WO2021232650A1 - 自移动设备与充电站对接方法、装置、自移动设备、系统及可读存储介质 - Google Patents

自移动设备与充电站对接方法、装置、自移动设备、系统及可读存储介质 Download PDF

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Publication number
WO2021232650A1
WO2021232650A1 PCT/CN2020/117469 CN2020117469W WO2021232650A1 WO 2021232650 A1 WO2021232650 A1 WO 2021232650A1 CN 2020117469 W CN2020117469 W CN 2020117469W WO 2021232650 A1 WO2021232650 A1 WO 2021232650A1
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Prior art keywords
docking
self
mobile device
charging station
mark
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PCT/CN2020/117469
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English (en)
French (fr)
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朱绍明
任雪
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苏州科瓴精密机械科技有限公司
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Publication of WO2021232650A1 publication Critical patent/WO2021232650A1/zh

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

Definitions

  • the present invention relates to a docking method and device for a self-mobile device and a charging station, a self-mobile device, a system, and a readable storage medium, and in particular to a method, a device, a self-mobile device, a self-mobile device, and a self-mobile device for improving regression efficiency.
  • System and readable storage medium are examples of systems and readable storage medium.
  • the traditional method is to lay a boundary line around the grass.
  • the boundary line can be a magnetic guide line that transmits electromagnetic signals to the outside.
  • the electromagnetic signal sensor of the smart lawn mower passes the intensity of the induced electromagnetic signal.
  • the intelligent lawn mower searches for the boundary line in a random direction, and it takes a long time to find the boundary line, which is not conducive to improving the regression efficiency.
  • the invention provides a method, a device, a self-mobile device, a system, and a readable storage medium for docking a self-mobile device with a charging station that can improve the regression efficiency.
  • the present invention provides a method for docking a self-mobile device with a charging station.
  • the method includes the following steps:
  • the docking mark is provided on the charging station, and the docking mark is provided with a concave surface and a convex surface, and the concave surface and the convex surface have different colors;
  • the obtaining a docking identifier from the environment image, and determining whether the self-mobile device and the charging station are directly facing each other according to the docking identifier includes:
  • the self-mobile device is controlled to go straight toward the charging station until the docking is successful.
  • the docking identification is provided on the charging station, and the docking identification includes several luminous bodies;
  • the obtaining a docking identifier from the environment image, and determining whether the self-mobile device and the charging station are directly facing each other according to the docking identifier includes:
  • the self-mobile device is controlled to go straight toward the charging station until the docking is successful.
  • the docking mark is provided on the charging station, the docking mark is provided with a concave surface and a convex surface, and the concave surface and the convex surface respectively include a luminous body;
  • the obtaining a docking identifier from the environment image, and determining whether the self-mobile device and the charging station are directly facing each other according to the docking identifier includes:
  • the arrangement direction of the light-emitting body conforms to the preset arrangement direction of the light-emitting body; controlling the self-mobile device to go straight toward the charging station until the docking is successful.
  • controlling the self-mobile device to move around the charging station in the docking area and controlling the self-mobile device to collect environmental images includes:
  • the radio detection device is provided on the self-mobile device, and the self-mobile device is controlled to move around the charging station in the docking area according to the distance between the self-mobile device and the charging station sensed by the radio detection device.
  • the present invention also provides a device for docking a self-mobile device with a charging station, the device comprising:
  • the movement control module is used to control the self-mobile device to move from the current position to the docking area
  • An image acquisition module configured to control the self-mobile device to move around the charging station in the docking area and control the self-mobile device to collect environmental images
  • a facing judgment module configured to obtain a docking identifier from the environment image, and determine whether the self-mobile device and the charging station are facing each other according to the docking identifier;
  • the docking control module is used to control the self-mobile device to go straight to the charging station until the docking is successful.
  • the present invention also provides a self-mobile device, including a memory and a processor, the memory stores a computer program, and the processor implements the steps of the method for docking the self-mobile device with a charging station when the processor executes the computer program.
  • the present invention also provides a docking system between a self-mobile device and a charging station.
  • the system includes a self-mobile device, and the system further includes a docking identifier.
  • the docking mark is provided with a concave surface and a convex surface, and the concave surface and the convex surface have different colors.
  • the docking mark is provided with a concave surface and a convex surface, and the concave surface and the convex surface respectively include a luminous body.
  • the docking mark includes several luminous bodies.
  • the present invention also provides a readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method for docking the self-mobile device with the charging station are realized.
  • the present invention controls the self-moving device to move around the charging station in the docking area and collects environmental images; and obtains the docking identification from the environment image, and according to the docking identification Determining whether the self-mobile device and the charging station are right, can reduce the time for the automatic mobile device to find the charging station, thereby improving the return efficiency of the automatic mobile device.
  • the present invention determines whether the self-moving device and the charging station are facing each other by acquiring the color characteristics and contour characteristics of the docking mark, thereby improving the facing recognition efficiency of the automatic mobile device.
  • the number of luminous bodies or the arrangement direction of luminous bodies is obtained to determine whether the self-moving device and the charging station are directly facing each other, so as to avoid misjudgment caused by color distortion.
  • the present invention obtains the distance between the self-mobile device and the charging station through an ultrasonic sensor to control the self-mobile device to move around the charging station in the docking area, which is beneficial to control the proportion of the docking mark in the environment image and facilitate identification Compare.
  • Figure 1 is a flowchart of a method for docking a self-mobile device with a charging station according to the present invention
  • FIG. 2 is a detailed flowchart of step S1 in FIG. 1;
  • FIG. 3 is a diagram of the rough positioning regression state in step S1 in FIG. 1;
  • Fig. 4 is a state diagram of the fine positioning regression in step S2 in Fig. 1;
  • Fig. 5 is a schematic diagram of distance measurement from a mobile device according to the present invention.
