Automatic control system and method based on image recognition

Abstract

The present invention discloses an automatic control system and method based on image recognition. The automatic control system includes a distance sensor, an image sensor, a speed sensor, an elevator, a left wheel, a right wheel, a left drive module, a right drive module, and a controller. The controller includes a data acquisition receiving module, a feedback data receiving module, a drive output module, a first calculation and processing module, a comparison module, and a second calculation and processing module. By performing image recognition, airport logistics transportation equipment is controlled to automatically track targets. Through distance measurement and image processing, the left and right wheels are controlled to operate independently, enabling intelligent and self-sustaining transportation of luggage to aircraft hatches, thereby improving airport operation efficiency.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to an automatic control system and method based on image recognition. Background Art

[0002] In the existing technology, automatic control technology has been applied to a variety of technical fields. In order to achieve automatic control, it is necessary to detect specific equipment or environments. For example, in movable vehicles such as airport logistics, luggage transportation is generally carried out by manual driving. With the popularization of intelligent control, how to improve the efficiency and safety of airport logistics has become a key development direction. Airports have stricter security requirements, and in airport logistics transportation, there are logistics transportation equipment that need to be aligned with aircraft when matching, and the steering angle inside the airport is sometimes insufficient. How to control airport logistics transportation equipment to safely transport luggage in a limited space and maximize transportation efficiency, and how to use existing image recognition technology to provide reasonable monitoring data for automatic control to achieve the accuracy of automatic control is an application difficulty. Summary of the Invention

[0003] The present invention discloses an automatic control system based on image recognition, which is used to control logistics transportation equipment to automatically transport luggage to an aircraft hatch, including: a distance sensor, an image sensor, a speed sensor, an elevator, a left wheel, a right wheel, a left drive module, a right drive module and a controller, wherein the distance sensor, the image sensor and the speed sensor are directly connected to the controller, and the controller drives the left wheel through the left drive module and drives the right wheel through the right drive module to control the left wheel and the right wheel to operate independently according to the orientation requirements, thereby realizing the adjustment of the left and right orientations and deviation distances; the controller includes: a data acquisition receiving module, a feedback data receiving module, a drive output module, a first calculation processing module, a comparison module block, a second calculation and processing module, the data receiving module is used to collect data from the ranging sensor and the image sensor and transmit it to the first calculation and processing module, the first calculation and processing module is used to generate first analog data and second analog data according to the ranging sensor and the image sensor, and send the first analog data and the second analog data to the comparison module, the comparison module is used to compare the first analog data and the second analog data and generate a comparison result, and send the comparison result to the second calculation and processing module, the second calculation and processing module receives the feedback data and the comparison result sent by the feedback data receiving module, performs calculation processing, and generates a calculation processing result and sends it to the drive output module, the drive output module is used to output a drive signal.

[0004] The automatic control system based on image recognition, the distance measuring sensor includes a first distance measuring sensor and a second distance measuring sensor, the first distance measuring sensor is used to measure the horizontal distance from the logistics transportation equipment to the horizontal plane of the aircraft hatch, and transmit the horizontal distance to the controller, the second distance measuring sensor is used to measure the vertical distance from the logistics transportation equipment to the aircraft hatch, and transmit the vertical distance to the controller, the image sensor is used to collect image data from the logistics transportation equipment to the aircraft hatch, and transmit the image data to the controller; the controller receives the horizontal distance and the vertical distance and performs calculation processing to generate the first simulation data of the automatic operation of the logistics transportation equipment, and generates the first left drive data and the first right drive data according to the first simulation data; the controller receives the image data and performs calculation processing to generate the second simulation data of the automatic operation of the logistics transportation equipment, and generates the second left drive data and the second right drive data according to the second simulation data, and the first left drive data and the second left drive data are generated. The first analog data and the second analog data are respectively input into a first differential comparison unit for comparison to obtain a first differential result. The first right driving data and the second right driving data are respectively input into a second differential comparison unit for comparison to obtain a second differential result. It is determined whether both the first differential result and the second differential result are less than a preset threshold value. If so, it is determined that both the first analog data and the second analog data can be used as actual driving signals. One of the first analog data and the second analog data is output to the left driving module and the right driving module, and the speed of the left wheel and the right wheel is detected in real time by a speed sensor and fed back to the controller. If at least one of the first differential result and the second differential result is greater than the preset threshold value, the data greater than the preset threshold value is fed back to the controller. The controller calculates a left driving average value of the first left driving data and the second left driving data based on the feedback result and uses the left driving average value as the actual left driving data, or calculates a right driving average value of the first right driving data and the second right driving data and uses the right driving average value as the actual right driving data.

[0005] In the automatic control system based on image recognition, the first differential comparison unit and the second differential comparison unit have the same structure, and their specific structure includes: the first differential comparison unit and the second differential comparison unit have the same structure, and their specific structure includes: switches M1-M36, capacitors C1-C4, capacitors CcN, capacitors CcP, capacitors CFN, capacitors CFP, and resistors R1-R5;

[0006] The first uncontrolled end of the switch tube M1 is connected to the power supply VDD, the controllable end of the switch tube M1 is respectively connected to the controllable ends of the switch tubes M8, M16, M21, M27, and M32, the second uncontrolled end of the switch tube M1 is respectively connected to the first uncontrolled end of the switch tube M2 and the first uncontrolled end of the switch tube M5, the controllable end of the switch tube M2 is connected to the input INN, the controllable end of the switch tube M5 is connected to the input INP, the second uncontrolled end of the switch tube M2 is respectively connected to the second uncontrolled end of the switch tube M3, the controllable end of the switch tube M9, the controllable end of the switch tube M19 and the first end of the capacitor CFP, the controllable end of the switch tube M3 is connected to the switch The controllable end of the switch M6 and the controllable end of the switch M10, and the first uncontrolled end of the switch M3 are respectively connected to the second uncontrolled end of the switch M4 and the first end of the capacitor CcP, the first uncontrolled end of the switch M4 is grounded, and the controllable end of the switch M4 is connected to the controlled end of the switch M7; the second uncontrolled end of the switch M5 is respectively connected to the second uncontrolled end of the switch M6, the controlled end of the switch M12, the controlled end of the switch M17, and the first end of the capacitor CFN, the first uncontrolled end of the switch M6 is respectively connected to the second uncontrolled end of the switch M7 and the first end of the capacitor CcN, and the first uncontrolled end of the switch M7 is grounded; The first uncontrolled end of the switch tube M8 is connected to the power supply VDD, the second uncontrolled end of the switch tube M8 is respectively connected to the first uncontrolled end of the switch tube M9, the first uncontrolled end of the switch tube M12, and the first uncontrolled end of the switch tube M13, the second uncontrolled end of the switch tube M9 is respectively connected to the second uncontrolled end of the switch tube M10, the controlled end of the switch tube M11, and the second uncontrolled end of the switch tube M12, the controlled end of the switch tube M10 is respectively connected to the controlled end of the switch tube M14, the first end of the capacitor C1, and the controlled end of the switch tube M6, the first uncontrolled end of the switch tube M10 is connected to the second uncontrolled end of the switch tube M11, and the switch tube The first uncontrolled end of M11 is grounded, the controlled end of the switch tube M12 is respectively connected to the second uncontrolled end of the switch tube M5 and the controlled end of the switch tube M17, the first uncontrolled end of the switch tube M12 is connected to the first uncontrolled end of the switch tube M9, the controlled end of the switch tube M13 is connected to the controlled end of the switch tube M25 and the controlled end of the switch tube M34, the second uncontrolled end of the switch tube M13 is respectively connected to the second end of the capacitor C1, the second uncontrolled end of the switch tube M14, and the controlled end of the switch tube M15, the first uncontrolled end of the switch tube M14 is connected to the second uncontrolled end of the switch tube M15, and the first uncontrolled end of the switch tube M15 is grounded;

