WO2022000878A1 - Automatic walking device and control method therefor, and readable storage medium - Google Patents

Abstract

An automatic walking device (1) and a control method therefor, and a computer-readable storage medium. The control method comprises: performing contour detection on an acquired photographed image to obtain a boundary (2), the center position O of the automatic walking device (1) being located on one edge of the photographed image; obtaining intersection points P₁(x_r, Y_r) and P₂(x_l, y_l) between the boundary (2) and the edge of the photographed image; respectively obtaining the shortest distances l_r and l_l between P₁(x_r, Y_r) and P₂(x_l, y_l) and the edge where the center position O of the automatic walking device (1) is located; and controlling the rotation direction and the rotation angle of the automatic walking device (1) according to the values of l_r and l_l. The present invention can not only achieve the function of walking and operating the automatic walking device (1) along the edge, but also achieve the function of operating same according to a predetermined path inside a working area. The two rotation modes of the automatic walking device after encountering the boundary can completely cover the working area, which improves the efficiency.

Description

Automatic walking device, control method thereof, and readable storage medium technical field

The invention relates to the field of intelligent control, in particular to an automatic walking device, a control method thereof and a readable storage medium.

Background technique

With the continuous progress of computer technology and artificial intelligence technology, the automatic walking equipment and automatic working system of intelligent robots have gradually entered people's lives, such as intelligent sweeping robots, intelligent lawn mowing robots, etc. Generally, such intelligent robots are small in size, and are integrated with sensing devices, driving devices, batteries, etc., without manual manipulation, and can travel and work in a specified area. Moreover, when the battery power is insufficient, it can automatically return to the charging station, dock with the charging station and charge, and continue to travel and work after charging is complete.

For the existing intelligent lawn mowing robots, the working areas of the existing automatic working systems are all large lawns, and most of the boundaries are energized equipment buried under the ground, which can be sensed by the intelligent lawn mowing robot. Moreover, when the robot reaches the boundary, it generally adopts a random turn or a method of retreating and then turning randomly, so that the robot can return to the boundary and continue to mow the grass.

Therefore, a lawn mowing robot with a camera can be used to judge whether it has reached the boundary and turn it through image recognition. However, the blades of lawnmower robots with cameras usually determine that they have reached the boundary in advance when they have not fully reached the boundary, so there will be a certain area of grass near the boundary that cannot be cut. In the prior art, the above-mentioned lawn mowing robot using an energized device as a boundary usually cuts grass in an area near the boundary through a special edge-cutting function, such as a laser sensor to achieve the edge-edge function. However, this solution is not only costly, but also inefficient along the edge.

Therefore, it is necessary to design a self-propelled device, a control method and a readable storage medium that can plan a mowing path more efficiently based on vision.

SUMMARY OF THE INVENTION

For solving one of the above-mentioned problems, the invention provides a kind of control method of automatic traveling equipment, and described control method comprises:

Contour detection is performed on the captured image to obtain a boundary, wherein the center position O of the automatic walking device is located at one edge of the captured image;

_{Obtain the intersection P 1} (x _r , y _r ), P ₂ (x _l , y _l ) where the boundary is at the edge of the captured image;

Obtain _{the shortest distances l r} and l _{l between P 1} (x _r , y _r ) and P ₂ (x _l , y _l ) and the edge where the center position O of the automatic walking device is located;

Control the rotation direction and rotation angle of the automatic walking device according to _{the size of l r} and l _l.

As a further improvement of the present invention, before the step of "performing contour detection on the acquired captured image to obtain a boundary", the method further includes:

obtain captured images;

Perform binarization processing on the captured image to output a binarized image;

Perform morphological operations on the binarized image to obtain a morphological image;

Perform inverse operations on the morphological image to obtain a segmented image;

Contour detection is performed on the segmented image, and the pixel ratio pix of the lawn area or non-lawn area is counted;

If pix is within the threshold range, it is determined that the automatic walking device has reached the boundary.

As a further improvement of the present invention, the method also includes:

Obtain the angle θ between the line connecting the intersection points P ₁ (x _r , y _r ) and P ₂ (x _l , y _l ) and the center line, where the center line is perpendicular to the edge where the center position O is located and passes through The straight line of the center position O.

As a further improvement of the present invention, θ takes an acute angle.

