Carrier system and carrier control method thereof

Abstract

This application discloses a carrier system and a method for controlling the carrier thereof. [Solution] Multiple scan data are acquired by scanning the surrounding environment using an optical scanning element. Coordinate system transformation is performed on these scan data. The movement path of the carrier is generated by processing these scan data within multiple sections. Multiple regions of interest are placed on both sides of the carrier, and each region of interest is divided into the above sections. Fuzzy control is performed to control the carrier to travel along this movement path based on the yaw amount of the carrier's head and the deviation of its course.

Description

[Technical Field]

[0001] The present invention relates to a carrier system and a carrier control method thereof, and more particularly to a carrier system and a carrier control method thereof based on adaptive optical radar scanning to achieve navigation control between stands. [Background technology]

[0002] When applied to various constructed environments, carriers typically travel back and forth between stands along a fixed route to perform designated tasks. However, during the process, they may collide with and be damaged by stands, hanging items in the vicinity, or other equipment (collectively referred to as “obstacles”). Furthermore, the arrangement and location of obstacles vary depending on the usage scenario, as the needs differ. Therefore, carriers need to readjust their travel routes according to different scenarios to adapt to variations in the arrangement and location of obstacles and reduce the risk of collisions. However, readjusting travel routes is time-consuming and labor-intensive.

[0003] Therefore, this invention aims to provide a carrier system and a carrier control method thereof, which scans a constructed environment through optical radar, plans the carrier's movement path based on the scanning results, and achieves accurate movement under automated control. Mainly utilizing adaptive scanning technology, corrections are made to scans related to gaps in obstacles, improving the stability of the scanning data and ensuring that the carrier can accurately sense the surrounding environment while moving. Furthermore, by introducing fuzzy control technology, an appropriate movement plan is formulated based on the carrier's current position and state, giving the carrier the ability to automatically position itself in the center / left / right (i.e., automatically control its movement path to avoid obstacles, such as being in the middle / left-center / right-center), allowing it to move back and forth more flexibly within the constructed environment, reducing the risk of collisions and improving work efficiency.

[0004] The related technology, publication number US20240061440A1, titled "Apparatus and method for agricultural data collection and agricultural operations," acquires image data from a single monocular camera. This image data includes multiple image grids. This camera is mounted on a mobile robot that moves along a travel lane defined by a row of crops containing a first plant stem. The multiple image grids also contain image descriptions of the first plant stem. Furthermore, robot velocity data is acquired from an encoder mounted on the robot, foreground extraction is performed on each image grid of the image data, generating multiple foreground images through foreground extraction, and the estimated width of the first plant stem is determined based on the multiple foreground images and the robot velocity data. [Overview of the Initiative]

[0005] In a first embodiment of the present invention, a carrier control method is provided, which includes: scanning the surrounding environment using an optical scanning element to acquire a plurality of scan data; performing a coordinate system transformation on these scan data; processing these scan data within a plurality of intervals to generate a movement path for the carrier; where a plurality of regions of interest are placed on both sides of the carrier and each region of interest is divided into these intervals; and fuzzy control is performed to control the carrier to travel along the movement path based on the yaw amount of the carrier's head and the deviation of its course.

[0006] In a second embodiment of the present invention, a carrier system is provided, comprising an optical scanning element, a computing device coupled to the optical scanning element, and a carrier coupled to the computing device. The computing device is configured as follows: it scans the surrounding environment using the optical scanning element to acquire a plurality of scan data, performs a coordinate system transformation on the scan data, processes the scan data within a plurality of sections to generate a movement path for the carrier, wherein a plurality of regions of interest are placed on both sides of the carrier and each region of interest is divided into sections, and fuzzy control is performed to control the carrier to travel along the movement path based on the yaw amount of the carrier's head and the deviation of its course.

[0007] To provide a better understanding of the above and other aspects of the present invention, examples are given below and described in detail with reference to the accompanying drawings: [Brief explanation of the drawing]

[0008] [Figure 1] A functional block diagram showing a carrier system according to one embodiment of the present invention.

[0009] [Figure 2] This flowchart shows a carrier control method according to one embodiment of the present invention.

[0010] [Figure 3] This flowchart shows a carrier control method according to one embodiment of the present invention.