[0007] The first uncontrolled end of the switch M16 is connected to the power supply VDD, the second uncontrolled end of the switch M16 is respectively connected to the first uncontrolled end of the switch M17 and the first uncontrolled end of the switch M19, the second uncontrolled end of the switch M17 is respectively connected to the second uncontrolled end of the switch M18, the first end of the capacitor C2, the controlled end of the switch M22, and the second end of the capacitor CFN, the controlled end of the switch M18 is respectively connected to the second end of the capacitor C2 and the first end of the resistor R2, the first uncontrolled end of the switch M18 is grounded, the controlled end of the switch M19 is connected to the first end of the capacitor CFP, the second uncontrolled end of the switch M19 is respectively connected to the first end of the capacitor C3, the second uncontrolled end of the switch M20, the controlled end of the switch M24, the second end of the capacitor CFP, and the controlled end of the switch M28, the controlled end of the switch M20 is respectively connected to the second end of the capacitor C3 and the first end of the resistor R1, the first uncontrolled end of the switch M20 is grounded, the second end of the resistor R1 and The second end of the resistor R2 is connected to the second uncontrolled end of the switch tube M26; the first uncontrolled end of the switch tube M21 is connected to the power supply VDD, the second uncontrolled end of the switch tube M21 is respectively connected to the first uncontrolled end of the switch tube M22, the first uncontrolled end of the switch tube M24 and the first uncontrolled end of the switch tube M25, the second uncontrolled end of the switch tube M22 is respectively connected to the second uncontrolled end of the switch tube M23, the controlled end of the switch tube M23 and the second uncontrolled end of the switch tube M24. A first uncontrolled terminal of the switch M23 is grounded, a controlled terminal of the switch M24 is respectively connected to the second terminal of the capacitor CFP, the first terminal of the capacitor C3, and the controlled terminal of the switch M28, a second uncontrolled terminal of the switch M24 is connected to the second uncontrolled terminal of the switch M23, a second uncontrolled terminal of the switch M25 is respectively connected to the second uncontrolled terminal of the switch M26, the second terminal of the resistor R1, the second terminal of the resistor R2, and the controlled terminal of the switch M26, and a first uncontrolled terminal of the switch M26 is grounded.

[0008] A first uncontrolled end of the switch M27 is connected to the power supply VDD, a second uncontrolled end of the switch M27 is connected to the first uncontrolled end of the switch M28 and the first uncontrolled end of the switch M29, a controlled end of the switch M28 is connected to the controlled end of the switch M24, a second uncontrolled end of the switch M28 is respectively connected to the second end of the capacitor CcN, the second uncontrolled end of the switch M30, the first end of the resistor R3, and the output OUTP, a controlled end of the switch M30 is connected to the controlled end of the switch M31, the first uncontrolled end of the switch M30 is grounded, a second end of the resistor R3 is respectively connected to the first end of the resistor R4 and the first end of the resistor R5, a controlled end of the switch M29 is connected to the controlled end of the switch M22 and the second end of the capacitor CFN, a second uncontrolled end of the switch M29 is respectively connected to the second end of the resistor R4, the second uncontrolled end of the switch M31, the second end of the capacitor CcP, and the output OUTN, the first uncontrolled end of the switch M31 is grounded, and the first end of the resistor R5 is grounded. The two ends are connected to the second end of the capacitor C4, the first uncontrolled end of the switch tube M32 is connected to the power supply VDD, the second uncontrolled end of the switch tube M32 is respectively connected to the first uncontrolled end of the switch tube M33 and the first uncontrolled end of the switch tube M34, the controllable end of the switch tube M33 is connected to the first end of the capacitor C4, the second uncontrolled end of the switch tube M33 is respectively connected to the second uncontrolled end of the switch tube M35 and the controlled end of the switch tube M35, the first uncontrolled end of the switch tube M35 is grounded, the second uncontrolled end of the switch tube M34 is connected to the controlled end of the switch tube M36 and the second uncontrolled end of the switch tube M36, and the first uncontrolled end of the switch tube M36 is grounded; the input INN and the input INP are respectively connected to the first left drive data and the second left drive data, the output OUTP outputs the first differential result, or the input INN and the input INP are respectively connected to the first right drive data and the second right drive data, the output OUTP outputs the second differential result, and the output OUTN is grounded.

[0009] The automatic control system based on image recognition, which detects the speeds of the left and right wheels in real time through a speed sensor and feeds them back to the controller, specifically includes: the controller receives a first speed of the left wheel detected by the speed sensor, receives a second speed of the right wheel detected by the speed sensor, multiplies the time calculated by a timer inside the controller by the first speed and the second speed, respectively, to obtain a first displacement of the left wheel and a second displacement of the right wheel, determines the actual steering value of the left wheel and the right wheel based on the difference between the second displacement and the first displacement, and compares the actual steering value with the steering value determined in the first simulation data or the second simulation data determined by the controller to determine whether the actual steering value deviates; if so, re-measures the distance and obtains the image data, performs calculations and processing to obtain new drive data of the left and right wheels; if no deviation occurs, continues to move according to the current operating mode to transport the luggage to the aircraft hatch.

[0010] In the automatic control system based on image recognition, the collected data receiving module is connected to the input end of the first calculation and processing module, the output end of the first calculation and processing module is connected to the input end of the comparison module, the output end of the comparison module and the feedback data receiving module are connected to the input end of the second calculation and processing module, and the output end of the second calculation and processing module is connected to the input end of the drive output module.

[0011] An automatic control method based on image recognition comprises the following steps:

[0012] The distance measuring sensor includes a first distance measuring sensor and a second distance measuring sensor, wherein the first distance measuring sensor is used to measure the horizontal distance from the logistics transportation equipment to the horizontal plane of the aircraft hatch and transmit the horizontal distance to the controller, and the second distance measuring sensor is used to measure the vertical distance from the logistics transportation equipment to the aircraft hatch and transmit the vertical distance to the controller, and the image sensor is used to collect image data from the logistics transportation equipment to the aircraft hatch and transmit the image data to the controller;

[0013] The controller receives the horizontal distance and the vertical distance and performs calculation processing to generate first simulation data for the automatic operation of the logistics and transportation equipment, and generates first left drive data and first right drive data based on the first simulation data. The controller receives the image data and performs calculation processing to generate second simulation data for the automatic operation of the logistics and transportation equipment, and generates second left drive data and second right drive data based on the second simulation data. The first left drive data and the second left drive data are respectively input into a first differential comparison unit for comparison to obtain a first differential result, and the first right drive data and the second right drive data are respectively input into a second differential comparison unit for comparison to obtain a second differential result.

