward of device, front and right diagonally forward, there are obstacles, drive
The receipts pick device and repeatedly rotate clockwise, and the angle rotated every time gradually decreases, until it is described receive pick the left side of device tiltedly before
Obstacle is not present at least two directions in side, front and right diagonally forward.
In above-mentioned implementation, when detecting that receipts pick at least two in the left diagonally forward of device, front and right diagonally forward
A direction there are that when obstacle, can rotate clockwise a biggish angle, such as 90 ° first, and then equal difference reduces rotation again
Angle, such as successively rotate clockwise 70 °, 50 °, 30 ° etc., after rotating each time, all can detect again receipts and pick around device
Barrier, to determine avoidance logic.For example, only there are obstacles for right side side after rotating a certain angle, then next
By according to detect receipts pick device right side side there are the logic of obstacle carry out avoidance.It should be noted that initial rotation angle and
Tolerance can be adjusted according to actual needs, and the present invention is without limitation.
When specific implementation, an infrared sensor a can be respectively set receiving the quadrangle for picking device, receive the vehicle for picking device
A ultrasonic sensor b is arranged in medicephalic position (referring to Fig. 3).Before left front infrared sensor, right infrared sensor and
Center ultrasonic sensor is when sensing obstacle, then it represents that receipts pick immediately ahead of device that there are obstacles.When left front infrared sensing
When device senses obstacle, then it represents that receive and pick the left diagonally forward of device there are obstacles.When infrared sensor senses obstacle before the right side,
It then indicates to receive and picks the right diagonally forward of device there are obstacles.When left front infrared sensor and left back infrared sensor sense obstacle
When, then it represents that it receives and picks the left side side of device there are obstacles.Infrared sensor senses obstacle behind infrared sensor and the right side before the right side
When, then it represents that it receives and picks the right side side of device there are obstacles.The infrared biography before left front infrared sensor, left back infrared sensor, the right side
Sensor, it is right after infrared sensor and center ultrasonic sensor when sensing obstacle, then it represents that receive before picking the left side of device tiltedly
There is obstacle in side, front and right diagonally forward.
In the present embodiment, detection receives and picks whether device is fully loaded with, and is fully loaded with if receiving and picking device, executes operation of making a return voyage.
When specific implementation, gravity sensor can be set by picking in receipts on device, receive the carrying for picking device for detecting
Weight, when load capacity is greater than setting weight, then it represents that it is fully loaded that receipts pick device.
The position coordinates of specified break bulk point can be noted down by GPS positioning module more specifically, receiving and picking device, and receipts are picked
Device navigates to specified break bulk point.
It should be noted that equally to carry out the detection of obstacle during receipts pick device and make a return voyage to specified break bulk point
And avoidance.
Fig. 4 is a kind of structural schematic diagram of control system, which is suitable for control method shown in Fig. 2, such as Fig. 4
Shown, which includes DCP date central processor 100, and the identification module connecting with DCP date central processor 100
200, supplementary lighting module 300, GPS positioning module 400, display module 500, power module 600, motion-control module 700 and avoidance
Module 800.
In the present embodiment, identification module is for collecting scene image, and judges in the scene image with the presence or absence of receipts
Pick object.
Specifically, identification module includes camera and image processing module, and wherein camera picks dress for shooting the receipts
The photochrome in front is set, image processing module is used to photochrome conversion processing be scene image, and according to scene figure
It is stated in scene image as judgement and picks object with the presence or absence of receipts.
Preferably, identification module can be OPENMV3 photographing module.
In the present embodiment, it is bright whether the ambient brightness that supplementary lighting module is used to detect that the receipts to pick around device is less than setting
Degree executes light filling operation if the receipts pick the ambient brightness around device lower than setting brightness.
Specifically, supplementary lighting module includes photosensitive sensor and LED light, and wherein photosensitive sensor picks device week for detecting to receive
Exclosure ambient brightness, LED light are used for light filling.
In the present embodiment, obstacle avoidance module is picked for receiving described in real-time detection with the presence or absence of obstacle around device, if institute
It states receipts and picks around device that there are obstacles, then carry out avoidance operation.
Specifically, obstacle avoidance module includes infrared sensor 1, infrared sensor 2, infrared sensor 3,4 and of infrared sensor
Ultrasonic sensor, wherein outer sensor 1, infrared sensor 2, infrared sensor 3, infrared sensor 4 are separately mounted to receive and pick
The upper left corner, the upper right corner, the lower left corner and the lower right corner of device, ultrasonic sensor are mounted on the front received and pick device.
In the present embodiment, motion-control module picks device movement for controlling to receive.Receipts pick device movement
Device traveling and rotation are picked in receipts.
Specifically, motion-control module includes drive module, motor 1, motor 2, motor 3 and motor 4, wherein drive module
It works for controlling motor 1, motor 2, motor 3 and motor 4, motor 1, motor 2, motor 3 and motor 4 respectively correspond driving receipts and pick
One wheel of device, so can be realized the traveling and rotation received and pick device by the start and stop for controlling each motor.