[0011] [Figure 4A] This is another flowchart illustrating a carrier control method according to one embodiment of the present invention. [Figure 4B] This is another flowchart illustrating a carrier control method according to one embodiment of the present invention.

[0012] [Figure 5A] This shows a coordinate system transformation according to one embodiment of the present invention.

[0013] [Figure 5B] Shows the selection and division of the region of interest according to an embodiment of the present application.

[0014] [Figure 5C] It is a schematic diagram showing the calculation of the average value of an interval and the update of the buffer area according to an embodiment of the present application.

[0015] [Figure 5D] It is a schematic diagram showing the calculation of the average value of the buffer area and the acquisition of the intermediate path point according to an embodiment of the present application.

[0016] [Figure 5E] It is a schematic diagram showing the fitting of the intermediate path and the acquisition of input variables according to an embodiment of the present application.

[0017] [Figure 5F] It is a schematic diagram showing the rules of fuzzy control and the output of commands according to an embodiment of the present application.

[0018] [Figure 6] It is a flowchart showing the removal of invalid data in the carrier control method according to an embodiment of the present application.

[0019] [Figure 7] It is a flowchart showing the control to move the carrier to the middle using fuzzy control in the carrier control method according to an embodiment of the present application.

[0020] [Figure 8] It is a schematic diagram showing the movement along the movement path curve of the carrier according to an embodiment of the present application.

Mode for Carrying Out the Invention

[0021] The technical terms used herein are references to the commonly used terms in the art. Where this specification explains or defines some terms, the interpretation of those terms in this section shall be in accordance with the explanation or definition provided herein. Each embodiment of this disclosure has one or more technical features. As is possible, a person skilled in the art may selectively implement some or all of the technical features of any embodiment, or selectively combine some or all of the technical features of these embodiments.

[0022] Figure 1 is a functional block diagram showing a carrier system according to one embodiment of the present invention. The carrier system 100 according to one embodiment of the present invention includes a computing device 110, an optical scanning element 120, and a carrier 130. The carrier 130 includes a carrier controller 131, a motor driver 133, a left motor 135, and a right motor 137.

[0023] The arithmetic unit 110 is, for example, a single-board computer, but is not limited thereto. The arithmetic unit 110 is connected to the optical scanning element 120 via, for example, Ethernet®, but is not limited thereto. The arithmetic unit 110 is coupled to the carrier 130 via, for example, a Universal Asynchronous Receiver / Transmitter (UART), but is not limited thereto.

[0024] The optical scanning element 120 is, for example, an optical radar (LiDAR), but is not limited thereto. The optical scanning element 120 scans the environment and generates multiple environmental scanning data. These environmental scanning data generated by the optical scanning element 120 are sent to the computing unit 110. The computing unit 110 generates operation commands based on this data and transmits them to the carrier controller 131.

[0025] The carrier controller 131 receives operation commands from the arithmetic unit 110 and adjusts the rotational speed of the left motor 135 and / or the right motor 137 by controlling the motor driver 133.

[0026] An arithmetic device 110 according to one embodiment of the present invention can execute a carrier control method for controlling the carrier 130.

[0027] Figure 2 is a flowchart of a carrier control method according to one embodiment of the present invention. The carrier control method according to one embodiment of the present invention shown in Figure 2 is a technology that guides the movement of a carrier based on optical radar scanning and fuzzy control technology. In one embodiment of the present invention, environmental data acquired by optical radar is processed in different steps to obtain an optimal route suitable for the movement of the carrier, and precise directional adjustment is performed using fuzzy control.

[0028] In step 210, the surrounding environment is scanned using the optical scanning element 120 to obtain the azimuth and distance values ​​of the surrounding stands of the carrier 130. A coordinate system transformation is performed on the azimuth and distance values ​​of the surrounding stands (for example, polar coordinates are converted to rectangular coordinates, which will be explained separately below). The data of the surrounding stands after the coordinate system transformation is obtained, regions of interest located on both sides of the carrier 130 are placed, the regions of interest on both sides are divided into multiple sections, the scanning data within each section is processed to generate a fitting curve, and the generated fitting curve is used as the movement path of the carrier 130.