  • FIG. 6A is a schematic structural diagram of a first embodiment of a docking identifier used in a method for docking a mobile device with a charging station according to the present invention
  • FIG. 6B is a schematic diagram of obtaining the docking mark shown in FIG. 6A from the environment image in step S3, which is obtained when the mobile device is directly facing the charging station;
  • FIG. 7A is a schematic structural diagram of a second embodiment of a docking identifier used in a method for docking a mobile device with a charging station according to the present invention
  • FIG. 7B is a schematic diagram of obtaining the docking mark shown in FIG. 7A from the environment image in step S3, which is obtained when the mobile device is directly facing the charging station;
  • FIG. 8A is a schematic structural diagram of a third embodiment of a docking identifier used in a method for docking a mobile device with a charging station according to the present invention
  • FIG. 8B is a schematic diagram of obtaining the docking identification shown in FIG. 8A from the environment image in step S3, which is obtained when the mobile device is directly facing the charging station;
  • FIG. 9 is a detailed flowchart of the first embodiment of step S3 in FIG. 1 in the use environment of FIG. 6A, FIG. 7A, and FIG. 8A;
  • FIG. 10A is a schematic structural diagram of a fourth embodiment of a docking identifier used in a method for docking a mobile device with a charging station according to the present invention
  • FIG. 10B is a schematic diagram of obtaining the docking mark shown in FIG. 10A from the environment image in step S3, which is obtained when the mobile device is directly facing the charging station;
  • FIG. 11 is a detailed flowchart of the second embodiment of step S3 in FIG. 1 in the use environment of FIG. 10A;
  • FIG. 12A is a schematic structural diagram of a fourth embodiment of a docking identifier used in a method for docking a mobile device with a charging station according to the present invention
  • FIG. 12B is a schematic diagram of obtaining the docking mark shown in FIG. 12A from the environment image in step S3, which is obtained when the mobile device is directly facing the charging station;
  • FIG. 13 is a detailed flowchart of the third embodiment of step S3 in FIG. 1 in the use environment of FIG. 12A;
  • Fig. 14 is a detailed flow chart of step S2 in Fig. 1;
  • Fig. 15 is a schematic block diagram of a device for docking a self-mobile device with a charging station according to the present invention.
  • the self-moving device 1 may be an automatic lawn mower, or an automatic vacuum cleaner, etc., which automatically walks in the work area to perform work such as mowing and vacuuming.
  • the self-mobile device 1 is powered by a power module (not shown).
  • the self-mobile device 1 can be intelligently controlled to return to the charging station 2 to continue charging according to the remaining power or working time of the power module. If necessary, return to the charging station 2 through the trigger button (not shown) on the mobile device 1 to continue charging, and also send a recharge signal on the mobile terminal (not shown) to the mobile device 1 to make the mobile device 1 move.
  • Device 1 returns to charging station 2 to continue charging.
  • the present invention provides a method for docking a self-mobile device with a charging station.
  • the method includes the following steps:
  • Step S1 Control the self-mobile device to move from the current position to the docking area
  • Step S2 Control the self-mobile device to move around the charging station in the docking area and collect environmental images
  • Step S3 Obtain a docking identifier from the environment image, and determine whether the self-mobile device and the charging station are facing each other according to the docking identification; if the self-mobile device is facing the charging station, execute Step S4; otherwise, go back to step S2;
  • Step S4 Control the self-mobile device to go straight to the charging station until the docking is successful.
  • a docking area 3 is set in an area close to the charging station 2, and the mobile device 1 is guided to work in the work area through a radio detection device or a vision system.
  • the self-mobile device 1 can be guided by a radio detection device or a vision system to perform a rough positioning return from the area outside the docking area 3 until it moves to the docking area 3 (step S1), so that the self-mobile device 1 is close to the charging station 2;
  • the detection device guides the self-mobile device 1 to move around the charging station in the docking area 3 (step S2), and collects environmental images through the vision system (step S2), and obtains the docking mark through the vision system to determine whether the self-mobile device 1 is connected to the charging station. Whether the charging station 2 is directly facing to complete the fine positioning regression (step S3).
  • the docking area 3 is a docking circle centered on the positioning base station, and the radius of the docking circle is Ddst.
  • the step S1 includes:
  • the self-mobile device is controlled to move from the current position to the docking area 3 by the radio detection device in the rough positioning return, where the radio detection device in the rough positioning return may be a positioning system such as UWB, Zigbee, GPS, etc.
  • the radio detection device in the coarse positioning regression includes a positioning base station and a positioning tag.
  • the positioning base station is set within a preset distance of the charging station 2. For example, the positioning base station is set at the charging station 2; On the mobile device 1, the self-mobile device 1 is controlled to move from the current position to the docking area 3 according to the distance between the positioning tag and the positioning base station.
  • the step S1 includes:
  • step S1 further includes the following steps:
  • Step S11 Control the self-mobile device 1 to advance in the current direction from the current position, and determine whether the self-mobile device 1 reaches the docking area 3; if the self-mobile device 1 does not reach the docking area 3, perform step S13; If the mobile device 1 has reached the docking area 3, step S3 is executed;
  • Step S13 Determine whether the distance between the self-mobile device 1 and the positioning base station is reduced; if the distance between the self-mobile device 1 and the positioning base station is shrinking, return to step S11; if the self-mobile device 1 If the distance to the positioning base station is not shrinking, step S14 is executed;
  • Step S14 Control the self-mobile device 1 to rotate along the first rotation direction by a first predetermined angle of rotation, control the self-mobile device 1 to advance from the current position in the current direction, and determine whether the self-mobile device 1 and the positioning base station If the distance between the self-mobile device 1 and the positioning base station is shrinking, return to step S11; if the distance between the self-mobile device 1 and the positioning base station is not shrinking, perform step S15;
  • Step S15 Control the self-mobile device 1 to rotate by a second predetermined rotation angle in the opposite direction of the first rotation direction, and then control the self-mobile device 1 to advance from the current position in the current direction; then return to step S11.
  • Controlling the mobile device 3 moves from a region close to the abutment, from the mobile device 1 at the point A 1, the point A i-1, the point A i, the point A i + 1, when the position of the positioning point A n of the base station 3
  • the distances between them are D 1 , D i-1 , D i , D i+1 , D n
  • a radio detection device 11 is provided on the left and right sides of the mobile device 1, and a camera 12 is provided in front of the mobile device 1. Acquire environmental images.
  • a camera 12 is provided on one side of the mobile device 1 to collect environmental images. When the mobile device 1 moves around the charging station 2, the camera 12 faces the charging station 2.