[0014] determining whether both the first differential result and the second differential result are less than a preset threshold; if so, determining that both the first analog data and the second analog data can be used as actual drive signals, outputting one of the first analog data and the second analog data to the left drive module and the right drive module, and detecting the speed of the left wheel and the right wheel in real time through a speed sensor and feeding back the speed to the controller;

[0015] If at least one of the first differential result and the second differential result is greater than a preset threshold, the data greater than the preset threshold is fed back to the controller, and the controller calculates a left drive average value of the first left drive data and the second left drive data based on the feedback result, and uses the left drive average value as the actual left drive data, or calculates a right drive average value of the first right drive data and the second right drive data, and uses the right drive average value as the actual right drive data.

[0016] The automatic control method based on image recognition, wherein the speed of the left wheel and the right wheel are detected in real time by a speed sensor and fed back to the controller, specifically includes: the controller receives a first speed of the left wheel detected by the speed sensor, receives a second speed of the right wheel detected by the speed sensor, multiplies the first speed and the second speed by the time calculated by a timer inside the controller, respectively, to obtain a first displacement of the left wheel and a second displacement of the right wheel, determines the actual steering value of the left wheel and the right wheel based on the difference between the second displacement and the first displacement, and compares the actual steering value with the steering value determined in the first simulation data or the second simulation data determined by the controller to determine whether the actual steering value deviates; if so, re-measures the distance and obtains the image data, performs calculations and processing to obtain new drive data for the left wheel and the right wheel; if no deviation occurs, continues to move according to the current operating mode to transport the luggage to the aircraft hatch.

[0017] In the automatic control method based on image recognition, the first differential comparison unit and the second differential comparison unit are configured to have the same structure, and perform differential comparison on the first analog data and the second analog data respectively.

[0018] The automatic control method based on image recognition, the specific structure of the first differential comparison unit and the second differential comparison unit includes: switch tubes M1-M36, capacitors C1-C4, capacitors CcN, capacitors CcP, capacitors CFN, capacitors CFP, and resistors R1-R5;

[0019] The present invention proposes an automatic control system and method based on image recognition. By controlling the airport logistics transportation equipment to track the target, the left and right wheels are controlled to operate independently through distance measurement and image processing, so that the luggage can be intelligently transported to the aircraft hatch, thereby improving the efficiency of airport operations. As one of the improvements of the present invention, by comparing and calculating data through distance measurement and image processing, a more accurate operation route of the airport logistics transportation equipment is obtained, and timely adjustments are made through feedback data, so that more accurate control of logistics transportation can be achieved. As another improvement of the present invention, a differential comparison circuit is provided to achieve more precise data comparison and obtain accurate comparison of the first analog data and the second analog data. As an improvement of the present invention, by using the first differential result and the second differential result, by providing the first calculation processing module and the second calculation processing module of the controller, and in conjunction with the comparison module, different data can be processed separately, thereby improving the intelligence and accuracy of the controller's automatic processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the automatic control system based on image recognition of the present invention.

[0021] Figure 2 Schematic diagram of the controller of the present invention.

[0022] Figure 3 FIG. 4 is a schematic diagram of a differential comparison unit according to the present invention.

[0023] Figure 4 Schematic diagram of the automatic control method based on image recognition of the present invention. DETAILED DESCRIPTION

[0024] The present application is described in further detail below in conjunction with the accompanying drawings. It is necessary to point out that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technicians in this field can make some non-essential improvements and adjustments to the present application based on the above application content.

[0025] like Figure 1 , which is a schematic diagram of the automatic control system based on image recognition of the present invention.

[0026] The present invention discloses an automatic control system based on image recognition, which is used to control logistics transportation equipment to automatically transport luggage to an aircraft hatch. The automatic control system includes: a distance sensor, an image sensor, a speed sensor, an elevator, a left wheel, a right wheel, a left drive module, a right drive module, and a controller. The distance sensor, the image sensor, and the speed sensor are all directly connected to the controller. The controller drives the left wheel via the left drive module and drives the right wheel via the right drive module, thereby controlling the left and right wheels to operate independently according to orientation requirements, thereby achieving adjustment of left and right orientations and deviation distances.

[0027] like Figure 2 FIG. 1 is a schematic diagram of a controller of the present invention.

[0028] The controller includes: a data acquisition receiving module, a feedback data receiving module, a drive output module, a first calculation processing module, a comparison module, and a second calculation processing module. The data acquisition receiving module is used to collect data from the ranging sensor and the image sensor and transmit the data to the first calculation processing module. The first calculation processing module is used to generate first analog data and second analog data based on the ranging sensor and the image sensor, and send the first analog data and the second analog data to the comparison module. The comparison module is used to compare the first analog data and the second analog data and generate a comparison result, and send the comparison result to the second calculation processing module. The second calculation processing module receives the feedback data and the comparison result sent by the feedback data receiving module, performs calculation processing, and generates a calculation processing result and sends it to the drive output module. The drive output module is used to output a drive signal.

[0029] The automatic control system based on image recognition, the distance measuring sensor includes a first distance measuring sensor and a second distance measuring sensor, the first distance measuring sensor is used to measure the horizontal distance from the logistics transportation equipment to the horizontal plane of the aircraft hatch, and transmit the horizontal distance to the controller, the second distance measuring sensor is used to measure the vertical distance from the logistics transportation equipment to the aircraft hatch, and transmit the vertical distance to the controller, the image sensor is used to collect image data from the logistics transportation equipment to the aircraft hatch, and transmit the image data to the controller; the controller receives the horizontal distance and the vertical distance and performs calculation processing to generate the first simulation data of the automatic operation of the logistics transportation equipment, and generates the first left drive data and the first right drive data according to the first simulation data; the controller receives the image data and performs calculation processing to generate the second simulation data of the automatic operation of the logistics transportation equipment, and generates the second left drive data and the second right drive data according to the second simulation data, and the first left drive data and the second left drive data are generated. The first analog data and the second analog data are respectively input into a first differential comparison unit for comparison to obtain a first differential result. The first right driving data and the second right driving data are respectively input into a second differential comparison unit for comparison to obtain a second differential result. It is determined whether both the first differential result and the second differential result are less than a preset threshold value. If so, it is determined that both the first analog data and the second analog data can be used as actual driving signals. One of the first analog data and the second analog data is output to the left driving module and the right driving module, and the speed of the left wheel and the right wheel is detected in real time by a speed sensor and fed back to the controller. If at least one of the first differential result and the second differential result is greater than the preset threshold value, the data greater than the preset threshold value is fed back to the controller. The controller calculates a left driving average value of the first left driving data and the second left driving data based on the feedback result and uses the left driving average value as the actual left driving data, or calculates a right driving average value of the first right driving data and the second right driving data and uses the right driving average value as the actual right driving data.