[0029] In other words, in one embodiment of the present invention, step 210 is the acquisition and preliminary processing of scanning data from the optical scanning element 120. In step 210, the optical scanning element 120 scans the surrounding environment to acquire orientation data and distance data of obstacles around the carrier 130 (e.g., stands, surrounding items, etc.). The orientation data and distance data of these obstacles are transformed in a coordinate system. Areas of interest are placed on both sides of the carrier, and the areas of interest are divided into multiple sections. The orientation data and distance data of obstacles within these sections are segmented. This segmented data is analyzed to generate a movement path curve, which is used as the movement reference path for the carrier 130. In this embodiment, the movement reference path is a reference path for centered movement, but in other embodiments, the movement reference path can be adjusted to a reference path for left-positioned movement or a reference path for right-positioned movement as needed. There are no limitations here.

[0030] In step 220, calculations are performed on the scan data within each interval. The resulting fitting curve is used as the carrier's movement path. In the adaptive scan correction step, the average value of the scan data in each interval is obtained, and after inspection, reasonable data is temporarily stored in a buffer for secondary calculations to remove scan gaps, thereby providing a more stable source for constructing a movement reference path.

[0031] In other words, in one embodiment of the present invention, step 220 is processing of the scan data within each section, including adaptive scan correction processing. Step 220 segments the data for the orientation and distance data of obstacles within these sections, analyzes this segmented data to generate a movement path curve, which serves as the movement reference path for the carrier 130. In this embodiment, the movement reference path is a reference path for centered movement, while in other embodiments, the movement reference path can be adjusted to a reference path for left-positioned movement or a reference path for right-positioned movement as needed. This is not limited here. Adaptive scan correction is then performed. The system first calculates the average value of the scan data for each section, and temporarily stores the detected reasonable data (i.e., selected data) in a buffer for use in subsequent calculations. This process helps to further enhance the stability of the generated path by removing any empty or abnormal data that may occur during the scanning process, thereby providing more reliable reference path information for the carrier 130.

[0032] In step 230, fuggy control is introduced to follow the reference route. Using (1) the yaw amount of the carrier 130's head and (2) the course deviation of the carrier 130's body from the planned route as input variables, rotational control of the carrier 130 can be obtained. The calculation unit 110 outputs the rotational control of the carrier 130 as an operation command to the carrier controller 131 to realize the movement functions of the carrier 130, such as the function of moving in the middle and / or the function of moving to the left and / or the function of moving to the right. Depending on the need, it can be set to the function of moving in the middle, the function of moving to the left, or the function of moving to the right.

[0033] In other words, in one embodiment of the present invention, step 230 is a step in which movement control is performed using fuzzy control. In step 230, the direction of movement of the carrier 130 is adjusted via a fuzzy control method. In the fuzzy control system, the arithmetic unit 110 calculates the required rotation control amount using the yaw angle of the head and the course deviation of the vehicle body relative to a predetermined route as input variables. The arithmetic unit 110 outputs the calculated rotation control amount as an operation command to the carrier controller 131, thereby maintaining the movement of the carrier 130 along the path, for example, center-positioned movement and / or left-positioned movement and / or right-positioned movement.

[0034] Figure 3 is a flowchart of a carrier control method according to one embodiment of the present invention. Figure 3 shows details of Figure 2. Step 210 includes, for example, steps 305 to 320. Step 220 includes, for example, steps 325 to 345. Step 230 includes, for example, steps 350 to 355.

[0035] In step 305, scanning data from the optical scanning element is acquired. Specifically, in step 305, the computing unit 110 acquires scanning data from the optical scanning element 120 to obtain initial position and distance information of the surrounding environment.

[0036] In step 310, the coordinate system of the scanned data is transformed. That is, in step 310, the scanned data is transformed into a different coordinate system for use in subsequent analysis.

[0037] In step 315, the coordinate range is selected. That is, in step 315, the data range that fits the region of interest is selected and irrelevant scanning information is removed.

[0038] In step 320, the scanned data is divided. That is, in step 320, the scanned data is divided and segmented more efficiently.

[0039] In step 325, the average value of the interval data is calculated. That is, in step 325, the average value of the scanned data within each interval is calculated to improve the stability of the data.

