CN106843224A - A kind of method and device of multi-vision visual positioning collaboration guiding transport vehicle - Google Patents
A kind of method and device of multi-vision visual positioning collaboration guiding transport vehicle Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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Abstract
The invention discloses a kind of method of multi-vision visual positioning collaboration guiding transport vehicle, the method is applied to server, and server is connected with multiple images collecting device respectively, and the field range of two adjacent images collecting device has intersection, and the method is comprised the following steps：In the multiple images for receiving, it is determined that there is the first image of transport vehicle；Determine first coordinate of the transport vehicle in corresponding first coordinate system of the first image capture device；According to the corresponding coordinate system of predetermined each image capture device and the offset relationship and the first coordinate of the frame of reference, actual physics coordinate of the transport vehicle in the frame of reference is determined；According to actual physics coordinate and default terminal point coordinate, the travel direction of transport vehicle is controlled.Positioning hauling operation of the transport vehicle in space on a large scale is realized, with stronger applicability and flexibility, automated production efficiency is improve.The invention also discloses a kind of device of multi-vision visual positioning collaboration guiding transport vehicle, with relevant art effect.
Description
Technical field
The present invention relates to Computer Applied Technology field, more particularly to a kind of multi-vision visual positioning collaboration guiding transport vehicle
Method and device.
Background technology
With the fast development of computer technology, automated production activity gradually increases.In automated production activity, fortune
The use of defeated car is more and more.The automatic running of transport vehicle depends on the order of accuarcy that indoor positioning is navigated.
At present, conventional indoor positioning air navigation aid has ultrasonic wave location navigation, infrared location navigation etc..These methods are held
It is vulnerable to the influence of indoor environment change, applicability and flexibility are poor, once indoor environment changes, may result in positioning
It is inaccurate, so that transport vehicle cannot accurately reach home, reduce automated production efficiency.
The content of the invention
It is an object of the invention to provide a kind of method and device of multi-vision visual positioning collaboration guiding transport vehicle, to realize fortune
Positioning hauling operation of the defeated car in space on a large scale, with stronger applicability and flexibility, improves automated production efficiency.
In order to solve the above technical problems, the present invention provides following technical scheme：
A kind of method of multi-vision visual positioning collaboration guiding transport vehicle, is applied to server, the server respectively with it is many
Individual image capture device connection, the total field range of multiple images collecting device is more than or equal to transport vehicle running space scope,
The field range of two adjacent images collecting device has intersection, the method bag of the multi-vision visual positioning collaboration guiding transport vehicle
Include：
In the multiple images for receiving, it is determined that there is the first image of the transport vehicle, described first image is multiple
Its field range image that the first image capture device is collected in image capture device；
Determine first coordinate of the transport vehicle in corresponding first coordinate system of described first image collecting device；
Offset relationship according to the corresponding coordinate system of predetermined each image capture device and the frame of reference and described
First coordinate, determines actual physics coordinate of the transport vehicle in the frame of reference；
According to the actual physics coordinate and default terminal point coordinate, the travel direction of the transport vehicle, the end are controlled
Point coordinates is the coordinate under the frame of reference.
In a kind of specific embodiment of the invention, predefining field range by following steps has the second of intersection
The offset relationship of image capture device and the corresponding coordinate system of the 3rd image capture device：
First is selected in the intersection field range of second image capture device and the 3rd image capture device
Impact point and the second impact point；
Determine respectively second coordinate of the first object point in the corresponding coordinate system of second image capture device,
Threeth coordinate of the first object point in the corresponding coordinate system of the 3rd image capture device, second impact point exist
4-coordinate, second impact point in the corresponding coordinate system of second image capture device is in the 3rd IMAQ
Five Axis in the corresponding coordinate system of equipment；
According to second coordinate, the 3rd coordinate, the 4-coordinate and the Five Axis, described second is determined
The offset relationship of the corresponding coordinate system of image capture device coordinate system corresponding with the 3rd image capture device.
It is described according to second coordinate, the 3rd coordinate, described in a kind of specific embodiment of the invention
4-coordinate and the Five Axis, determine that the corresponding coordinate system of second image capture device sets with the 3rd IMAQ
The offset relationship of standby corresponding coordinate system, including：
According to second coordinate, the 3rd coordinate, the 4-coordinate and the Five Axis, described second is determined
The slanted angle of the corresponding coordinate system of image capture device coordinate system corresponding with the 3rd image capture device；
Sat according to the slanted angle, second coordinate, the 3rd coordinate, the 4-coordinate and the described 5th
Mark, determines the phase of the corresponding coordinate system of second image capture device coordinate system corresponding with the 3rd image capture device
To side-play amount.