[0030] like Figure 3 FIG. 1 is a schematic diagram of a differential comparison unit according to the present invention.

[0031] In the automatic control system based on image recognition, the first differential comparison unit and the second differential comparison unit have the same structure, and their specific structure includes: the first differential comparison unit and the second differential comparison unit have the same structure, and their specific structure includes: switches M1-M36, capacitors C1-C4, capacitors CcN, capacitors CcP, capacitors CFN, capacitors CFP, and resistors R1-R5;

[0032] The first uncontrolled end of the switch tube M1 is connected to the power supply VDD, the controllable end of the switch tube M1 is respectively connected to the controllable ends of the switch tubes M8, M16, M21, M27, and M32, the second uncontrolled end of the switch tube M1 is respectively connected to the first uncontrolled end of the switch tube M2 and the first uncontrolled end of the switch tube M5, the controllable end of the switch tube M2 is connected to the input INN, the controllable end of the switch tube M5 is connected to the input INP, the second uncontrolled end of the switch tube M2 is respectively connected to the second uncontrolled end of the switch tube M3, the controllable end of the switch tube M9, the controllable end of the switch tube M19 and the first end of the capacitor CFP, the controllable end of the switch tube M3 is connected to the switch The controllable end of the switch M6 and the controllable end of the switch M10, and the first uncontrolled end of the switch M3 are respectively connected to the second uncontrolled end of the switch M4 and the first end of the capacitor CcP, the first uncontrolled end of the switch M4 is grounded, and the controllable end of the switch M4 is connected to the controlled end of the switch M7; the second uncontrolled end of the switch M5 is respectively connected to the second uncontrolled end of the switch M6, the controlled end of the switch M12, the controlled end of the switch M17, and the first end of the capacitor CFN, the first uncontrolled end of the switch M6 is respectively connected to the second uncontrolled end of the switch M7 and the first end of the capacitor CcN, and the first uncontrolled end of the switch M7 is grounded; The first uncontrolled end of the switch tube M8 is connected to the power supply VDD, the second uncontrolled end of the switch tube M8 is respectively connected to the first uncontrolled end of the switch tube M9, the first uncontrolled end of the switch tube M12, and the first uncontrolled end of the switch tube M13, the second uncontrolled end of the switch tube M9 is respectively connected to the second uncontrolled end of the switch tube M10, the controlled end of the switch tube M11, and the second uncontrolled end of the switch tube M12, the controlled end of the switch tube M10 is respectively connected to the controlled end of the switch tube M14, the first end of the capacitor C1, and the controlled end of the switch tube M6, the first uncontrolled end of the switch tube M10 is connected to the second uncontrolled end of the switch tube M11, and the switch tube The first uncontrolled end of M11 is grounded, the controlled end of the switch tube M12 is respectively connected to the second uncontrolled end of the switch tube M5 and the controlled end of the switch tube M17, the first uncontrolled end of the switch tube M12 is connected to the first uncontrolled end of the switch tube M9, the controlled end of the switch tube M13 is connected to the controlled end of the switch tube M25 and the controlled end of the switch tube M34, the second uncontrolled end of the switch tube M13 is respectively connected to the second end of the capacitor C1, the second uncontrolled end of the switch tube M14, and the controlled end of the switch tube M15, the first uncontrolled end of the switch tube M14 is connected to the second uncontrolled end of the switch tube M15, and the first uncontrolled end of the switch tube M15 is grounded;

[0033] The first uncontrolled end of the switch M16 is connected to the power supply VDD, the second uncontrolled end of the switch M16 is respectively connected to the first uncontrolled end of the switch M17 and the first uncontrolled end of the switch M19, the second uncontrolled end of the switch M17 is respectively connected to the second uncontrolled end of the switch M18, the first end of the capacitor C2, the controlled end of the switch M22, and the second end of the capacitor CFN, the controlled end of the switch M18 is respectively connected to the second end of the capacitor C2 and the first end of the resistor R2, the first uncontrolled end of the switch M18 is grounded, the controlled end of the switch M19 is connected to the first end of the capacitor CFP, the second uncontrolled end of the switch M19 is respectively connected to the first end of the capacitor C3, the second uncontrolled end of the switch M20, the controlled end of the switch M24, the second end of the capacitor CFP, and the controlled end of the switch M28, the controlled end of the switch M20 is respectively connected to the second end of the capacitor C3 and the first end of the resistor R1, the first uncontrolled end of the switch M20 is grounded, the second end of the resistor R1 and The second end of the resistor R2 is connected to the second uncontrolled end of the switch tube M26; the first uncontrolled end of the switch tube M21 is connected to the power supply VDD, the second uncontrolled end of the switch tube M21 is respectively connected to the first uncontrolled end of the switch tube M22, the first uncontrolled end of the switch tube M24 and the first uncontrolled end of the switch tube M25, the second uncontrolled end of the switch tube M22 is respectively connected to the second uncontrolled end of the switch tube M23, the controlled end of the switch tube M23 and the second uncontrolled end of the switch tube M24. A first uncontrolled terminal of the switch M23 is grounded, a controlled terminal of the switch M24 is respectively connected to the second terminal of the capacitor CFP, the first terminal of the capacitor C3, and the controlled terminal of the switch M28, a second uncontrolled terminal of the switch M24 is connected to the second uncontrolled terminal of the switch M23, a second uncontrolled terminal of the switch M25 is respectively connected to the second uncontrolled terminal of the switch M26, the second terminal of the resistor R1, the second terminal of the resistor R2, and the controlled terminal of the switch M26, and a first uncontrolled terminal of the switch M26 is grounded.

[0034] A first uncontrolled end of the switch M27 is connected to the power supply VDD, a second uncontrolled end of the switch M27 is connected to the first uncontrolled end of the switch M28 and the first uncontrolled end of the switch M29, a controlled end of the switch M28 is connected to the controlled end of the switch M24, a second uncontrolled end of the switch M28 is respectively connected to the second end of the capacitor CcN, the second uncontrolled end of the switch M30, the first end of the resistor R3, and the output OUTP, a controlled end of the switch M30 is connected to the controlled end of the switch M31, the first uncontrolled end of the switch M30 is grounded, a second end of the resistor R3 is respectively connected to the first end of the resistor R4 and the first end of the resistor R5, a controlled end of the switch M29 is connected to the controlled end of the switch M22 and the second end of the capacitor CFN, a second uncontrolled end of the switch M29 is respectively connected to the second end of the resistor R4, the second uncontrolled end of the switch M31, the second end of the capacitor CcP, and the output OUTN, the first uncontrolled end of the switch M31 is grounded, and the first end of the resistor R5 is grounded. The two ends are connected to the second end of the capacitor C4, the first uncontrolled end of the switch tube M32 is connected to the power supply VDD, the second uncontrolled end of the switch tube M32 is respectively connected to the first uncontrolled end of the switch tube M33 and the first uncontrolled end of the switch tube M34, the controllable end of the switch tube M33 is connected to the first end of the capacitor C4, the second uncontrolled end of the switch tube M33 is respectively connected to the second uncontrolled end of the switch tube M35 and the controlled end of the switch tube M35, the first uncontrolled end of the switch tube M35 is grounded, the second uncontrolled end of the switch tube M34 is connected to the controlled end of the switch tube M36 and the second uncontrolled end of the switch tube M36, and the first uncontrolled end of the switch tube M36 is grounded; the input INN and the input INP are respectively connected to the first left drive data and the second left drive data, the output OUTP outputs the first differential result, or the input INN and the input INP are respectively connected to the first right drive data and the second right drive data, the output OUTP outputs the second differential result, and the output OUTN is grounded.