As a further improvement of the present invention, "depending on the size and the l _l l _r automatically control the rotation direction and the rotation angle of the mobile equipment" includes: if _{l r>} l l, automatic travel control apparatus to the right or left-handed rotation angle θ Turn 180°-θ;

If l _r <l _l , control the automatic walking device to rotate the included angle θ to the left or 180°-θ to the right;

If l _r =l _l , control the automatic walking device to rotate the included angle θ or 180°-θ to the right or left.

As a further improvement step of the present invention "and l _l l _r according to the size of the control rotation direction and the rotation angle of the self-propelled device" comprises:

If l _r > l _l , control the automatic walking device to rotate the included angle θ+90° to the right;

If l _r <l _l , control the automatic walking equipment to rotate the included angle θ+90° to the left;

If l _r =l _l , control the automatic walking device to rotate the included angle θ+90° to the right or left.

As a further improvement of the present invention, the step "controlling the automatic walking device to rotate the included angle θ to the right or 180°-θ to the left" includes:

Control the travel time t1 of the automatic walking equipment;

Control the automatic walking device to continue to rotate the included angle 90° to the right or left;

After the step "controlling the automatic walking device to rotate the included angle θ to the left or 180°-θ to the right" includes:

Control the travel time t1 of the automatic walking equipment;

Control the automatic walking device to continue to rotate the included angle 90° to the left or right.

As a further improvement of the present invention, the step "controlling the automatic walking device to rotate the included angle θ to the right or 180°-θ to the left" specifically includes:

Controlling the automatic walking device to rotate right or left one or more times to rotate the θ angle or 180°-θ angle;

The step "controlling the automatic walking device to rotate the included angle θ to the left or 180°-θ to the right" specifically includes:

The autonomous walking device is controlled to rotate left or right one or more times to rotate the θ angle or 180°-θ angle.

In order to solve one of the above-mentioned problems, the present invention also provides a kind of automatic traveling equipment, including a main body, a walking module, a power supply module, a memory and a processor arranged in the main body, and the memory stores a computer that can run on the processor. program, the self-propelled equipment further comprises a camera set on the body, and the shooting direction of the camera faces the front side of the self-propelled equipment along the travel direction; when the processor executes the computer program, it can realize the above-mentioned The steps of the control method of the automatic walking device.

In order to solve one of the above problems, the present invention also provides a computer-readable storage medium, which stores a computer program, which can realize the steps in the control method of the above-mentioned automatic traveling equipment when the computer program is executed by the processor. .

Compared with the prior art, in the present invention, the function of automatic traveling equipment walking and working along the edge can be realized, and the function of working according to a prescribed path in the working area can be realized. In addition, the present invention provides two rotation modes of the automatic traveling equipment after encountering the boundary, both of which can completely cover the working area and improve the working efficiency. Among the lawn mowing robots, the lawn mowing robot can not only mow along the edge, but also plan mowing internally, so as to achieve complete coverage of the working area and improve the overall lawn mowing efficiency. Moreover, by combining image recognition with computing, the cost is lower and the efficiency is higher.

Description of drawings

Fig. 1 is the top view schematic diagram of the automatic working system of the present invention;

2 is a schematic diagram of a captured image in the control method of the present invention;

Fig. 3 is the schematic diagram of the path of the automatic traveling equipment in the control method of the present invention;

4 is a schematic structural diagram of the second embodiment of the automatic working system of the present invention;

FIG. 5 is a schematic flowchart of the control method of the present invention.

specific embodiment

In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In various figures of the present application, some dimensions of structures or parts are exaggerated relative to other structures or parts for convenience of illustration, and thus, are only used to illustrate the basic structure of the subject matter of the present application.

The automatic traveling device 1 of the present invention may be an automatic lawn mower, or an automatic vacuum cleaner, etc., which automatically travels in the work area to perform lawn mowing and vacuuming work. In the specific example of the present invention, the automatic traveling device 1 is taken as an example of a lawn mower for specific description. Correspondingly, the working area is a lawn. Of course, the self-propelled equipment 1 is not limited to lawn mowers and vacuum cleaners, but can also be other equipment, such as spraying equipment, snow removal equipment, monitoring equipment and other equipment suitable for unattended operation.