[0040] In step 330, the average value of the calculated interval data is temporarily stored in the interval buffer. That is, in step 330, the average value of the calculated interval data is temporarily stored in the buffer and used for further processing.

[0041] Step 335 calculates the average value of the buffer data. In other words, in step 335, the average value is calculated for the data in the buffer to ensure data stability.

[0042] In step 340, the mean of the bilateral data for carrier 130 is calculated. That is, in step 340, the mean of the bilateral data for the carrier is calculated, and the bilateral balance of the carrier is adjusted. Here, bilateral data refers to buffer data obtained from both the left and right sides of the carrier. After obtaining the mean of the buffer data, a midpoint value can be calculated, and the midpoint shift can be controlled. If you want to control the carrier to shift to the left or right, this can be achieved by adding a corresponding correction value to the mean of the buffer data.

[0043] In step 345, a travel path curve is generated. That is, in step 345, a travel path curve is generated to represent the ideal route that the carrier will travel.

[0044] In step 350, the deviation between the head and the course is input using fuzzy control. That is, in step 350, the yaw amount of the head and the deviation of the course, which are variables of fuzzy control, are input.

[0045] In step 355, a rotation control amount is output using fuzzy control and sent as an operation command to the carrier controller 131 of the carrier 130 to adjust the movement state of the carrier 130, for example, center-positioned travel and / or left-positioned travel and / or right-positioned travel.

[0046] In other words, the carrier control method shown in Figures 2 and 3 of this application discloses how a multi-step method can be used to integrate scanning data from the optical scanning element 120 with fuzzy control technology so that the carrier 130 can travel stably and accurately along the travel path curve.

[0047] Figures 4A and 4B are other flowcharts illustrating a carrier control method according to one embodiment of the present invention.

[0048] In step 405, the arithmetic unit 110 receives the scanning data sent from the optical scanning element 120.

[0049] In step 410, the arithmetic unit 110 performs a coordinate system transformation. For example, it transforms the scanning data sent from the optical scanning element 120 from polar coordinates to rectangular coordinates, but is not limited to this. Figure 5A shows a coordinate system transformation according to one embodiment of the present invention. The scanning data sent from the optical scanning element 120 is transformed from polar coordinates to rectangular coordinates. In Figure 5A, L represents the scanning distance of the obstacle 510 (provided by the optical scanning element 120), θ represents the scanning angle of the obstacle 510 (provided by the optical scanning element 120), X represents the lateral (front-to-back) distance of the obstacle 510 (estimated by the arithmetic unit 110 based on trigonometric functions), and Y represents the vertical (left-to-right) distance of the obstacle 510 (estimated by the arithmetic unit 110 based on trigonometric functions).

[0050] In step 415, the computing unit 110 performs interest region selection and selects interest regions on both the left and right sides of the carrier 130.

[0051] In step 420, the computing unit 110 divides the regions of interest on both the left and right sides of the carrier 130, dividing the regions of interest on both sides of the carrier 130 into multiple segments. Each segment contains multiple scan data after coordinate transformation.

[0052] Figure 5B shows the selection and division of regions of interest according to one embodiment of the present invention. As shown in Figure 5B, the arithmetic unit 110 performs region selection to select regions of interest 521 and 522 on both the left and right sides of the carrier 130. The arithmetic unit 110 divides the regions of interest 521 and 522 on both the left and right sides of the carrier 130 into a plurality of sections 521_1 to 521_5 and 522_1 to 522_5 (the five sections are merely illustrative and the present invention is not limited thereto). Of these, each section contains a plurality of (coordinate-transformed) scan data 523 (the inclusion of five scan data 523 in each section is merely illustrative and the present invention is not limited thereto).

[0053] In step 425, the arithmetic unit 110 determines whether the calculation (e.g., taking the average) of the transformed scan data within each interval has been completed. Here, multiple temporary values ​​of the transformed scan data within each interval (e.g., not limited to the average) are stored in their respective buffers. If step 425 is "yes", the flow continues to step 435. If step 425 is "no", the flow continues to step 430. Multiple average values ​​within that interval are stored in one buffer. As the carrier 130 moves forward, the regions of interest 521 and 522, and the intervals 521_1~521_5 and 522_1~522_5 also move forward. Thus, each interval 521_1~521_5 and 522_1~522_5 can cover different scan data.