[0035] The automatic control system based on image recognition, which detects the speeds of the left and right wheels in real time through a speed sensor and feeds them back to the controller, specifically includes: the controller receives a first speed of the left wheel detected by the speed sensor, receives a second speed of the right wheel detected by the speed sensor, multiplies the time calculated by a timer inside the controller by the first speed and the second speed, respectively, to obtain a first displacement of the left wheel and a second displacement of the right wheel, determines the actual steering value of the left wheel and the right wheel based on the difference between the second displacement and the first displacement, and compares the actual steering value with the steering value determined in the first simulation data or the second simulation data determined by the controller to determine whether the actual steering value deviates; if so, re-measures the distance and obtains the image data, performs calculations and processing to obtain new drive data of the left and right wheels; if no deviation occurs, continues to move according to the current operating mode to transport the luggage to the aircraft hatch.

[0036] In the automatic control system based on image recognition, the collected data receiving module is connected to the input end of the first calculation and processing module, the output end of the first calculation and processing module is connected to the input end of the comparison module, the output end of the comparison module and the feedback data receiving module are connected to the input end of the second calculation and processing module, and the output end of the second calculation and processing module is connected to the input end of the drive output module.

[0037] like Figure 4 The figure shows a schematic diagram of an automatic control method based on image recognition. An automatic control method based on image recognition includes the following steps:

[0038] The distance measuring sensor includes a first distance measuring sensor and a second distance measuring sensor, wherein the first distance measuring sensor is used to measure the horizontal distance from the logistics transportation equipment to the horizontal plane of the aircraft hatch and transmit the horizontal distance to the controller, and the second distance measuring sensor is used to measure the vertical distance from the logistics transportation equipment to the aircraft hatch and transmit the vertical distance to the controller, and the image sensor is used to collect image data from the logistics transportation equipment to the aircraft hatch and transmit the image data to the controller;

[0039] The controller receives the horizontal distance and the vertical distance and performs calculation processing to generate first simulation data for the automatic operation of the logistics and transportation equipment, and generates first left drive data and first right drive data based on the first simulation data. The controller receives the image data and performs calculation processing to generate second simulation data for the automatic operation of the logistics and transportation equipment, and generates second left drive data and second right drive data based on the second simulation data. The first left drive data and the second left drive data are respectively input into a first differential comparison unit for comparison to obtain a first differential result, and the first right drive data and the second right drive data are respectively input into a second differential comparison unit for comparison to obtain a second differential result.

[0040] determining whether both the first differential result and the second differential result are less than a preset threshold; if so, determining that both the first analog data and the second analog data can be used as actual drive signals, outputting one of the first analog data and the second analog data to the left drive module and the right drive module, and detecting the speed of the left wheel and the right wheel in real time through a speed sensor and feeding back the speed to the controller;

[0041] If at least one of the first differential result and the second differential result is greater than a preset threshold, the data greater than the preset threshold is fed back to the controller, and the controller calculates a left drive average value of the first left drive data and the second left drive data based on the feedback result, and uses the left drive average value as the actual left drive data, or calculates a right drive average value of the first right drive data and the second right drive data, and uses the right drive average value as the actual right drive data.

[0042] The automatic control method based on image recognition, wherein the speed of the left wheel and the right wheel are detected in real time by a speed sensor and fed back to the controller, specifically includes: the controller receives a first speed of the left wheel detected by the speed sensor, receives a second speed of the right wheel detected by the speed sensor, multiplies the first speed and the second speed by the time calculated by a timer inside the controller, respectively, to obtain a first displacement of the left wheel and a second displacement of the right wheel, determines the actual steering value of the left wheel and the right wheel based on the difference between the second displacement and the first displacement, and compares the actual steering value with the steering value determined in the first simulation data or the second simulation data determined by the controller to determine whether the actual steering value deviates; if so, re-measures the distance and obtains the image data, performs calculations and processing to obtain new drive data for the left wheel and the right wheel; if no deviation occurs, continues to move according to the current operating mode to transport the luggage to the aircraft hatch.

[0043] In the automatic control method based on image recognition, the first differential comparison unit and the second differential comparison unit are configured to have the same structure, and perform differential comparison on the first analog data and the second analog data respectively.

[0044] The automatic control method based on image recognition, the specific structure of the first differential comparison unit and the second differential comparison unit includes: the first differential comparison unit and the second differential comparison unit have the same structure, and their specific structure includes: switches M1-M36, capacitors C1-C4, capacitors CcN, capacitors CcP, capacitors CFN, capacitors CFP, and resistors R1-R5;

[0045] The first uncontrolled end of the switch tube M1 is connected to the power supply VDD, the controllable end of the switch tube M1 is respectively connected to the controllable ends of the switch tubes M8, M16, M21, M27, and M32, the second uncontrolled end of the switch tube M1 is respectively connected to the first uncontrolled end of the switch tube M2 and the first uncontrolled end of the switch tube M5, the controllable end of the switch tube M2 is connected to the input INN, the controllable end of the switch tube M5 is connected to the input INP, the second uncontrolled end of the switch tube M2 is respectively connected to the second uncontrolled end of the switch tube M3, the controllable end of the switch tube M9, the controllable end of the switch tube M19 and the first end of the capacitor CFP, the controllable end of the switch tube M3 is connected to the switch The controllable end of the switch M6 and the controllable end of the switch M10, and the first uncontrolled end of the switch M3 are respectively connected to the second uncontrolled end of the switch M4 and the first end of the capacitor CcP, the first uncontrolled end of the switch M4 is grounded, and the controllable end of the switch M4 is connected to the controlled end of the switch M7; the second uncontrolled end of the switch M5 is respectively connected to the second uncontrolled end of the switch M6, the controlled end of the switch M12, the controlled end of the switch M17, and the first end of the capacitor CFN, the first uncontrolled end of the switch M6 is respectively connected to the second uncontrolled end of the switch M7 and the first end of the capacitor CcN, and the first uncontrolled end of the switch M7 is grounded; The first uncontrolled end of the switch tube M8 is connected to the power supply VDD, the second uncontrolled end of the switch tube M8 is respectively connected to the first uncontrolled end of the switch tube M9, the first uncontrolled end of the switch tube M12, and the first uncontrolled end of the switch tube M13, the second uncontrolled end of the switch tube M9 is respectively connected to the second uncontrolled end of the switch tube M10, the controlled end of the switch tube M11, and the second uncontrolled end of the switch tube M12, the controlled end of the switch tube M10 is respectively connected to the controlled end of the switch tube M14, the first end of the capacitor C1, and the controlled end of the switch tube M6, the first uncontrolled end of the switch tube M10 is connected to the second uncontrolled end of the switch tube M11, and the switch tube The first uncontrolled end of M11 is grounded, the controlled end of the switch tube M12 is respectively connected to the second uncontrolled end of the switch tube M5 and the controlled end of the switch tube M17, the first uncontrolled end of the switch tube M12 is connected to the first uncontrolled end of the switch tube M9, the controlled end of the switch tube M13 is connected to the controlled end of the switch tube M25 and the controlled end of the switch tube M34, the second uncontrolled end of the switch tube M13 is respectively connected to the second end of the capacitor C1, the second uncontrolled end of the switch tube M14, and the controlled end of the switch tube M15, the first uncontrolled end of the switch tube M14 is connected to the second uncontrolled end of the switch tube M15, and the first uncontrolled end of the switch tube M15 is grounded;