As shown in FIG. 1 to FIG. 5 , the present invention provides a control method of the automatic traveling equipment 1, and the control method includes:

Contour detection is carried out to the captured image to obtain boundary 2, and wherein, the center position 0 of the automatic running device is positioned at one edge of the captured image;

_{Obtain the intersection P 1} (x _r , y _r ), P ₂ (x _l , y _l ) of boundary 2 at the edge of the captured image;

Obtain _{the shortest distances l r} and l _{l between P 1} (x _r , y _r ) and P ₂ (x _l , y _l ) and the edge where the center position O of the automatic walking device is located;

Control the rotation direction and rotation angle of the automatic walking device according to _{the size of l r} and l _l.

After the automatic walking device 1 reaches the boundary 2, first obtain the position of the automatic walking device 1 in the captured image and record it as the center position O, and control the automatic walking device 1 to rotate according to the specified angle _{according to l r} and l _{l so as to control it according to any regulations.} Therefore, the function of the automatic traveling device 1 walking along the edge and working can be realized, and the function of working according to the specified path in the working area can be realized. Among the lawn mowing robots, the lawn mowing robot can cut grass along the edge and plan the lawn internally, so as to achieve complete coverage of the working area and improve the overall lawn mowing efficiency. Moreover, by combining image recognition with computing, the cost is lower and the efficiency is higher.

Wherein, before the step of "performing contour detection on the acquired captured image to obtain boundary 2", the method further includes:

obtain captured images;

Perform binarization processing on the captured image to output a binarized image;

Perform morphological operations on the binarized image to obtain a morphological image;

Perform inverse operations on the morphological image to obtain a segmented image;

Contour detection is performed on the segmented image, and the pixel ratio pix of the lawn area or non-lawn area is counted;

If the pix is within the threshold range, it is determined that the automatic walking device 1 has reached the boundary 2 .

Among them, generally speaking, the captured image captured by the camera is usually in RGB format, and the binarized image needs to be performed in the captured image in HSV format, so the captured image in RGB format needs to be converted into a captured image in HSV format in advance.

In addition, in the present invention, in the step "contour detection on the captured image to obtain boundary 2", a morphological image may also be used, so that P ₁ (x _r , y _r ), P ₂ (x _l , y _l ) is more precise. If both P ₁ (x _r , y _r ) and P ₂ (x _l , y _l ) are located on one side of the center position, at this time, the automatic walking device 1 may still be far away from the boundary 2, then the automatic walking device 1 continues acquired walking forward until _{P 1 (x r, y r} ) and _{P 2 (x l, y l} ) of the captured image located on both sides of the center position, such as _{P 1 (x r, y r} ) is located in the center position O the right _{side, P 2 (x l, y} l) at the left of the center position O.

In the image captured by the camera, there must be some grass and non-grass areas, and the chromaticity difference between the grass and non-grass areas is large. Moreover, the shooting direction of the camera of the automatic walking device 1 faces the front side. Obviously, the grass in the captured image is located in the lower half of the captured image, and the non-grass is located in the upper half of the captured image.

Further, in the step of "binarizing the captured image to output a binarized image", it is necessary to preset a threshold range before the binarization process to ensure that the captured image can be separated from border 2 or non-grassland and grass. Since the colors of border 2 or non-grass and grass are different, and binarization is usually performed by pixel chromaticity, the solution in the present invention can output a binarized image with obvious border 2.

Moreover, performing morphological operations on the binarized image includes removing noise and smoothing the image, such as dilation and erosion, so that the boundary 2 is more obvious and tends to be a straight line.

Further, inverse operations are performed on the morphological image to obtain a segmented image. In the segmented image, generally, the pattern portion of the grass is black, and the pattern portion of the non-working area or border 2 is white.

Finally, perform contour detection on the segmented image, count the proportion of pixels in the lawn area or non-lawn area, and determine whether the proportion of pixels is within the threshold range to determine whether the boundary has been reached. There are many ways to calculate the proportion of pixels. In this embodiment In this embodiment, the pixel ratio pix of the non-lawn area is calculated; in this embodiment, the pixel ratio pix of the non-lawn area is actually counted. If the pix is within the threshold range, it is determined that the autonomous walking device 1 has reached the boundary 2 . The pixel ratio pix of the non-lawn area can represent the distance between the automatic walking device 1 and the boundary 2. When the pix is large enough, it can be judged that the automatic walking device 1 has reached the boundary 2, and the arrival information is sent.