[0054] In step 430, the arithmetic unit 110 checks whether the interval is empty or not. That is, it checks whether there is scanned data within the interval, and if there is no scanned data, it indicates that the interval is empty.

[0055] In step 460, the arithmetic unit 110 calculates a temporary display value for the interval. If the detection result by the arithmetic unit 110 indicates that the interval is not blank, the temporary display value for the interval is obtained by averaging multiple coordinate-transformed scan data within the interval.

[0056] In step 465, the arithmetic unit 110 updates the corresponding buffer with the obtained temporary display value for that section.

[0057] Figure 5C is a schematic diagram showing the calculation of the interval average value and buffer update according to one embodiment of the present invention. As shown in Figure 5C, the arithmetic unit 110 calculates the temporary display values ​​of these scanned data within each interval. Then, the arithmetic unit 110 stores the newly calculated left temporary display value 531 and right temporary display value 532 in buffers 533 and 534, respectively. Here, for the sake of explanation, we assume that the size of both buffers 533 and 534 is 5 (5 temporary display values ​​can be stored). When the arithmetic unit 110 stores the new temporary display values ​​531 and 532 in buffers 533 and 534, respectively, the arithmetic unit 110 removes the oldest temporary display values ​​in buffers 533 and 534.

[0058] Steps 430, 460, and 465 are repeated until the calculations for each interval are complete.

[0059] In step 435, the arithmetic unit 110 calculates the average value of these temporary display values ​​in the individual buffers on each side (which may also be called the final display value).

[0060] In step 440, the arithmetic unit 110 calculates the average of the final displayed values ​​of the buffers on the left and right sides to obtain the intermediate path point. The intermediate path point is the average of the final displayed values ​​of the buffers corresponding to one interval on the left side and one interval on the right side.

[0061] FIG. 5D is a schematic diagram showing the calculation of the buffer average value and the acquisition of the intermediate path point according to an embodiment of the present application. As shown in FIG. 5D, the arithmetic unit 110 calculates the average value (final display value) 541 of these temporary display values in the left buffer. For example, when the five temporary display values are 13, 11, 12, 10, and 11 respectively, the final display value 541 is 13 + 11 + 12 + 10 + 11 = 11.4. Similarly, the arithmetic unit 110 calculates the average value (final display value) 542 (= 11.8) of these temporary display values in the right buffer. The intermediate path point 543 is the average value of the final display values 541 and 542 on both sides. L A represents the distance between the final display value 541 on the left side and the intermediate path point 543, and L B represents the distance between the final display value 542 on the right side and the intermediate path point 543. L A >L B In the case of, it represents that the carrier 130 is offset to the left. L A =L B In the case of, it represents that the carrier 130 was centered. L A <L B In the case of, it represents that the carrier 130 is offset to the right.

[0062] In step 445, the arithmetic unit 110 fits (generates) a movement path curve based on these intermediate path points. For example, the movement path curve is fitted by the least squares method, but it is not limited to this. The movement path curve is, for example, the path curve of the intermediate movement. It should be particularly noted here that in step 445, a path correction value (leftward path correction value or rightward path correction value) can be added to these intermediate path points. In the case of a leftward path point or a rightward path point, for example, a leftward path correction value is given to the intermediate path point 543 and L A >L B results, or a rightward path correction value is given to the intermediate path point 543 and L A <L B results. Then, the fitted movement path curve becomes a leftward movement path curve or a rightward movement path curve, but it is not limited here.

[0063] In step 450, the arithmetic unit 110 plans the operation of the carrier 130 by fuzzy control (rules).

[0064] Figure 5E is a schematic diagram showing the fitting of an intermediate path and acquisition of input variables according to one embodiment of the present invention. As shown in Figure 5E, a movement path curve (carrier movement path) 551 is fitted based on these intermediate path points, and the parameters of the movement path curve are read out to obtain the input variables θ and δ. Here, the variable θ represents the gradient of the movement path curve at the center of gravity of the carrier (also called the yaw amount of the course), and the variable δ represents the amount of shift of the carrier's tip (head) relative to the movement path curve (also called the head shift amount).

[0065] In step 455, the arithmetic unit 110 outputs an operation command to the carrier controller 131 based on the input variables θ and δ.