[0046] The first uncontrolled end of the switch M16 is connected to the power supply VDD, the second uncontrolled end of the switch M16 is respectively connected to the first uncontrolled end of the switch M17 and the first uncontrolled end of the switch M19, the second uncontrolled end of the switch M17 is respectively connected to the second uncontrolled end of the switch M18, the first end of the capacitor C2, the controlled end of the switch M22, and the second end of the capacitor CFN, the controlled end of the switch M18 is respectively connected to the second end of the capacitor C2 and the first end of the resistor R2, the first uncontrolled end of the switch M18 is grounded, the controlled end of the switch M19 is connected to the first end of the capacitor CFP, the second uncontrolled end of the switch M19 is respectively connected to the first end of the capacitor C3, the second uncontrolled end of the switch M20, the controlled end of the switch M24, the second end of the capacitor CFP, and the controlled end of the switch M28, the controlled end of the switch M20 is respectively connected to the second end of the capacitor C3 and the first end of the resistor R1, the first uncontrolled end of the switch M20 is grounded, the second end of the resistor R1 and The second end of the resistor R2 is connected to the second uncontrolled end of the switch tube M26; the first uncontrolled end of the switch tube M21 is connected to the power supply VDD, the second uncontrolled end of the switch tube M21 is respectively connected to the first uncontrolled end of the switch tube M22, the first uncontrolled end of the switch tube M24 and the first uncontrolled end of the switch tube M25, the second uncontrolled end of the switch tube M22 is respectively connected to the second uncontrolled end of the switch tube M23, the controlled end of the switch tube M23 and the second uncontrolled end of the switch tube M24. A first uncontrolled terminal of the switch M23 is grounded, a controlled terminal of the switch M24 is respectively connected to the second terminal of the capacitor CFP, the first terminal of the capacitor C3, and the controlled terminal of the switch M28, a second uncontrolled terminal of the switch M24 is connected to the second uncontrolled terminal of the switch M23, a second uncontrolled terminal of the switch M25 is respectively connected to the second uncontrolled terminal of the switch M26, the second terminal of the resistor R1, the second terminal of the resistor R2, and the controlled terminal of the switch M26, and a first uncontrolled terminal of the switch M26 is grounded.

[0047] A first uncontrolled end of the switch M27 is connected to the power supply VDD, a second uncontrolled end of the switch M27 is connected to the first uncontrolled end of the switch M28 and the first uncontrolled end of the switch M29, a controlled end of the switch M28 is connected to the controlled end of the switch M24, a second uncontrolled end of the switch M28 is respectively connected to the second end of the capacitor CcN, the second uncontrolled end of the switch M30, the first end of the resistor R3, and the output OUTP, a controlled end of the switch M30 is connected to the controlled end of the switch M31, the first uncontrolled end of the switch M30 is grounded, a second end of the resistor R3 is respectively connected to the first end of the resistor R4 and the first end of the resistor R5, a controlled end of the switch M29 is connected to the controlled end of the switch M22 and the second end of the capacitor CFN, a second uncontrolled end of the switch M29 is respectively connected to the second end of the resistor R4, the second uncontrolled end of the switch M31, the second end of the capacitor CcP, and the output OUTN, the first uncontrolled end of the switch M31 is grounded, and the first end of the resistor R5 is grounded. The two ends are connected to the second end of the capacitor C4, the first uncontrolled end of the switch tube M32 is connected to the power supply VDD, the second uncontrolled end of the switch tube M32 is respectively connected to the first uncontrolled end of the switch tube M33 and the first uncontrolled end of the switch tube M34, the controllable end of the switch tube M33 is connected to the first end of the capacitor C4, the second uncontrolled end of the switch tube M33 is respectively connected to the second uncontrolled end of the switch tube M35 and the controlled end of the switch tube M35, the first uncontrolled end of the switch tube M35 is grounded, the second uncontrolled end of the switch tube M34 is connected to the controlled end of the switch tube M36 and the second uncontrolled end of the switch tube M36, and the first uncontrolled end of the switch tube M36 is grounded; the input INN and the input INP are respectively connected to the first left drive data and the second left drive data, the output OUTP outputs the first differential result, or the input INN and the input INP are respectively connected to the first right drive data and the second right drive data, the output OUTP outputs the second differential result, and the output OUTN is grounded.

[0048] The present invention proposes an automatic control system and method based on image recognition. By controlling the airport logistics transportation equipment to track the target, the left and right wheels are controlled to operate independently through distance measurement and image processing, so that the luggage can be intelligently transported to the aircraft hatch, thereby improving the efficiency of airport operations. As one of the improvements of the present invention, by comparing and calculating data through distance measurement and image processing, a more accurate operation route of the airport logistics transportation equipment is obtained, and timely adjustments are made through feedback data, so that more accurate control of logistics transportation can be achieved. As another improvement of the present invention, a differential comparison circuit is provided to achieve more precise data comparison and obtain accurate comparison of the first analog data and the second analog data. As an improvement of the present invention, by using the first differential result and the second differential result, by providing the first calculation processing module and the second calculation processing module of the controller, and in conjunction with the comparison module, different data can be processed separately, thereby improving the intelligence and accuracy of the controller's automatic processing.