The above step provides a method for judging whether to send the arrival information. Of course, other methods can also be used to judge whether the automatic walking device 1 has reached the boundary 2 .

Wherein, the step "obtaining the angle θ between the line connecting the _{intersection points P 1} (x _r , y _r ) and P ₂ (x _l , y _{l ) and the center line" includes:}

And θ only takes acute angles.

Of course, θ can be calculated in a variety of ways, such as using the vector angle formula.

The above calculation formula can calculate _{the included angle θ between the connection line of the intersection points P 1} (x _r , y _r ) and P ₂ (x _l , y _l ) and the center line, and the included angle θ is related to the angle at which the automatic traveling device 1 needs to turn . And of course, if the automatic walking device can walk along the boundary 2 after touching the boundary 2, for the convenience of movement, θ only takes an acute angle; if θ takes an obtuse angle, the best way is to make the automatic walking device 1 rotate in the opposite direction. 180°-theta.

In the preferred embodiment of the present invention, two steering methods of the automatic walking device 1 are provided. In the first embodiment, if the automatic walking device 1 needs to touch the boundary 2 and then walk along the boundary 2, the steps "according to the The size of l _r and l _l controls the rotation direction and rotation angle of the automatic walking device 1" including:

If l _r > l _l , control the automatic traveling device 1 to rotate the included angle θ to the right or 180°-θ to the left;

If l _r <l _l , control the automatic walking device 1 to rotate the included angle θ to the left or 180°-θ to the right;

If l _r =l _l , control the automatic traveling device 1 to rotate the included angle θ or 180°-θ to the right or left.

_{The distances l r} and l _l between P ₁ (x _r , y _r ) and P ₂ (x _l , y _l ) and the center position O in the direction of the center line can be used to determine the rotation angle of the automatic walking device 1 . If l _r <l _l , it means that the intersection point P ₁ (x _r , y _r ) is closer to the center position O. As shown in FIG. 2b , in order to prevent the automatic traveling equipment from touching the outside of the boundary or the free turning time is too long, The work efficiency is low. At this time, it is better to control the automatic traveling device 1 to rotate to the left; if l _r > l _l , it means that the intersection point P ₂ (x _l , y _l ) is closer to the center position O, as shown in Figure 2a, Similarly, it is better to control the automatic walking device 1 to rotate to the right.

Of course, if l _r = l _l , it means that the traveling direction of the automatic traveling device 1 is already perpendicular to the boundary 2, and θ is 90°, then the automatic traveling device 1 can rotate the included angle 90° to the right or left.

In addition, the step "controlling the automatic walking device 1 to rotate the included angle θ to the right or 180°-θ to the left" includes:

Control the automatic traveling equipment 1 to travel for t1 time;

Control the automatic walking device 1 to continue to rotate the included angle to the right or left by 90°;

The step "controlling the automatic walking device 1 to rotate the included angle θ to the left or 180°-θ to the right" includes:

Control the automatic traveling equipment 1 to travel for t1 time;

Control the automatic walking device 1 to continue to rotate the included angle 90° to the left or right.

Because, as shown in FIG. 3 , after the automatic walking device 1 rotates the included angle θ or 180°-θ to the right or left, the traveling route of the automatic walking device 1 is parallel to the boundary 2. At this time, the automatic walking device 1 1 After traveling for t1 time, it can continue to be rotated by 90° to make it travel in a direction perpendicular to the edge, so that the automatic traveling device 1 can completely cover the working area. Then the automatic walking device can be controlled to walk according to the planned path, such as the walking path in Figure 3.

Or, in other embodiments, after calculating θ, the automatic walking device can be rotated to the right or left by any given θ plus any given angle to control it to walk along the planned path.

Of course, the included angle θ can be achieved by multiple rotations or one-time rotation. Specifically, the step "controlling the automatic walking device 1 to rotate the included angle θ to the right or 180°-θ to the left" specifically includes: controlling the automatic walking device 1. Rotate the θ or 180°-θ angle to the right at one time or several times to make the final total rotation angle reach the θ or 180°-θ angle; step "Control the automatic walking device 1 to rotate the included angle θ to the left or right or “180°-θ angle” specifically includes: controlling the automatic walking device 1 to rotate to the left by one-time rotation θ or 180°-θ angle or multiple rotations so that the final total rotation angle reaches θ or 180°-θ angle.