[0066] Figure 5F is a schematic diagram showing the rules and command outputs of a fuzzy control according to one embodiment of the present invention. As shown in Figure 5F, the fuzzy controller 560 can be executed by the arithmetic unit 110. The fuzzy controller 560 obtains output variables (e.g., not limited to angular velocity values) based on input variables (course yaw θ and head shift δ). The fuzzy rules specify a fuzzy matrix. For example, if the course yaw θ is leftward and the head shift δ is leftward, the carrier is controlled to the right. Other cases can be inferred in the same way. Figure 5F further shows subordinate functions for displaying the maintenance function, leftward shift function, and rightward shift function.

[0067] As shown in Figure 5F, the command converter 570 (executed by the arithmetic unit 110) can convert the carrier's linear velocity value (a constant value) and the carrier's angular velocity value into commands (not limited to, for example, wheel speed, steering angle, etc.) and transmit them to the carrier controller 131.

[0068] Figure 6 is a flowchart showing the removal of invalid data in a carrier control method according to one embodiment of the present invention. Figure 6 is executed by the arithmetic unit 110. In step 605, temporary data is received. In step 610, the rationality of the data is analyzed using a normal distribution. In step 615, it is determined whether the data is abnormal. Abnormal data is often due to gaps in obstacles and therefore needs to be removed. If step 615 is "yes", the flow proceeds to step 617 to delete the abnormal data. If step 615 is "no", the flow proceeds to step 620 to perform buffer index matching. In step 625, the oldest temporary display value in the buffer is deleted. In step 630, the data in the buffer is shifted (see Figure 5C). In step 635, the new temporary display value is saved in the buffer.

[0069] As shown in the flow chart in Figure 6, in one embodiment of the present invention, when an empty area is scanned, it is determined to be invalid data and the invalid data is removed. This makes it possible to maintain the generation of a stable movement path curve.

[0070] Figure 7 is a flowchart illustrating a control method for moving a carrier to a central position using fuzzy control according to one embodiment of the present invention. In step 705, parameters of the movement path curve are read. In step 710, the gradient of the movement path curve at the center of gravity of the carrier is calculated. In step 715, the amount of shift of the carrier's leading edge relative to the movement path curve is calculated. In step 720, input variables (course yaw amount θ and head shift amount δ) are acquired. In step 725, fuzzy control is performed. In step 730, the fuzzy rule is estimated. In step 735, the fuzzy control is resolved. In step 740, output variables (carrier rotation amount, etc.) are acquired and sent to the carrier controller 131 as an operation command.

[0071] As shown in the flowchart in Figure 7, in one embodiment of the present invention, the input to fuzzy control is obtained by using the gradient of the movement path curve relative to the center of gravity of the carrier and the amount of shift of the carrier's leading edge as variables, thereby obtaining an operation command.

[0072] Figure 8 is a schematic diagram showing the movement of a carrier 130 along a movement path curve according to one embodiment of the present invention. That is, in one embodiment of the present invention, at the beginning of the carrier control method, the carrier system 100 activates the optical scanning element 120 to scan the surrounding environment. The computing unit 110 continuously receives environmental scanning data from the optical scanning element 120. The coordinate plane of the scanned data is obtained by coordinate system transformation. The carrier system 100 frames the left and right sides of the carrier 130 as regions of interest, with the centroid of the carrier 130 as the origin, and divides the regions of interest on both sides into multiple sections. The rationality of the scanned data of the sections is also checked. The average value of the scanned data of the section is calculated and stored in the corresponding data buffer as a temporary display value for that section. After the calculations for all sections are completed, the buffer update is completed. The average value of these temporary display values ​​of the buffer data in each section stored in the buffer is used as the final display value. The final displayed values ​​for the intervals on both the left and right sides of the carrier are used to obtain the intermediate path point by calculating the average value using matching of the same index (for example, the first interval on the left and the first interval on the right are considered to be index matching). The intermediate path point (or left-placed path point / right-placed path point) is used as the carrier's movement path curve (i.e., the carrier's tracking target), and the movement path curve (polynomial curve) is fitted using the least squares method. The relative relationship between the carrier and the movement path curve (course yaw amount θ and head shift amount δ) can be used as input variables for the fuggy control to obtain the carrier's angular velocity value. The carrier's angular velocity value is transmitted to the carrier controller 131 as an operation command. The size of the region of interest, the number of divided intervals, and the size of the buffer can be adjusted according to the situation and requirements.