  • the step S2 includes:
  • Step S21 Control the self-mobile device 1 to move around the charging station 2 in the docking area 3 through the radio detection device 11, and control the self-mobile device 1 to collect environmental images according to preset conditions; the preset The condition is that the body of the mobile device 1 is rotated, or the camera 12 of the mobile device 1 is rotated;
  • the radio detection device 11 in the fine positioning regression can be an ultrasonic sensor.
  • the radio detection device 11 is set on the mobile device, and the radio detection device 11 senses the distance between the mobile device 1 and the charging station 2 to control the station. As described above, the mobile device 1 moves around the charging station 2 in the docking area 3.
  • the sensing range of the radio detection device 11 is the fan-shaped area shown in Fig. 5 as follows:
  • step S3 Walk from the mobile device 1 to position A, and rotate in place at the position A, and collect environmental images according to the camera 12, and perform step S3 to determine whether the self-mobile device 1 and the charging station 2 are directly opposite; if If the self-mobile device 1 and the charging station 2 are directly opposite, the self-mobile device 1 stops rotating and executes step S4; otherwise, the self-mobile device 1 continues to rotate at position A, and collects environmental images according to the camera 12, by performing steps S3 is to determine whether the self-mobile device 1 and the charging station 2 are directly facing each other; until the self-mobile device 1 rotates at the position A once.
  • the self-mobile device 1 rotates one circle at position A, and it is judged that the self-mobile device 1 and the charging station 2 cannot face each other, the self-mobile device 1 rotates in situ to ultrasonic (1 or 2) ranging diMin ⁇ Si ⁇ Stop rotating at diMax, and then use the radio detection device 11 to measure the distance.
  • the self-mobile device 1 walks forward in the current posture, and adjusts the posture of the fuselage to the left and right arcs according to the distance measurement Si of the radio detection device 11, keeping diMin ⁇ S_i ⁇ diMax.
  • Control the mobile device 1 to stop when it advances a certain distance or for a certain period of time (as shown in position B in Fig. 5), and repeat the steps described in position A.
  • the docking mark 5 is provided on the charging station 2, for example, The docking mark 5 is placed on the top of the charging station 2 so as to be easily obtained from the mobile device 1 through a vision system.
  • the docking mark 5 has a three-dimensional structure, and the docking mark is provided with a concave surface 51 and a convex surface 52, and the concave surface 51 and the convex surface 52 have different colors. The number and positional relationship of the concave surface 51 and the convex surface 52 can be set as required.
  • the docking mark 5 has a different three-dimensional structure, and the color feature and the contour feature of the docking mark obtained from the environmental image are correspondingly different.
  • the step S3 includes:
  • Step S31 Obtain the color feature and contour feature of the docking mark from the environmental image
  • Step S32 Determine whether the color feature of the docking mark conforms to the preset color and the preset color arrangement sequence, and determine whether the contour feature of the docking mark conforms to the preset contour feature; if the color feature of the docking mark conforms to the preset The color and the preset color are arranged in an order, and the contour feature of the docking mark conforms to the preset contour feature; step S4 is executed; otherwise, step S2 is returned.
  • the preset contour feature includes the shape of the preset contour or the similarity threshold of the preset contour.
  • the preset colors can be three colors red, yellow, and blue, and the preset color arrangement order: red at the left, yellow at the middle, and blue at the right.
  • the preset contour feature is the shape of the preset contour (for example, a rectangle).
  • the contour features (such as parallelogram) of the concave surface 51 and the convex surface 52 of the docking mark do not conform to the preset contour feature (such as rectangle), then The self-mobile device is not directly opposite to the charging station.
  • the The self-mobile device is directly opposite to the charging station.
  • the preset colors can be three colors of red, yellow, and blue, and the preset order of colors: red at the far left, yellow at the middle, blue at the far right, preset Let the contour feature be the similarity threshold of the preset contour.
  • Contour similarity threshold that is, if the concave surface 51 and the convex surface 52 are not similar to each other, the self-mobile device and the charging station are not directly opposite
  • the color feature of the docking mark conforms to the preset color and the preset color arrangement sequence, and the similarity of the contours of the concave surface 51 and the convex surface 52 of the docking mark conforms to the similarity threshold of the preset contour (for example, those greater than the preset contour) Similarity threshold), that is, if the concave surface 51 and the convex surface 52 are similar to each other, the self-mobile device and the charging station are directly opposite.
  • the step S3 may be based on whether there is a concave surface 51 in the docking mark or to determine whether the self-moving device is facing the charging station; if there is a concave surface 51 in the docking mark, the self-moving device is controlled to face The charging station goes straight until the docking is successful; if there is no concave surface 51 in the docking mark, it is determined that the self-mobile device and the charging station are not directly facing each other.
  • a preset color yellow is set on the concave surface 51. If there is a yellow area in the docking mark, it indicates that the self-mobile device is directly facing the charging station; otherwise, it indicates that the self-mobile device is directly opposite to the charging station. It is not right; the recognition of a single color can greatly simplify the calculation of the system and improve the efficiency of recognition.
  • the docking mark 5 is provided on the charging station 2, and the docking mark 5 includes a plurality of light-emitting bodies 7;
  • step S3 includes:
  • Step S310 Obtain the number of the luminous bodies 7 from the environmental image
  • Step S320 Determine whether the number of the luminous bodies 7 meets the preset number of luminous bodies; if the number of the luminous bodies 7 meets the preset number of luminous bodies, execute step S4; otherwise, return to step S2.
  • the self-mobile device 1 and the charging station 2 are not directly opposite.
  • the self-mobile device 1 and the charging station 2 are directly opposite.
  • the docking mark 5 is provided on the charging station 2, and the docking mark 5 is provided with a concave surface 51 and a convex surface 52,
  • the concave surface 51 and the convex surface 52 respectively include a luminous body 7;
  • step S3 includes:
  • Step S301 Obtain the arrangement direction of the luminous bodies 7 from the environmental image
  • Step S302 Determine whether the arrangement direction of the light-emitting bodies 7 conforms to the preset light-emitting body arrangement direction; if the arrangement direction of the light-emitting bodies conforms to the preset light-emitting body arrangement direction, execute step S4; otherwise, return to step S2.
  • the self-mobile device 1 and the charging station 2 are not directly opposite.
  • the self-mobile device 1 and the charging station 2 are directly opposite.