Claims

1. An automatic control system based on image recognition, characterized in that: The automatic control system is used to control the logistics transportation equipment to automatically transport luggage to the aircraft hatch, and includes: a distance sensor, an image sensor, a speed sensor, an elevator, a left wheel, a right wheel, a left drive module, a right drive module and a controller. The distance sensor, the image sensor and the speed sensor are all directly connected to the controller. The controller drives the left wheel through the left drive module and drives the right wheel through the right drive module to control the left wheel and the right wheel to operate independently according to the orientation requirements, so as to adjust the left and right orientations and deviation distances; the controller includes: a data acquisition receiving module, a feedback data receiving module, a drive output module, a first calculation processing module, a comparison module and a second calculation processing module. The data acquisition receiving module is used to collect data from the distance sensor and the image sensor and transmit it to the first calculation processing module. The first calculation processing module is used to generate first analog data and second analog data according to the distance sensor and the image sensor, and compare them. The first analog data and the second analog data are sent to the comparison module, and the comparison module is used to compare the first analog data and the second analog data and generate a comparison result, and send the comparison result to the second calculation processing module. The second calculation processing module receives the feedback data and the comparison result sent by the feedback data receiving module, performs calculation processing, and generates a calculation result and sends it to the drive output module, and the drive output module is used to output a drive signal. The ranging sensor includes a first ranging sensor and a second ranging sensor. The first ranging sensor is used to measure the horizontal distance from the logistics transportation equipment to the horizontal plane of the aircraft hatch, and transmit the horizontal distance to the controller. The second ranging sensor is used to measure the vertical distance from the logistics transportation equipment to the aircraft hatch, and transmit the vertical distance to the controller. The image sensor is used to collect image data from the logistics transportation equipment to the aircraft hatch, and transmit the image data to the controller;The controller receives the horizontal distance and the vertical distance and performs calculation processing to generate first simulation data of the automatic operation of the logistics transportation equipment, and generates first left drive data and first right drive data based on the first simulation data. The controller receives the image data and performs calculation processing to generate second simulation data of the automatic operation of the logistics transportation equipment, and generates second left drive data and second right drive data based on the second simulation data. The first left drive data and the second left drive data are respectively input into the first differential comparison unit for comparison to obtain a first differential result, and the first right drive data and the second right drive data are respectively input into the second differential comparison unit for comparison to obtain a second differential result, and it is determined whether the first differential result and the second differential result are both If the difference between the first and second differential results is greater than a preset threshold, the controller determines that both the first and second analog data can be used as actual drive signals, outputs one of the first and second analog data to the left and right drive modules, and uses a speed sensor to detect the speed of the left and right wheels in real time and feeds the result back to the controller. If at least one of the first differential result and the second differential result is greater than a preset threshold, the controller feeds back the data greater than the preset threshold to the controller. The controller calculates a left drive average value of the first and second left drive data based on the feedback result and uses the left drive average value as the actual left drive data, or calculates a right drive average value of the first and second right drive data and uses the right drive average value as the actual right drive data.

2. The automatic control system based on image recognition according to claim 1, characterized in that: The first differential comparison unit and the second differential comparison unit have the same structure, and their specific structure includes: switches M1-M36, capacitors C1-C4, capacitors CcN, CcP, CFN, CFP, and resistors R1-R5; The first uncontrolled end of the switch tube M1 is connected to the power supply VDD, the controllable end of the switch tube M1 is respectively connected to the controllable ends of the switch tubes M8, M16, M21, M27, and M32, the second uncontrolled end of the switch tube M1 is respectively connected to the first uncontrolled end of the switch tube M2 and the first uncontrolled end of the switch tube M5, the controllable end of the switch tube M2 is connected to the input INN, the controllable end of the switch tube M5 is connected to the input INP, the second uncontrolled end of the switch tube M2 is respectively connected to the second uncontrolled end of the switch tube M3, the controllable end of the switch tube M9, the controllable end of the switch tube M19 and the first end of the capacitor CFP, the controllable end of the switch tube M3 is connected to the switch The controllable end of the switch M6 and the controllable end of the switch M10, and the first uncontrolled end of the switch M3 are respectively connected to the second uncontrolled end of the switch M4 and the first end of the capacitor CcP, the first uncontrolled end of the switch M4 is grounded, and the controllable end of the switch M4 is connected to the controlled end of the switch M7; the second uncontrolled end of the switch M5 is respectively connected to the second uncontrolled end of the switch M6, the controlled end of the switch M12, the controlled end of the switch M17, and the first end of the capacitor CFN, the first uncontrolled end of the switch M6 is respectively connected to the second uncontrolled end of the switch M7 and the first end of the capacitor CcN, and the first uncontrolled end of the switch M7 is grounded; The first uncontrolled end of the switch tube M8 is connected to the power supply VDD, the second uncontrolled end of the switch tube M8 is respectively connected to the first uncontrolled end of the switch tube M9, the first uncontrolled end of the switch tube M12, and the first uncontrolled end of the switch tube M13, the second uncontrolled end of the switch tube M9 is respectively connected to the second uncontrolled end of the switch tube M10, the controlled end of the switch tube M11, and the second uncontrolled end of the switch tube M12, the controlled end of the switch tube M10 is respectively connected to the controlled end of the switch tube M14, the first end of the capacitor C1, and the controlled end of the switch tube M6, the first uncontrolled end of the switch tube M10 is connected to the second uncontrolled end of the switch tube M11, and the switch tube The first uncontrolled end of M11 is grounded, the controlled end of the switch tube M12 is respectively connected to the second uncontrolled end of the switch tube M5 and the controlled end of the switch tube M17, the first uncontrolled end of the switch tube M12 is connected to the first uncontrolled end of the switch tube M9, the controlled end of the switch tube M13 is connected to the controlled end of the switch tube M25 and the controlled end of the switch tube M34, the second uncontrolled end of the switch tube M13 is respectively connected to the second end of the capacitor C1, the second uncontrolled end of the switch tube M14, and the controlled end of the switch tube M15, the first uncontrolled end of the switch tube M14 is connected to the second uncontrolled end of the switch tube M15, and the first uncontrolled end of the switch tube M15 is grounded; The first uncontrolled end of the switch M16 is connected to the power supply VDD, the second uncontrolled end of the switch M16 is respectively connected to the first uncontrolled end of the switch M17 and the first uncontrolled end of the switch M19, the second uncontrolled end of the switch M17 is respectively connected to the second uncontrolled end of the switch M18, the first end of the capacitor C2, the controlled end of the switch M22, and the second end of the capacitor CFN, the controlled end of the switch M18 is respectively connected to the second end of the capacitor C2 and the first end of the resistor R2, the first uncontrolled end of the switch M18 is grounded, the controlled end of the switch M19 is connected to the first end of the capacitor CFP, the second uncontrolled end of the switch M19 is respectively connected to the first end of the capacitor C3, the second uncontrolled end of the switch M20, the controlled end of the switch M24, the second end of the capacitor CFP, and the controlled end of the switch M28, the controlled end of the switch M20 is respectively connected to the second end of the capacitor C3 and the first end of the resistor R1, the first uncontrolled end of the switch M20 is grounded, the second end of the resistor R1 and The second end of the resistor R2 is connected to the second uncontrolled end of the switch tube M26; the first uncontrolled end of the switch tube M21 is connected to the power supply VDD, the second uncontrolled end of the switch tube M21 is respectively connected to the first uncontrolled end of the switch tube M22, the first uncontrolled end of the switch tube M24 and the first uncontrolled end of the switch tube M25, the second uncontrolled end of the switch tube M22 is respectively connected to the second uncontrolled end of the switch tube M23, the controlled end of the switch tube M23 and the second uncontrolled end of the switch tube M24. A first uncontrolled terminal of the switch M23 is grounded, a controlled terminal of the switch M24 is respectively connected to the second terminal of the capacitor CFP, the first terminal of the capacitor C3, and the controlled terminal of the switch M28, a second uncontrolled terminal of the switch M24 is connected to the second uncontrolled terminal of the switch M23, a second uncontrolled terminal of the switch M25 is respectively connected to the second uncontrolled terminal of the switch M26, the second terminal of the resistor R1, the second terminal of the resistor R2, and the controlled terminal of the switch M26, and a first uncontrolled terminal of the switch M26 is grounded. A first uncontrolled end of the switch M27 is connected to the power supply VDD, a second uncontrolled end of the switch M27 is connected to the first uncontrolled end of the switch M28 and the first uncontrolled end of the switch M29, a controlled end of the switch M28 is connected to the controlled end of the switch M24, a second uncontrolled end of the switch M28 is respectively connected to the second end of the capacitor CcN, the second uncontrolled end of the switch M30, the first end of the resistor R3, and the output OUTP, a controlled end of the switch M30 is connected to the controlled end of the switch M31, the first uncontrolled end of the switch M30 is grounded, a second end of the resistor R3 is respectively connected to the first end of the resistor R4 and the first end of the resistor R5, a controlled end of the switch M29 is connected to the controlled end of the switch M22 and the second end of the capacitor CFN, a second uncontrolled end of the switch M29 is respectively connected to the second end of the resistor R4, the second uncontrolled end of the switch M31, the second end of the capacitor CcP, and the output OUTN, the first uncontrolled end of the switch M31 is grounded, and the first end of the resistor R5 is grounded. The two ends are connected to the second end of the capacitor C4, the first uncontrolled end of the switch tube M32 is connected to the power supply VDD, the second uncontrolled end of the switch tube M32 is respectively connected to the first uncontrolled end of the switch tube M33 and the first uncontrolled end of the switch tube M34, the controllable end of the switch tube M33 is connected to the first end of the capacitor C4, the second uncontrolled end of the switch tube M33 is respectively connected to the second uncontrolled end of the switch tube M35 and the controlled end of the switch tube M35, the first uncontrolled end of the switch tube M35 is grounded, the second uncontrolled end of the switch tube M34 is connected to the controlled end of the switch tube M36 and the second uncontrolled end of the switch tube M36, and the first uncontrolled end of the switch tube M36 is grounded; the input INN and the input INP are respectively connected to the first left drive data and the second left drive data, the output OUTP outputs the first differential result, or the input INN and the input INP are respectively connected to the first right drive data and the second right drive data, the output OUTP outputs the second differential result, and the output OUTN is grounded.