[0073] From the above, it can be seen that the features of the carrier system and carrier control method according to one embodiment of the present invention include at least a navigation system, sensing by optical radar, stand availability correction technology, and a fuzzy control mode.

[0074] In a carrier system and carrier control method according to one embodiment of the present invention, the computing device plans the carrier's movement path based on the scanning results of obstacles in the constructed environment by an optical scanning element, and maintains the stability of the scanning data by correcting (eliminating) scanning data related to gaps in obstacles using adaptive scanning. Fuzzy control is introduced to create the current operation plan of the carrier, giving the carrier the ability to move in the center / left / right, and enabling it to perform its work smoothly in the constructed environment.

[0075] The foregoing describes the solutions provided in the embodiments of the present application primarily from the perspective of a carrier system. It is understood that, in order to realize the functions described above, the carrier system includes a corresponding hardware configuration and / or software modules for performing the functions. Experts in the art should readily recognize, in relation to the units and algorithmic steps of the embodiments described herein, that the present application can be implemented in hardware form or in a combination of hardware and computer software. Whether the functions are performed by hardware or by computer software-driven hardware depends on the specific application and design constraints of the technical solution. Experts in the art may use different methods to implement the functions described for each specific application, but such implementations are not considered to be beyond the scope of the present application.

[0076] While this application describes many specific details, these should not be understood as limitations on the scope of the claimed invention, but rather as descriptions of the characteristics of specific embodiments. Some characteristics described in the specification in the context of a single embodiment can also be implemented in combination within that single embodiment. Conversely, various characteristics described in the context of a single embodiment can also be implemented individually or in any suitable subcombination within multiple embodiments. Furthermore, while characteristics may initially be described as functioning in several combinations, and may initially be described as such combinations, in some cases one or more characteristics may be removed from those combinations, and the described combinations may correspond to a single subgroup or a variation of a subgroup. Similarly, while operations are depicted in the drawings as being performed in a specific order, it should not be understood that these operations must be performed in a specific order or sequence shown, or that all depicted operations must be performed, in order to achieve the desired result.

[0077] Although the above-described embodiments of this application disclose only a few examples and embodiments, the above-described examples and embodiments, as well as other embodiments, can be modified, altered, and enhanced based on the disclosed content.

[0078] In short, although the present invention has been described above as an example, it is not intended to limit the invention. Those with ordinary skill in the art to which the present invention pertains can make various modifications and finishes without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention is subject to the scope defined by any subsequent claims. [Explanation of Symbols]

[0079] 100: Carrier System 110: Arithmetic device 120: Optical scanning element 130: Career 131: Carrier Controller 133: Motor Driver 135: Left motor 137: Right motor 210-230, 305-355, 405-465, 605-635, 705-740: Step 510: Obstacle 521 and 22: Areas of Interest 523: Scanning data 521_1~521_5 and 22_1~522_5: Sections 531 and 532: Temporary display values 533 and 534: Buffer 541 and 542: Final displayed value 543: Intermediate Path Point 551: Travel Path Curve 560: Fuzzy Controller 570: Command Converter

Claims

1. A carrier control method, The steps include: scanning the surrounding environment using an optical scanning element to acquire multiple scan data; The steps include performing a coordinate system transformation on the plurality of scan data, The steps include: generating a carrier movement path by processing the plurality of scan data within the plurality of intervals, wherein a plurality of regions of interest are placed on both sides of the carrier, and each region of interest is divided into the plurality of intervals; The steps include: performing fuzzy control to control the carrier to travel along the travel path based on the yaw amount of the carrier's head and the deviation of its course; A carrier control method, including the following.