It is described according to the slanted angle, second coordinate, described in a kind of specific embodiment of the invention
Three coordinates, the 4-coordinate and the Five Axis, determine the corresponding coordinate system of second image capture device with it is described
The relative displacement of the corresponding coordinate system of the 3rd image capture device, including：
Determine that the corresponding coordinate system of second image capture device sets with the 3rd IMAQ according to below equation
The relative displacement of standby corresponding coordinate system：
Wherein, Δ x is x-axis direction relative displacement, and Δ y is y-axis direction relative displacement, (x1, y1) it is the second coordinate,
(u2, v2) it is Five Axis, θ is slanted angle.
In a kind of specific embodiment of the invention, the transport vehicle in the picture be masked as monochromatic ball.
A kind of device of multi-vision visual positioning collaboration guiding transport vehicle, is applied to server, the server respectively with it is many
Individual image capture device connection, the total field range of multiple images collecting device is more than or equal to transport vehicle running space scope,
The field range of two adjacent images collecting device has intersection, and the multi-vision visual positioning collaboration guiding transport cart apparatus include：
First image determining module, in the multiple images for receiving, it is determined that there is the first figure of the transport vehicle
Picture, its field range image that described first image is collected for the first image capture device in multiple images collecting device；
First coordinate determining module, for determining that the transport vehicle is sat in described first image collecting device corresponding first
The first coordinate in mark system；
Actual physics coordinate determining module, for according to the corresponding coordinate system of predetermined each image capture device and base
The offset relationship of conventional coordinates and first coordinate, determine that actual physics of the transport vehicle in the frame of reference are sat
Mark；
Travel direction control module, for according to the actual physics coordinate and default terminal point coordinate, controlling the fortune
The travel direction of defeated car, the terminal point coordinate is the coordinate under the frame of reference.
In a kind of specific embodiment of the invention, also including offset relationship determining module, for by following steps
Predetermined field range has the skew of second image capture device and the corresponding coordinate system of the 3rd image capture device of intersection
Relation：
First is selected in the intersection field range of second image capture device and the 3rd image capture device
Impact point and the second impact point；
Determine respectively second coordinate of the first object point in the corresponding coordinate system of second image capture device,
Threeth coordinate of the first object point in the corresponding coordinate system of the 3rd image capture device, second impact point exist
4-coordinate, second impact point in the corresponding coordinate system of second image capture device is in the 3rd IMAQ
Five Axis in the corresponding coordinate system of equipment；
According to second coordinate, the 3rd coordinate, the 4-coordinate and the Five Axis, described second is determined
The offset relationship of the corresponding coordinate system of image capture device coordinate system corresponding with the 3rd image capture device.
In a kind of specific embodiment of the invention, the offset relationship determining module, specifically for：
According to second coordinate, the 3rd coordinate, the 4-coordinate and the Five Axis, described second is determined
The slanted angle of the corresponding coordinate system of image capture device coordinate system corresponding with the 3rd image capture device；
Sat according to the slanted angle, second coordinate, the 3rd coordinate, the 4-coordinate and the described 5th
Mark, determines the phase of the corresponding coordinate system of second image capture device coordinate system corresponding with the 3rd image capture device
To side-play amount.
In a kind of specific embodiment of the invention, the offset relationship determining module, specifically for：
Determine that the corresponding coordinate system of second image capture device sets with the 3rd IMAQ according to below equation
The relative displacement of standby corresponding coordinate system：
Wherein, Δ x is x-axis direction relative displacement, and Δ y is y-axis direction relative displacement, (x1, y1) it is the second coordinate,
(u2, v2) it is Five Axis, θ is slanted angle.
In a kind of specific embodiment of the invention, the transport vehicle in the picture be masked as monochromatic ball.
The technical scheme provided using the embodiment of the present invention, server is connected with multiple images collecting device respectively, many
The total field range of individual image capture device is more than or equal to transport vehicle running space scope, two adjacent images collecting device
Duration scope has intersection, and server determines there is transport vehicle in the image for receiving the transmission of multiple images collecting device
First image, determines first coordinate of the transport vehicle in corresponding first coordinate system of the first image capture device, according to true in advance
The fixed corresponding coordinate system of each image capture device and the offset relationship and the first coordinate of the frame of reference, determine transport vehicle in base
Actual physics coordinate in conventional coordinates, according to actual physics coordinate and default terminal point coordinate, controls the traveling side of transport vehicle
To so that transport vehicle is to terminal direction running.Positioning hauling operation of the transport vehicle in space on a large scale is realized, with stronger
Applicability and flexibility, improve automated production efficiency.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is image capture device field range schematic diagram in the embodiment of the present invention；
Fig. 2 is a kind of implementing procedure figure of the method for multi-vision visual positioning collaboration guiding transport vehicle in the embodiment of the present invention；
Fig. 3 is coordinate system relation schematic diagram in the embodiment of the present invention；
Fig. 4 is a kind of structural representation of the device of multi-vision visual positioning collaboration guiding transport vehicle in the embodiment of the present invention.