Of course, in the second embodiment of the present invention, the automatic walking device 1 may not walk along the boundary 2 after encountering the boundary 2, but walk along the direction perpendicular to the boundary 2, then at this time, the steps " According to _{the size of l r} and l _l , control the rotation direction and rotation angle of the automatic walking device 1" including:

If l _r > l _l , control the automatic traveling device 1 to rotate the included angle θ+90° to the right;

If l _r <l _l , control the automatic walking device 1 to rotate the included angle θ+90° to the left;

If l _r =l _l , control the automatic traveling device 1 to rotate the included angle θ+90° to the right or left.

In this case, the self-propelled device 1 moves in a direction perpendicular to the boundary 2 after encountering the boundary 2 .

In addition, the present invention also provides an automatic working system, and has two specific embodiments.

In a first embodiment, the automatic working system includes:

The automatic traveling equipment 1 can work according to the control method as described above;

In the working area, a non-working area is provided at the outer edge of the working area, and the color of the working area and the non-working area are different and form a boundary 2 .

Since the automatic traveling device 1 of the present invention is applied to a lawn mower, the grass field is the working area. Obviously, the non-working area can be bare soil, floor, cement board, etc., and its geology is larger than that of the grass field. The color is also quite different from that of the grass. Thus, a border 2 is naturally formed between the working area and the non-working area due to the apparent difference in color. However, due to the obvious color difference between the working area and the non-working area and the formation of the boundary 2 , the control method in the present invention can still be applied to judge the steering direction of the automatic traveling device 1 .

Or, in the second embodiment, as shown in FIG. 4 , the automatic working system includes:

The self-propelled equipment 1 can work according to the above-mentioned control method; the boundary 2 is formed in a ring shape and forms a working area for limiting the self-propelled equipment 1, the boundary 2 extends upward from the ground, and the boundary 2 Different from the color of the work area.

In this embodiment, the automatic traveling device 1 obtains the captured image, and then processes and analyzes the captured image to obtain the area where the automatic traveling device 1 travels. Therefore, the boundary 2 of the automatic working system of the present invention can extend upward from the ground, Therefore, it is photographed and recognized by the automatic walking device 1 . Of course, obviously, the color of the border 2 is also different from the color of the lawn, and is a color other than green.

The present invention also provides an automatic traveling device 1, which includes a body, a traveling module, a power supply module, a memory and a processor arranged in the body, the memory stores a computer program that can be run on the processor, and the automatic The walking device 1 also includes a camera arranged on the body, and the shooting direction of the camera is toward the front side of the automatic walking device 1 along the traveling direction; when the processor executes the computer program, the automatic walking as described above can be realized The steps of the control method of the device 1. That is to say, when the processor executes the computer program, the steps of the control method of any one of the embodiments of the automatic walking device 1 described above can be implemented.

As mentioned above, a camera is provided on the main body of the automatic traveling device 1 in the present invention, so that a photographed image can be photographed and acquired. Moreover, the shooting direction of the camera is toward the front side of the automatic traveling device 1 along the traveling direction, so that the camera captures the scene of the front side of the automatic traveling device 1 . Therefore, the following motion trajectory of the autonomous running device 1 can be analyzed according to the captured images captured by the autonomous running device 1 .

Similarly, the present invention also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by the processor, can realize the steps in the control method of the automatic walking device 1 as described above. That is to say, when the processor executes the computer program, the steps of the control method of any one of the embodiments of the automatic walking device 1 described above can be implemented.

To sum up, the present invention provides a self-propelled device 1, a control method thereof, and a computer-readable storage medium. In the present invention, since the self-propelled device 1 reaches the boundary 2, the captured image must have The lawn area and the non-lawn area, and the chromaticity of the pixels belonging to the lawn area and the pixels of the non-lawn area are different, so the captured image can be processed such as contour detection and the rotation direction and rotation angle of the automatic walking device 1 can be obtained; More efficient and easier.

In addition, the automatic working system of the present invention does not need to lay out additional boundary lines underground, which reduces the cost of manpower and material resources, the shape of the working area is flexible and unrestricted, the recognition speed is fast, and the accuracy is high, and the automatic walking equipment in the present invention can also be improved. 1 Especially the working efficiency of automatic lawn mowing robots.