2. The step of processing the plurality of scan data within each section to generate the carrier's movement path is: Eliminate abnormal scanning data, The multiple scan data within each section are averaged to obtain multiple temporary display values, and these multiple temporary values ​​are temporarily stored in multiple buffers. Averaging the multiple temporary display values ​​of the multiple buffers to obtain multiple final display values, Based on the aforementioned multiple final display values, multiple intermediate path points are generated. The movement path is generated based on the aforementioned multiple intermediate path points. A carrier control method according to claim 1, including the following:

3. The step of performing a coordinate system transformation on the plurality of scan data is: Convert the aforementioned multiple scan data from polar coordinates to rectangular coordinates. A carrier control method according to claim 1, including the following:

4. The carrier control method according to claim 1, wherein when arranging the plurality of interest regions located on both sides of the carrier, the center of gravity of the carrier is used as the origin, and the left and right sides of the carrier are framed to form the plurality of interest regions.

5. Generating the movement path based on the aforementioned multiple final display values ​​is, The movement path curve is fitted based on the aforementioned multiple final display values ​​to determine the movement path of the carrier. A carrier control method according to claim 2, including the following:

6. Read the multiple parameters of the aforementioned travel path curve, The gradient of the movement path curve at the center of gravity of the carrier is calculated to obtain the deviation of the carrier's course. The amount of shift of the carrier's leading edge relative to the aforementioned movement path curve is calculated to obtain the yaw amount of the carrier's head. The carrier control method according to claim 5.

7. The carrier control method according to claim 1, wherein the aforementioned movement path is an intermediate movement path.

8. By adding a left-aligned path correction value or a right-aligned path correction value to each central path point, the movement path becomes a curve of either a left-aligned or right-aligned movement path, either as a left-aligned path point or a right-aligned path point. A carrier control method according to any one of claims 2 to 7, further comprising the following:

9. It is a carrier system, Optical scanning element and A computing device coupled to the optical scanning element, A carrier coupled to the aforementioned computing device, Includes, Here, the arithmetic unit is The optical scanning element is used to scan the surrounding environment and acquire multiple scan data. A coordinate system transformation is performed on the aforementioned plurality of scan data. Multiple regions of interest are positioned on both sides of the carrier, and each region of interest is divided into multiple segments. The plurality of scan data within the plurality of intervals are processed to generate the movement path of the carrier, and here, a plurality of regions of interest are placed on both sides of the carrier and each region of interest is divided into the plurality of intervals. Based on the yaw amount of the carrier's head and the deviation of its course, fuzzy control is performed to control the carrier so that it travels along the aforementioned path. A carrier system configured in such a way.

10. When processing the plurality of scan data within each section to generate the movement path of the carrier, the arithmetic unit, Eliminate abnormal scanning data, The multiple scan data within each section are averaged to obtain multiple temporary display values, and these multiple temporary values ​​are temporarily stored in multiple buffers. Averaging the multiple temporary display values ​​of the multiple buffers to obtain multiple final display values, Based on the aforementioned multiple final display values, multiple intermediate path points are generated. The movement path is generated based on the aforementioned multiple intermediate path points. The carrier system according to claim 9, configured as described above.

11. When performing a coordinate system transformation on the plurality of scan data, the arithmetic unit, Convert the aforementioned multiple scan data from polar coordinates to rectangular coordinates. The carrier system according to claim 9, configured as described above.

12. When arranging the plurality of interest regions located on both sides of the carrier, the computing device The center of gravity of the aforementioned carrier is used as the origin, and the left and right sides of the carrier are framed to form the multiple areas of interest. The carrier system according to claim 9, configured as described above.

13. When generating the movement path based on the plurality of final displayed values, the calculation device, The movement path curve is fitted based on the aforementioned multiple final display values ​​to determine the movement path of the carrier. The carrier system according to claim 10, configured as described above.

14. The aforementioned computing device is Read the multiple parameters of the aforementioned travel path curve, The gradient of the movement path curve at the center of gravity of the carrier is calculated to obtain the deviation of the carrier's course. The yaw amount of the carrier head is obtained by calculating the amount of shift of the carrier's leading edge relative to the aforementioned movement path curve. The carrier system according to claim 13, configured as described above.

15. The aforementioned movement path is an intermediate movement path. The carrier system according to claim 9.

16. The aforementioned computing device is By adding a left-aligned or right-aligned path correction value to each central path point, the movement path becomes a curve of either a left-aligned or right-aligned path point. A carrier system according to any one of claims 10 to 15, configured as described above.

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