Specific embodiment
In order that those skilled in the art more fully understand the present invention program, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiment is only a part of embodiment of the invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belongs to the scope of protection of the invention.
A kind of method of multi-vision visual positioning collaboration guiding transport vehicle is the embodiment of the invention provides, the method can be applied
In server.Multiple images collecting device is provided with the range of transport vehicle running space, server is adopted with multiple images respectively
Collection equipment is connected.The total field range of multiple images collecting device is more than or equal to transport vehicle running space scope, two neighboring
The field range of image capture device has intersection, as shown in figure 1, the field range 1 and image capture device of image capture device 1
2 field range 2 has intersection, and the driving path of transport vehicle can be 1-2-3-4-5-6.Transport vehicle body can install six axle tops
Spiral shell instrument perceives two-dimensional attitude.
It is shown in Figure 2, by a kind of side of multi-vision visual positioning collaboration guiding transport vehicle that the embodiment of the present invention is provided
The implementing procedure figure of method, the method may comprise steps of：
S110：In the multiple images for receiving, it is determined that there is the first image of transport vehicle.
Its field range image that first image is collected for the first image capture device in multiple images collecting device.
In actual applications, each image capture device can collect respective field of vision range image.Can set in advance
Determine image acquisition interval, when the image acquisition interval of setting is reached, each image capture device gathers its phase
Field range image is answered, and the duration range image that will be collected is sent to server.Or, can be advanced according to transport vehicle fast
Degree, prediction transport vehicle will enter the field range of which image capture device, control these image capture devices to be in work shape
State, after these image capture devices collect respective field of vision range image, is sent to server.
Server can receive multiple images, in the multiple images for receiving, it may be determined that there is the first of transport vehicle
Image.Its field range image that first image is collected for the first image capture device in multiple images collecting device.
In the embodiment of the present invention, transport vehicle mark in the picture can be monochromatic ball, and such as red list ball improves identification fortune in the picture
The stability of defeated car.
S120：Determine first coordinate of the transport vehicle in corresponding first coordinate system of the first image capture device.
In embodiments of the present invention, each image capture device has corresponding coordinate system, in such as Fig. 3, one of figure
As the corresponding coordinate system of collecting device is with O1It is the cartesian coordinate system of origin, the corresponding coordinate of another image capture device
System is with O2It is the cartesian coordinate system of origin.
In step S110, after determining the first image that there is transport vehicle, can be according to the first image capture device correspondence
The first coordinate system, determine first coordinate of the transport vehicle in the first coordinate system.
S130：Offset relationship according to the corresponding coordinate system of predetermined each image capture device and the frame of reference and
First coordinate, determines actual physics coordinate of the transport vehicle in the frame of reference.
In embodiments of the present invention, an image capture device can be selected from multiple images collecting device, is made
On the basis of image capture device, coordinate system on the basis of its corresponding coordinate system.According to the position relationship of each image capture device, in advance
First determine the offset relationship of the corresponding coordinate system of each image capture device and the frame of reference.
Specifically, can first determine that field range has second image capture device and the 3rd image capture device of intersection
The offset relationship of corresponding coordinate system, then carries out the extension of image capture device again, by the correspondence of image capture device two-by-two
Coordinate system offset relationship, finally give the corresponding coordinate system of each image capture device it is corresponding with the frame of reference close
System.
In a kind of specific embodiment of the invention, can predefine field range by following steps has intersection
The offset relationship of the second image capture device and the corresponding coordinate system of the 3rd image capture device：
Step one：The first mesh is selected in the intersection field range of the second image capture device and the 3rd image capture device
Punctuate and the second impact point；
Step 2：Determine respectively second coordinate of the first object o'clock in the corresponding coordinate system of the second image capture device,
Threeth coordinate, second impact point of the first object o'clock in the corresponding coordinate system of the 3rd image capture device are in the second IMAQ
4-coordinate, the second impact point in the corresponding coordinate system of equipment in the corresponding coordinate system of the 3rd image capture device the 5th
Coordinate；
Step 3：According to the second coordinate, the 3rd coordinate, 4-coordinate and Five Axis, the second image capture device is determined
The offset relationship of corresponding coordinate system coordinate system corresponding with the 3rd image capture device.