3. The automatic control system based on image recognition according to claim 2, characterized in that: The speed of the left wheel and the right wheel is detected in real time by a speed sensor and fed back to the controller, specifically including: the controller receives a first speed of the left wheel detected by the speed sensor, receives a second speed of the right wheel detected by the speed sensor, multiplies the time calculated by a timer inside the controller by the first speed and the second speed respectively, to obtain a first displacement of the left wheel and a second displacement of the right wheel, determines the actual steering value of the left wheel and the right wheel according to the difference between the second displacement and the first displacement, and compares the actual steering value with the steering value determined in the first simulation data or the second simulation data determined by the controller to determine whether the actual steering value deviates; if so, re-measures the distance and obtains the image data, performs calculation and processing to obtain new driving data of the left wheel and the right wheel; if no deviation occurs, continues to move according to the current operation mode to transport the luggage to the aircraft hatch.

4. The automatic control system based on image recognition according to claim 1, characterized in that: The collected data receiving module is connected to the input end of the first calculation processing module, the output end of the first calculation processing module is connected to the input end of the comparison module, the output end of the comparison module and the feedback data receiving module is connected to the input end of the second calculation processing module, and the output end of the second calculation processing module is connected to the input end of the drive output module.

5. An automatic control method based on image recognition, characterized in that: The steps include: The distance measuring sensor includes a first distance measuring sensor and a second distance measuring sensor, wherein the first distance measuring sensor is used to measure the horizontal distance from the logistics transportation equipment to the horizontal plane of the aircraft hatch and transmit the horizontal distance to the controller, and the second distance measuring sensor is used to measure the vertical distance from the logistics transportation equipment to the aircraft hatch and transmit the vertical distance to the controller, and the image sensor is used to collect image data from the logistics transportation equipment to the aircraft hatch and transmit the image data to the controller; The controller receives the horizontal distance and the vertical distance and performs calculation processing to generate first simulation data for the automatic operation of the logistics and transportation equipment, and generates first left drive data and first right drive data based on the first simulation data. The controller receives the image data and performs calculation processing to generate second simulation data for the automatic operation of the logistics and transportation equipment, and generates second left drive data and second right drive data based on the second simulation data. The first left drive data and the second left drive data are respectively input into a first differential comparison unit for comparison to obtain a first differential result, and the first right drive data and the second right drive data are respectively input into a second differential comparison unit for comparison to obtain a second differential result. determining whether both the first differential result and the second differential result are less than a preset threshold; if so, determining that both the first analog data and the second analog data can be used as actual drive signals, outputting one of the first analog data and the second analog data to the left drive module and the right drive module, and detecting the speed of the left wheel and the right wheel in real time through a speed sensor and feeding back the speed to the controller; If at least one of the first differential result and the second differential result is greater than a preset threshold, the data greater than the preset threshold is fed back to the controller, and the controller calculates a left drive average value of the first left drive data and the second left drive data based on the feedback result, and uses the left drive average value as the actual left drive data, or calculates a right drive average value of the first right drive data and the second right drive data, and uses the right drive average value as the actual right drive data.

6. The automatic control method based on image recognition according to claim 5, characterized in that: The speed of the left wheel and the right wheel is detected in real time by a speed sensor and fed back to the controller, specifically including: the controller receives a first speed of the left wheel detected by the speed sensor, receives a second speed of the right wheel detected by the speed sensor, multiplies the time calculated by a timer inside the controller by the first speed and the second speed respectively, to obtain a first displacement of the left wheel and a second displacement of the right wheel, determines the actual steering value of the left wheel and the right wheel according to the difference between the second displacement and the first displacement, and compares the actual steering value with the steering value determined in the first simulation data or the second simulation data determined by the controller to determine whether the actual steering value deviates; if so, re-measures the distance and obtains the image data, performs calculation and processing to obtain new driving data of the left wheel and the right wheel; if no deviation occurs, continues to move according to the current operation mode to transport the luggage to the aircraft hatch.

7. The automatic control method based on image recognition according to claim 5, characterized in that: The first differential comparison unit and the second differential comparison unit are configured to have the same structure and perform differential comparison on the first analog data and the second analog data respectively.

Images