  • the collected environmental image (the environmental image collected during the process of finding the facing position) is compared with The pre-stored environment image performs similarity calculation to obtain the similarity, and judges whether the self-mobile device 1 and the charging station 2 are facing each other according to the similarity. Specific steps are as follows:
  • the step S3 also includes:
  • Preprocessing the collected environmental image to obtain the preprocessed environmental image is replacing the background area in the environmental image excluding the docking mark with the background area of the pre-stored environmental image;
  • the similarity calculation methods include hash algorithm and template matching. , PSNR peak signal-to-noise ratio, SSIM structure similarity and other existing algorithms.
  • the present invention also provides a device 200 for docking a self-mobile device with a charging station.
  • the device includes:
  • the movement control module 201 is used to control the self-mobile device to move from the current position to the docking area;
  • the image acquisition module 202 is configured to control the self-mobile device to move around the charging station in the docking area and control the self-mobile device to collect environmental images;
  • the facing judgment module 203 is configured to obtain a docking identifier from the environment image, and determine whether the self-mobile device and the charging station are facing each other according to the docking identifier;
  • the docking control module 204 is configured to control the self-mobile device to go straight to the charging station until the docking is successful.
  • the present invention also provides a self-mobile device, including a memory and a processor, the memory stores a computer program, and the processor implements the steps of the method for docking the self-mobile device with a charging station when the processor executes the computer program.
  • the present invention also provides a docking system between a self-mobile device and a charging station.
  • the system includes a self-mobile device, and the system further includes a docking identifier.
  • the docking mark is provided with a concave surface and a convex surface, and the concave surface and the convex surface have different colors.
  • the docking mark is provided with a concave surface and a convex surface, and the concave surface and the convex surface respectively include a luminous body.
  • the docking mark includes several luminous bodies.
  • the present invention also provides a readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method for docking the self-mobile device with the charging station are realized.
  • the present invention controls the self-moving device to move around the charging station in the docking area and collects environmental images; and obtains the docking identification from the environment image, and according to the docking identification Determining whether the self-mobile device and the charging station are right, can reduce the time for the automatic mobile device to find the charging station, thereby improving the return efficiency of the automatic mobile device.