In addition, it should be understood that although this specification is described in terms of embodiments, not each embodiment only includes an independent technical solution, and this description in the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole , the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

The series of detailed descriptions listed above are only specific descriptions for the feasible embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any equivalent embodiments or changes made without departing from the technical spirit of the present invention All should be included within the protection scope of the present invention.

Claims (10)

1. A control method for automatic traveling equipment, characterized in that the control method comprises:

   Contour detection is performed on the captured image to obtain a boundary, wherein the center position O of the automatic walking device is located at one edge of the captured image;

   _{Obtain the intersection P 1} (x _r , y _r ), P ₂ (x _l , y _l ) where the boundary is at the edge of the captured image;

   Obtain _{the shortest distances l r} and l _{l between P 1} (x _r , y _r ) and P ₂ (x _l , y _l ) and the edge where the center position O of the automatic walking device is located;

   Control the rotation direction and rotation angle of the automatic walking device according to _{the size of l r} and l _l.
2. The control method according to claim 1, characterized in that, before the step of "performing contour detection on the acquired captured image to obtain a boundary", the method further comprises:

   obtain captured images;

   Perform binarization processing on the captured image to output a binarized image;

   Perform morphological operations on the binarized image to obtain a morphological image;

   Perform inverse operations on the morphological image to obtain a segmented image;

   Contour detection is performed on the segmented image, and the pixel ratio pix of the lawn area or non-lawn area is counted;

   If pix is within the threshold range, it is determined that the automatic walking device has reached the boundary.
3. The control method according to claim 1 or 2, wherein the method further comprises:

   Obtain the angle θ between the line connecting the intersection points P ₁ (x _r , y _r ) and P ₂ (x _l , y _l ) and the center line, where the center line is perpendicular to the edge where the center position O is located and passes through The straight line of the center position O.
4. The control method according to claim 3, wherein θ is an acute angle.
5. The control method according to claim 4, characterized in that the "self-propelled rotating direction and the rotation angle of the device according to the l _l l _r and size control" comprises:

   If l _r > l _l , control the automatic walking device to rotate the included angle θ to the right or 180°-θ to the left;

   If l _r <l _l , control the automatic walking device to rotate the included angle θ to the left or 180°-θ to the right;

   If l _r =l _l , control the automatic walking device to rotate the included angle θ or 180°-θ to the right or left.
6. control method according to claim 4, is characterized in that, step " according to _{the size of 1 r} and 1 _l to control the rotation direction and rotation angle of automatic traveling equipment " comprises:

   If l _r > l _l , control the automatic walking device to rotate the included angle θ+90° to the right;

   If l _r <l _l , control the automatic walking equipment to rotate the included angle θ+90° to the left;

   If l _r =l _l , control the automatic walking device to rotate the included angle θ+90° to the right or left.
7. The control method according to claim 5, characterized in that:

   The step "controlling the automatic walking device to rotate the included angle θ to the right or 180°-θ to the left" includes:

   Control the travel time t1 of the automatic walking equipment;

   Control the automatic walking device to continue to rotate the included angle 90° to the right or left;

   After the step "controlling the automatic walking device to rotate the included angle θ to the left or 180°-θ to the right" includes:

   Control the travel time t1 of the automatic walking equipment;

   Control the automatic walking device to continue to rotate the included angle 90° to the left or right.
8. The control method according to claim 5, wherein the step "controlling the automatic walking device to rotate the included angle θ to the right or 180°-θ to the left" specifically includes:

   Controlling the automatic walking device to rotate right or left one or more times to rotate the θ angle or 180°-θ angle;

   The step "controlling the automatic walking device to rotate the included angle θ to the left or 180°-θ to the right" specifically includes:

   The autonomous walking device is controlled to rotate left or right one or more times to rotate the θ angle or 180°-θ angle.
9. An automatic walking device, comprising a main body, a walking module, a power supply module, a memory and a processor arranged in the main body, the memory storing a computer program that can be run on the processor, and characterized in that the automatic walking device also Including a camera set on the main body, the shooting direction of the camera is toward the front side of the automatic walking device along the traveling direction; when the processor executes the computer program, it can realize any one of claims 1 to 8. The steps of the control method of the automatic walking device.
10. A computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, the steps in the control method for an automatic traveling device according to any one of claims 1 to 8 can be implemented.

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