In the present embodiment, GPS positioning module is used to note down the position coordinates of specified break bulk point, and receipts are picked device navigation
To specified break bulk point.
In the present embodiment, power module, which is used to pick device for receipts, provides electric energy, power module may include battery or
Person's lithium battery etc..
In this example it is shown that module is used to show the job information received and pick device, such as remaining capacity, loading degree
Deng.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of receive picks the control method of device, which is characterized in that the control method includes:
Collect scene image；
Judge to pick object with the presence or absence of receipts in the scene image, if there are the receipts to pick object in the scene image, drive
The receipts pick device, and towards the receipts to pick object mobile, receive to pick object to the receipts and picks, if do not deposited in the scene image
Object is picked in the receipts, then drives the receipts to pick device mobile, and collect scene image again；
It when the receipts pick device movement, receives and is picked with the presence or absence of obstacle around device described in real-time detection, if the receipts pick dress
It sets and around there is obstacle, then carry out avoidance operation.
2. control method according to claim 1, which is characterized in that the collection scene image, comprising:
Shoot the photochrome received and picked immediately ahead of device；
According to the color for picking object is received, binary conversion treatment is carried out to the photochrome, obtains black-and-white photograph, so that the black and white is shone
White region is to receive to pick region locating for object in piece；
Morphological scale-space is carried out to the black-and-white photograph, obtains the scene image.
3. control method according to claim 2, which is characterized in that pick the coloured silk immediately ahead of device in the shooting receipts
Before color photo, comprising:
Detect whether the ambient brightness that the receipts pick around device is less than setting brightness, if the receipts pick the environment around device
Brightness then executes light filling operation lower than setting brightness.
4. control method according to claim 2, which is characterized in that with the presence or absence of receipts in the judgement scene image
Pick object, comprising:
By Hough transformation, detect in the scene image with the presence or absence of picking the identical shape of the outer profile of object with receiving, if
Existing in the scene image and picks the identical shape of the outer profile of object with receiving, then there are the receipts to pick object in the scene image,
If there is no described in the scene image there is no the identical shape of the outer profile of object is picked with receiving in the scene image
Receipts pick object.
5. control method according to claim 2, which is characterized in that if there is no the receipts to pick in the scene image
Object then drives the receipts to pick device mobile, comprising:
It drives the receipts to pick device and rotates clockwise 90 °；
After the receipts pick device continuous four times and rotate clockwise 90 °, drives the receipts to pick device and move forward set distance.
6. control method according to claim 1, which is characterized in that the control method includes:
Detect the receipts pick device whether only front there are obstacle, if the receipts pick device only front there are obstacle,
It drives the receipts to pick device and rotates clockwise 90 °.
7. control method according to claim 1, which is characterized in that the control method includes:
It detects the receipts to pick device only whether left diagonally forward is there are obstacle, if the receipts pick device, only left diagonally forward has barrier
Hinder, then drive the receipts to pick device and repeatedly rotate clockwise, and the angle rotated every time gradually decreases, until the receipts pick device
Left diagonally forward can't detect obstacle；
It detects the receipts to pick device only whether right diagonally forward is there are obstacle, if the receipts pick device, only right diagonally forward has barrier
Hinder, then drive the receipts to pick device and repeatedly rotate counterclockwise, and the angle rotated every time gradually decreases, until the receipts pick device
Right diagonally forward can't detect obstacle.
8. control method according to claim 1, which is characterized in that the control method includes:
Detect the receipts pick device whether only left side side there are obstacle, if it is described receive pick device only left side side there are obstacle,
It drives the receipts to pick device repeatedly to rotate clockwise, and the angle rotated every time gradually decreases, until described receive the left side for picking device
Side can't detect obstacle；
Detect the receipts pick device whether only right side side there are obstacle, if it is described receive pick device only right side side there are obstacle,
It drives the receipts to pick device repeatedly to rotate counterclockwise, and the angle rotated every time gradually decreases, until described receive the right side for picking device
Side can't detect obstacle.
9. control method according to claim 1, which is characterized in that the control method includes:
Detecting at least two directions that the receipts pick in the whether left diagonally forward of device, front and right diagonally forward, there are obstacles, such as
Receipts described in fruit pick at least two directions in the left diagonally forward of device, front and right diagonally forward, and there are obstacles, then drive the receipts
Pick device repeatedly to rotate clockwise, and the angle rotated every time gradually decreases, until it is described receive pick device left diagonally forward, just before
Obstacle is not present at least two directions in square and right diagonally forward.
10. control method according to claim 1, which is characterized in that the control method includes:
It detects the receipts and picks whether device is fully loaded with, be fully loaded with if the receipts pick device, execute operation of making a return voyage.
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| CN201811548618.6A CN109782753B (en) | 2018-12-18 | 2018-12-18 | Control method of picking device |
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| CN201811548618.6A CN109782753B (en) | 2018-12-18 | 2018-12-18 | Control method of picking device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113953205A (en) * | 2021-09-23 | 2022-01-21 | 安徽省天助纺织科技集团股份有限公司 | Sorting equipment and method based on waste textile production |
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