  • the present invention determines whether the self-moving device and the charging station are facing each other by acquiring the color characteristics and contour characteristics of the docking mark, thereby improving the facing recognition efficiency of the automatic mobile device.
  • the number of luminous bodies or the arrangement direction of luminous bodies is obtained to determine whether the self-moving device and the charging station are directly facing each other, so as to avoid misjudgment caused by color distortion.
  • the present invention obtains the distance between the self-mobile device and the charging station through an ultrasonic sensor to control the self-mobile device to move around the charging station in the docking area, which is beneficial to control the proportion of the docking mark in the environment image and facilitate identification Compare.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

一种自移动设备(1)与充电站(2)对接方法、装置(200)、自移动设备(1)、系统及可读存储介质，其中的方法包括以下步骤：控制自移动设备(1)从当前位置移动至对接区域(3)(S1)；控制自移动设备(1)在对接区域(3)内环绕充电站(2)移动并采集环境图像(S2)；从环境图像中获取对接标识(5)，并根据对接标识(5)判断自移动设备(1)与充电站(2)是否正对(S3)；如果自移动设备(1)与充电站(2)正对，则控制自移动设备(1)朝充电站(2)直行直至对接成功(S4)。由此，通过控制自移动设备(1)在对接区域(3)内环绕充电站(2)移动，可减少自动移动设备(1)寻找充电站(2)的时间，从而提高了自动移动设备(1)的回归效率。

Description

自移动设备与充电站对接方法、装置、自移动设备、系统及可读存储介质 技术领域
本发明涉及自移动设备与充电站对接方法、装置、自移动设备、系统及可读存储介质，尤其涉及一种一种提高回归效率的自移动设备与充电站对接方法、装置、自移动设备、系统及可读存储介质。
背景技术
随着科技的发展，室外机器人的应用越来越广泛。如智能割草机可以自动地帮助人们维护草坪，将人们从草坪维护的枯燥且费时费力的家务工作中解放出来，因此受到极大欢迎。室外机器人执行功能任务过程中，无需用户的操作，这就要求室外机器人有很好地定位功能，使其能够在工作区域内自移动。
为实现智能割草机准确到达充电站，传统的方法为在草地的四周布设边界线，边界线可为对外发射电磁信号的磁引导线，智能割草机的电磁信号传感器通过感应的电磁信号强度，使边界线纵向地位于智能割草机的中心位置，从而使智能割草机沿所布设的边界线移动至充电站。该方法中，智能割草机按照随机方向寻找边界线，寻找边界线占用的时间较长，不利于提高回归效率。
发明内容
本发明提供一种可提高回归效率的自移动设备与充电站对接方法、装置、自移动设备、系统及可读存储介质。
本发明提供一种自移动设备与充电站对接方法，所述方法包括以下步骤：
控制所述自移动设备从当前位置移动至对接区域；
控制所述自移动设备在所述对接区域内环绕所述充电站移动并采集环境图像；
从所述环境图像中获取对接标识，并根据所述对接标识判断所述自移动设备与所述充电站是否正对；
如果所述自移动设备与所述充电站正对，则控制所述自移动设备朝所述充电站直行直至对接成功。
可选地，所述对接标识设于所述充电站上，所述对接标识设有凹面与凸面，所述凹面与所述凸面的颜色不同；
所述从所述环境图像中获取对接标识，并根据所述对接标识判断所述自移动设备与所述充电站是否正对，包括：
从所述环境图像中获取对接标识的颜色特征与轮廓特征；
判断所述对接标识的颜色特征是否符合预设颜色与预设颜色排列顺序，并判断所述对接标识的轮廓特征是否符合预设轮廓特征；
如果所述对接标识的颜色特征符合预设颜色与预设颜色排列顺序，且所述对接标识的轮廓特征符合预设轮廓特征；则控制所述自移动设备朝所述充电站直行直至对接成功。
可选地，所述对接标识设于所述充电站上，所述对接标识包括若干发光体；
所述从所述环境图像中获取对接标识，并根据所述对接标识判断所述自移动设备与所述充电站是否正对，包括：
从所述环境图像中获取所述发光体的数量；
判断所述发光体的数量是否符合预设发光体数量；
如果所述发光体的数量符合预设发光体数量，则控制所述自移动设备朝所述充电站直行直至对接成功。
可选地，所述对接标识设于所述充电站上，所述对接标识设有凹面与凸面，所述凹面与所述凸面分别包括发光体；
所述从所述环境图像中获取对接标识，并根据所述对接标识判断所述自移动设备与所述充电站是否正对，包括：
从所述环境图像中获取所述发光体排列方向；
判断所述发光体的排列方向是否符合预设发光体排列方向；
如果所述发光体的排列方向符合预设发光体排列方向；则控制所述自移动设备朝所述充电站直行直至对接成功。
可选地，所述控制所述自移动设备在所述对接区域内环绕所述充电站移动并控制所述自移动设备采集环境图像；包括：
通过无线电探测装置控制所述自移动设备在所述对接区域内环绕所述充电站移动，并控制所述自移动设备按照预设条件采集环境图像；
其中，所述无线电探测装置设于自移动设备上，根据无线电探测装置感测自移动设备与充电站之间的距离控制所述自移动设备在所述对接区域内环绕所述充电站移动。
本发明还提供一种自移动设备与充电站对接装置，所述装置包括：
移动控制模块，用于控制所述自移动设备从当前位置移动至对接区域；
图像采集模块，用于控制所述自移动设备在所述对接区域内环绕所述充电站移动并控制所述自移动设备采集环境图像；
正对判断模块，用于从所述环境图像中获取对接标识，并根据所述对接标 识判断所述自移动设备与所述充电站是否正对；
对接控制模块，用于控制所述自移动设备朝所述充电站直行直至对接成功。
本发明还提供一种自移动设备，包括存储器和处理器，所述存储器存储有计算机程序，所述处理器执行所述计算机程序时实现所述自移动设备与充电站对接方法的步骤。
本发明还提供一种自移动设备与充电站对接系统，所述系统包括自移动设备，所述系统还包括对接标识。
可选地，所述对接标识设有凹面与凸面，所述凹面与所述凸面的颜色不同。
可选地，所述对接标识设有凹面与凸面，所述凹面与所述凸面分别包括发光体。
可选地，所述对接标识包括若干发光体。
本发明还提供一种可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现所述自移动设备与充电站对接方法的步骤。
相较于现有技术，本发明通过控制所述自移动设备在所述对接区域内环绕所述充电站移动并采集环境图像；并从所述环境图像中获取对接标识，并根据所述对接标识判断所述自移动设备与所述充电站是否正对，可减少自动移动设备寻找充电站的时间，从而提高了自动移动设备的回归效率。本发明通过获取对接标识的颜色特征与轮廓特征，以判断所述自移动设备与所述充电站是否正对，从而提高了自动移动设备的正对识别效率。本发明通过获取发光体数量或发光体排列方向，以判断所述自移动设备与所述充电站是否正对，避免颜色失真造成的误判。本发明通过超声波感应器获得自移动设备与充电站之间的距离，以控制所述自移动设备在所述对接区域内环绕充电站移动，有利于控制环境图 像中对接标识的占比，便于识别比较。
附图说明
图1为本发明自移动设备与充电站对接方法的流程图；
图2为图1中步骤S1的详细流程图；
图3为图1中步骤S1的粗定位回归状态图；
图4为图1中步骤S2的精定位回归状态图；
图5为本发明自移动设备的测距示意图；
图6A为本发明自移动设备与充电站对接方法所使用的对接标识的第一实施例的结构示意图；
图6B为步骤S3中从环境图像中获取图6A所示对接标识的示意图，其为自移动设备与充电站正对时所获；
图7A为本发明自移动设备与充电站对接方法所使用的对接标识的第二实施例的结构示意图；
图7B为步骤S3中从环境图像中获取图7A所示对接标识的示意图，其为自移动设备与充电站正对时所获；
图8A为本发明自移动设备与充电站对接方法所使用的对接标识的第三实施例的结构示意图；
图8B为步骤S3中从环境图像中获取图8A所示对接标识的示意图，其为自移动设备与充电站正对时所获；
图9为图1中步骤S3的第一实施例在图6A、图7A、图8A使用环境中的详细流程图；
图10A为本发明自移动设备与充电站对接方法所使用的对接标识的第四实施例的结构示意图；
图10B为步骤S3中从环境图像中获取图10A所示对接标识的示意图，其为自移动设备与充电站正对时所获；
图11为图1中步骤S3的第二实施例在图10A使用环境中的详细流程图；
图12A为本发明自移动设备与充电站对接方法所使用的对接标识的第四实施例的结构示意图；
图12B为步骤S3中从环境图像中获取图12A所示对接标识的示意图，其为自移动设备与充电站正对时所获；
图13为图1中步骤S3的第三实施例在图12A使用环境中的详细流程图；
图14为图1中步骤S2的详细流程；
图15为本发明自移动设备与充电站对接装置的原理方框图。
具体实施方式
为了使本技术领域的人员更好地理解本发明中的技术方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
请参阅图1-15所示，自移动设备1可以是自动割草机，或者自动吸尘器等，其自动行走于工作区域以进行割草、吸尘等工作。所述自移动设备1通过电源模块(未图示)供电，为了确保电源模块正常供电，可根据电源模块的剩余电 量或工作时间智能控制自移动设备1返回充电站2进行充电续能，也可根据需要通过自移动设备1上的触发按钮(未图示)返回充电站2进行充电续能，还可通过在移动终端(未图示)上发送回充信号给自移动设备1以使自移动设备1返回充电站2进行充电续能。
请参阅图1所示，本发明提供一种自移动设备与充电站对接方法，所述方法包括以下步骤：
步骤S1：控制所述自移动设备从当前位置移动至对接区域；
步骤S2：控制所述自移动设备在所述对接区域内环绕所述充电站移动并采集环境图像；
步骤S3：从所述环境图像中获取对接标识，并根据所述对接标识判断所述自移动设备与所述充电站是否正对；如果所述自移动设备与所述充电站正对，则执行步骤S4；否则，则返回步骤S2；
步骤S4：控制所述自移动设备朝所述充电站直行直至对接成功。
请参阅图2-图3所示，在本发明的另一个实施例中，在靠近充电站2的区域设置对接区域3，通过无线电探测装置或视觉系统引导自移动设备1在工作区域工作，也可通过无线电探测装置或视觉系统引导自移动设备1从对接区域3以外的区域进行粗定位回归，直至移动至对接区域3(步骤S1)，从而使得自移动设备1靠近充电站2；再通过无线电探测装置引导自移动设备1在所述对接区域3内环绕充电站移动(步骤S2)，并通过视觉系统采集环境图像(步骤S2)，通过视觉系统获得对接标识以判断所述自移动设备1与所述充电站2是否正对，以完成精定位回归(步骤S3)。
在本发明的另一个实施例中，所述对接区域3是以所述定位基站为圆心的 对接圆，所述对接圆的半径为Ddst。
在本发明的另一个实施例中，所述步骤S1，包括：
通过粗定位回归中的无线电探测装置控制所述自移动设备从当前位置移动至对接区域3，其中，粗定位回归中的无线电探测装置可为UWB、Zigbee、GPS等定位系统。所述粗定位回归中的无线电探测装置包括定位基站与定位标签，所述定位基站设于充电站2的预设距离内，例如，定位基站设于充电站2处；所述定位标签设于自移动设备1上，根据定位标签与定位基站之间的距离控制所述自移动设备1从当前位置移动至对接区域3。
在本发明的另一个实施例中，所述步骤S1包括：
在本发明的另一个实施例中，所述步骤S1进一步包括以下步骤：
步骤S11：控制所述自移动设备1从当前位置沿当前方向前进，并判断所述自移动设备1是否到达对接区域3；如果自移动设备1未到达对接区域3，则执行步骤S13；如果自移动设备1已到达对接区域3，则执行步骤S3；
步骤S13：判断所述自移动设备1与所述定位基站的距离是否缩小；如果所述自移动设备1与所述定位基站的距离在缩小，则返回执行步骤S11；如果所述自移动设备1与所述定位基站的距离不在缩小，则执行步骤S14；
步骤S14：控制所述自移动设备1沿第一旋转方向旋转第一预定旋转角度，控制所述自移动设备1从当前位置沿当前方向前进，并判断所述自移动设备1与所述定位基站的距离是否缩小；如果所述自移动设备1与所述定位基站的距离在缩小，则返回执行步骤S11；如果所述自移动设备1与所述定位基站的距离不在缩小，则执行步骤S15；
步骤S15：控制所述自移动设备1沿第一旋转方向的反方向旋转第二预定 旋转角度，再控制所述自移动设备1从当前位置沿当前方向前进；然后再返回执行步骤S11。
控制所述自移动设备1靠近对接区域3移动，所述自移动设备1在点A 1、点A i-1、点A i、点A i+1、点A n位置时与定位基站3之间的距离分别为D 1、D i-1、D i、D i+1、D n，所述自移动设备1从当前位置A 1(D 1>D dst)，依次经过点A i-1(D i-1>D dst)、点A i(D i>D dst)、点A i+1(D i+1>D dst)后到达对接区域3上的点A n(D n＝D dst)。
自移动设备1位于点A i位置进行随机方向原地旋转第一预定旋转角度θ(如向左旋转90度)，旋转后前进；如果所述自移动设备1与所述定位基站3的距离不在缩小，停止前进(如图6点A i+1位置)，自移动设备1原地反方向旋转第二预定旋转角度2*θ，(如向右旋转180度)，旋转后前进到达点A n位置。
请参阅图4、图5与图14所示，在本发明的另一个实施例中，自移动设备1的左右两侧分别设有一无线电探测装置11，自移动设备1的前方设有摄像头12以采集环境图像。在本发明的另一个实施例中，自移动设备1的一侧设有摄像头12以采集环境图像，当自移动设备1环绕所述充电站2移动时，所述摄像头12朝向充电站2。
所述步骤S2包括：
步骤S21：通过无线电探测装置11控制所述自移动设备1在所述对接区域3内环绕所述充电站2移动，并控制所述自移动设备1按照预设条件采集环境图像；所述预设条件为旋转自移动设备1的机身，或旋转自移动设备1的摄像头12；
其中，精定位回归中的无线电探测装置11可为超声波传感器，所述无线电 探测装置11设于自移动设备上，根据无线电探测装置11感测自移动设备1与充电站2之间的距离控制所述自移动设备1在所述对接区域3内环绕所述充电站2移动。
无线电探测装置11的感应范围如下图5所示的扇形区域：
θ(i＝1,2)为无线电探测装置11检测的角度范围；
Si(i＝1,2)为无线电探测装置11接收到回波信号所确定自移动设备1与充电站2的距离；
diMax(i＝1,2)为无线电探测装置11与充电站2的安全距离的最大阈值；
diMin(i＝1,2)为无线电探测装置11与充电站2的安全距离的最小阈值；
(diMax>Ddst>diMin)
当距离Si小于安全距离阈值diMax时，判定为自移动设备1靠近充电站2。
当距离Si大于安全距离阈值diMax时，判定为自移动设备1偏离充电站2。
自移动设备1行走至位置A，并在所述位置A原地旋转，且根据摄像头12采集环境图像，通过执行步骤S3以判断所述自移动设备1与所述充电站2是否正对；如果所述自移动设备1与所述充电站2正对，则自移动设备1停止旋转并执行步骤S4；否则，自移动设备1在位置A继续旋转，并根据摄像头12采集环境图像，通过执行步骤S3以判断所述自移动设备1与所述充电站2是否正对；直至自移动设备1在位置A旋转一圈。
如果自移动设备1在位置A旋转一圈，判断所述自移动设备1与所述充电站2无法正对，则自移动设备1原地旋转至超声波(1或2)测距diMin<Si<diMax时停止旋转，之后将以无线电探测装置11测距为准。自移动设备1以当前姿态向前行走，并根据无线电探测装置11测距Si对机身姿态进行左弧度右弧调整， 保持diMin<S_i<diMax。
控制自移动设备1前进一定距离或一定时间时停止(如图5位置B)，重复执行位置A所述的步骤。
请参阅图6A、图6B、图7A、图7B、图8A、图8B所示，在本发明的另一个实施例中，所述对接标识5设于所述充电站2上，例如，将所述对接标识5放置于所述充电站2的顶部，便于自移动设备1通过视觉系统获得。所述对接标识5具有立体结构，所述对接标识设有凹面51与凸面52，所述凹面51与所述凸面52的颜色不同。所述凹面51与凸面52的数量及位置关系可根据需要设定。对接标识5具有不同的立体结构，从所述环境图像中获取对接标识的颜色特征与轮廓特征也相应不同。
请参阅图9所示，在本发明的另一个实施例中，所述步骤S3包括：
步骤S31：从所述环境图像中获取对接标识的颜色特征与轮廓特征；
步骤S32：判断所述对接标识的颜色特征是否符合预设颜色与预设颜色排列顺序，并判断所述对接标识的轮廓特征是否符合预设轮廓特征；如果所述对接标识的颜色特征符合预设颜色与预设颜色排列顺序，且所述对接标识的轮廓特征符合预设轮廓特征；则执行步骤S4；否则，则返回步骤S2。
在本发明的另一个实施例中，所述预设轮廓特征包括预设轮廓的形状或预设轮廓的相似度阈值。
在本发明的另一个实施例中，例如，预设颜色可为三种颜色红色、黄色、蓝色，预设颜色排列顺序：最左侧为红色、中间侧为黄色、最右侧为蓝色，预设轮廓特征为预设轮廓的形状(例如矩形)。
假设所述对接标识的颜色特征符合预设颜色与预设颜色排列顺序，但所述 对接标识的凹面51与凸面52的轮廓特征(例如平行四边形)不符合预设轮廓特征(例如矩形)，则所述自移动设备与所述充电站不正对。
假设所述对接标识的颜色特征符合预设颜色与预设颜色排列顺序，且所述对接标识的凹面51与凸面52的轮廓特征(例如矩形)符合预设轮廓特征(例如矩形)，则所述自移动设备与所述充电站正对。
在本发明的另一个实施例中，预设颜色可为三种颜色红色、黄色、蓝色，预设颜色排列顺序：最左侧为红色、中间侧为黄色、最右侧为蓝色，预设轮廓特征为预设轮廓的相似度阈值。
假设所述对接标识的颜色特征符合预设颜色与预设颜色排列顺序，但所述对接标识的凹面51与凸面52的轮廓的相似度不符合预设轮廓的相似度阈值(例如不大于预设轮廓的相似度阈值)，即，凹面51与凸面52不互相相似，则所述自移动设备与所述充电站不正对，
假设所述对接标识的颜色特征符合预设颜色与预设颜色排列顺序，且所述对接标识的凹面51与凸面52的轮廓的相似度符合预设轮廓的相似度阈值(例如大于预设轮廓的相似度阈值)，即，凹面51与凸面52均互相相似，则所述自移动设备与所述充电站正对。
在本发明的另一个实施例中，所述凹面51与所述凸面52沿自移动设备与充电站正对的方向上的距离越大，自移动设备获取所述凹面51的视角范围越小，所述步骤S3可根据所述对接标识中是否存在凹面51或以判断所述自移动设备与所述充电站是否正对；如果所述对接标识中存在凹面51，则控制所述自移动设备朝所述充电站直行直至对接成功；如果所述对接标识中不存在凹面51，则判断所述自移动设备与所述充电站不正对。例如在所述凹面51上设置预设颜 色黄，若对接标识中存在黄色区域，则表明所述自移动设备与所述充电站正对；否则，则表明所述自移动设备与所述充电站不正对；单一颜色的识别可大大简化了系统的运算，提高了识别效率。
请参阅图10A、图10B与图11所示，所示在本发明的另一个实施例中，所述对接标识设5于所述充电站2上，所述对接标识5包括若干发光体7；
在本发明的另一个实施例中，所述步骤S3包括：
步骤S310：从所述环境图像中获取所述发光体7的数量；
步骤S320：判断所述发光体7的数量是否符合预设发光体数量；如果所述发光体7的数量符合预设发光体数量，则执行步骤S4；否则，则返回步骤S2。
假设从环境图像中获取发光体7的数量不等于1或发光体7的数量等于1但其不位于对接标识设5的左侧，则所述自移动设备1与所述充电站2不正对。
假设从环境图像中获取发光体7的数量为1且位于对接标识设5的左侧，则所述自移动设备1与所述充电站2正对。
请参阅图12A、图12B与图13所示，在本发明的另一个实施例中，所述对接标识5设于所述充电站2上，所述对接标识5设有凹面51与凸面52，所述凹面51与所述凸面52分别包括发光体7；
在本发明的另一个实施例中，所述步骤S3包括：
步骤S301：从所述环境图像中获取所述发光体7排列方向；
步骤S302：判断所述发光体7的排列方向是否符合预设发光体排列方向；如果所述发光体的排列方向符合预设发光体排列方向，则执行步骤S4；否则，则返回步骤S2。
假设从环境图像中获取发光体7排列方向不位于竖直方向的同一条直线 上，则所述自移动设备1与所述充电站2不正对。
假设从环境图像中获取发光体7排列方向位于竖直方向的同一条直线上，则所述自移动设备1与所述充电站2正对。
在本发明的另一个实施例中，通过预存所述自移动设备1与所述充电站2正对时的环境图像，将采集的环境图像(寻找正对位置过程中所采集的环境图像)与预存环境图像进行相似度计算以获得相似度，并根据相似度判断所述自移动设备1与所述充电站2是否正对。具体步骤如下：
所述步骤S3还包括：
将采集的环境图像进行预处理以获得预处理环境图像，所述预处理为将环境图像中除对接标识以外的背景区域替换成预存环境图像的背景区域；
对预处理环境图像与预存环境图像进行相似度计算以获得相似度，并根据相似度判断所述自移动设备1与所述充电站2是否正对，相似度计算方法有哈希算法、模板匹配、PSNR峰值信噪比、SSIM结构相似性等现有算法。
请参阅图14所示，本发明还提供一种自移动设备与充电站对接装置200，所述装置包括：
移动控制模块201，用于控制所述自移动设备从当前位置移动至对接区域；
图像采集模块202，用于控制所述自移动设备在所述对接区域内环绕所述充电站移动并控制所述自移动设备采集环境图像；
正对判断模块203，用于从所述环境图像中获取对接标识，并根据所述对接标识判断所述自移动设备与所述充电站是否正对；
对接控制模块204，用于控制所述自移动设备朝所述充电站直行直至对接成功。
本发明还提供一种自移动设备，包括存储器和处理器，所述存储器存储有计算机程序，所述处理器执行所述计算机程序时实现所述自移动设备与充电站对接方法的步骤。
本发明还提供一种自移动设备与充电站对接系统，所述系统包括自移动设备，所述系统还包括对接标识。
在本发明的另一个实施例中，所述对接标识设有凹面与凸面，所述凹面与所述凸面的颜色不同。
在本发明的另一个实施例中，所述对接标识设有凹面与凸面，所述凹面与所述凸面分别包括发光体。
在本发明的另一个实施例中，所述对接标识包括若干发光体。
本发明还提供一种可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现所述自移动设备与充电站对接方法的步骤。
相较于现有技术，本发明通过控制所述自移动设备在所述对接区域内环绕所述充电站移动并采集环境图像；并从所述环境图像中获取对接标识，并根据所述对接标识判断所述自移动设备与所述充电站是否正对，可减少自动移动设备寻找充电站的时间，从而提高了自动移动设备的回归效率。本发明通过获取对接标识的颜色特征与轮廓特征，以判断所述自移动设备与所述充电站是否正对，从而提高了自动移动设备的正对识别效率。本发明通过获取发光体数量或发光体排列方向，以判断所述自移动设备与所述充电站是否正对，避免颜色失真造成的误判。本发明通过超声波感应器获得自移动设备与充电站之间的距离，以控制所述自移动设备在所述对接区域内环绕充电站移动，有利于控制环境图像中对接标识的占比，便于识别比较。
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施方式中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施方式的具体说明，并非用以限制本发明的保护范围，凡未脱离本发明技艺精神所作的等效实施方式或变更均应包含在本发明的保护范围之内。

Claims (12)

  1. 一种自移动设备与充电站对接方法，其特征在于，所述方法包括以下步骤：
    控制所述自移动设备从当前位置移动至对接区域；
    控制所述自移动设备在所述对接区域内环绕所述充电站移动并采集环境图像；
    从所述环境图像中获取对接标识，并根据所述对接标识判断所述自移动设备与所述充电站是否正对；
    如果所述自移动设备与所述充电站正对，则控制所述自移动设备朝所述充电站直行直至对接成功。
  2. 根据权利要求1所述的自移动设备与充电站对接方法，其特征在于，所述对接标识设于所述充电站上，所述对接标识设有凹面与凸面，所述凹面与所述凸面的颜色不同；
    所述从所述环境图像中获取对接标识，并根据所述对接标识判断所述自移动设备与所述充电站是否正对，包括：
    从所述环境图像中获取对接标识的颜色特征与轮廓特征；
    判断所述对接标识的颜色特征是否符合预设颜色与预设颜色排列顺序，并判断所述对接标识的轮廓特征是否符合预设轮廓特征；
    如果所述对接标识的颜色特征符合预设颜色与预设颜色排列顺序，且所述对接标识的轮廓特征符合预设轮廓特征；则控制所述自移动设备朝所述充电站直行直至对接成功。。
  3. 根据权利要求1所述的自移动设备与充电站对接方法，其特征在于，所述对接标识设于所述充电站上，所述对接标识包括若干发光体；
    所述从所述环境图像中获取对接标识，并根据所述对接标识判断所述自移动设备与所述充电站是否正对，包括：
    从所述环境图像中获取所述发光体的数量；
    判断所述发光体的数量是否符合预设发光体数量；
    如果所述发光体的数量符合预设发光体数量，则控制所述自移动设备朝所述充电站直行直至对接成功。。
  4. 根据权利要求1所述的自移动设备与充电站对接方法，其特征在于，所述对接标识设于所述充电站上，所述对接标识设有凹面与凸面，所述凹面与所述凸面分别包括发光体；
    所述从所述环境图像中获取对接标识，并根据所述对接标识判断所述自移动设备与所述充电站是否正对，包括：
    从所述环境图像中获取所述发光体排列方向；
    判断所述发光体的排列方向是否符合预设发光体排列方向；
    如果所述发光体的排列方向符合预设发光体排列方向；则控制所述自移动设备朝所述充电站直行直至对接成功。。
  5. 根据权利要求1所述的自移动设备与充电站对接方法，其特征在于，所述控制所述自移动设备在所述对接区域内环绕所述充电站移动并控制所述自移动设备采集环境图像，包括：
    通过无线电探测装置控制所述自移动设备在所述对接区域内环绕所述充电站移动，并控制所述自移动设备按照预设条件采集环境图像；
    其中，所述无线电探测装置设于自移动设备上，根据无线电探测装置感测自移动设备与充电站之间的距离控制所述自移动设备在所述对接区域内环绕所 述充电站移动。
  6. 一种自移动设备与充电站对接装置，其特征在于，所述装置包括：
    移动控制模块，用于控制所述自移动设备从当前位置移动至对接区域；
    图像采集模块，用于控制所述自移动设备在所述对接区域内环绕所述充电站移动并控制所述自移动设备采集环境图像；
    正对判断模块，用于从所述环境图像中获取对接标识，并根据所述对接标识判断所述自移动设备与所述充电站是否正对；
    对接控制模块，用于控制所述自移动设备朝所述充电站直行直至对接成功。
  7. 一种自移动设备，包括存储器和处理器，所述存储器存储有计算机程序，其特征在于，所述处理器执行所述计算机程序时实现权利要求1-5中任一项所述自移动设备与充电站对接方法的步骤。
  8. 一种自移动设备与充电站对接系统，其特征在于，所述系统包括权利要求9所述的自移动设备，所述系统还包括对接标识。
  9. 根据权利要求8所述的自移动设备与充电站对接系统，其特征在于，所述对接标识设有凹面与凸面，所述凹面与所述凸面的颜色不同。
  10. 根据权利要求8所述的自移动设备与充电站对接系统，其特征在于，所述对接标识设有凹面与凸面，所述凹面与所述凸面分别包括发光体。
  11. 根据权利要求8所述的自移动设备与充电站对接系统，其特征在于，所述对接标识包括若干发光体。
  12. 一种可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1-5中任一项所述自移动设备与充电站对接方法的步骤。
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