For ease of description, above three step is combined and is illustrated.
Second image capture device and the 3rd image capture device are that field range has intersection in multiple images collecting device
Two image capture devices.The respective field of vision model that second image capture device and the 3rd image capture device will can be collected
Enclose image and be sent to server.
Server can select two in the intersection field range of the second image capture device and the 3rd image capture device
It is individual, first object point and the second impact point.A points and B points as shown in Figure 3.
Second coordinate, first object of the first object o'clock in the corresponding coordinate system of the second image capture device are determined respectively
The 3rd coordinate, the second impact point o'clock in the corresponding coordinate system of the 3rd image capture device is in the second image capture device correspondence
Coordinate system in Five Axis in the corresponding coordinate system of the 3rd image capture device of 4-coordinate and the second impact point.
As shown in figure 3, the corresponding coordinate system of the second image capture device is with O1It is the cartesian coordinate system of origin, the 3rd
The corresponding coordinate system of image capture device is with O2It is the cartesian coordinate system of origin, first object point A points are adopted in the second image
The second coordinate in the corresponding coordinate system of collection equipment can be (x1, y1), first object point A points are in the 3rd image capture device pair
The 3rd coordinate in the coordinate system answered can be (u1, v1), the second impact point B points are in the corresponding coordinate of the second image capture device
4-coordinate in system can be (x2, y2), the second impact point B points in the corresponding coordinate system of the 3rd image capture device
Five Axis can be (u2, v2)。
According to the second coordinate, the 3rd coordinate, 4-coordinate and Five Axis, the corresponding seat of the second image capture device is determined
The offset relationship of mark system coordinate system corresponding with the 3rd image capture device.Specifically, according to the second coordinate, the 3rd coordinate,
4-coordinate and Five Axis, determine the corresponding coordinate system of the second image capture device coordinate corresponding with the 3rd image capture device
The slanted angle of system, according to slanted angle, the second coordinate, the 3rd coordinate, 4-coordinate and Five Axis, determines that the second image is adopted
The relative displacement of the corresponding coordinate system of collection equipment coordinate system corresponding with the 3rd image capture device.
As shown in figure 3, interior angle exterior angle and vertical angles relation from triangle, α=β+θ, α and β can by A points and
The coordinate of B points is calculated, and θ is two slanted angles of coordinate system, can be by the 3rd image capture device pair using the angle
The coordinate system correction for direction answered is consistent to coordinate system direction corresponding with the second image capture device.A points are adopted in different images
In the field range of collection equipment, based on the different corresponding coordinate systems of image capture device, with different coordinates, the second coordinate and
3rd coordinate, but A points actual physics coordinate should only one of which, i.e. the second coordinate and the 3rd coordinate mapping actual physics sit
Mark should be consistent.It is overall relative to the corresponding coordinate system of the 3rd image capture device can be calculated using this point
The relative displacement of the corresponding coordinate system of two image capture devices.
Specifically, the corresponding coordinate system of the second image capture device and the 3rd IMAQ can be determined according to below equation
The relative displacement of the corresponding coordinate system of equipment：
Wherein, Δ x is x-axis direction relative displacement, and Δ y is y-axis direction relative displacement, (x1, y1) it is the second coordinate,
(u2, v2) it is Five Axis, θ is slanted angle.
After the coordinate obtained based on the corresponding coordinate system of the 3rd image capture device is corrected by θ, along with side-play amount
Δ x and Δ y, it is possible to obtain the coordinate under the corresponding coordinate system of the second image capture device.
The above-mentioned explanation for mainly being carried out by taking two extensions of image capture device as an example, for multiple images collecting device
Visual field extension it is equally applicable.The corresponding coordinate system of each image capture device and base can be predefined out by described above
The offset relationship of conventional coordinates.
According to the offset relationship of the corresponding coordinate system of predetermined each image capture device and the frame of reference, can be true
Fixed first coordinate system and the offset relationship of the frame of reference, according to the offset relationship and the first coordinate, can obtain transport vehicle and exist
Actual physics coordinate in the frame of reference.
S140：According to actual physics coordinate and default terminal point coordinate, the travel direction of transport vehicle is controlled.
Coordinate on the basis of terminal point coordinate under coordinate system.
After the actual physics coordinate that step S130 determines transport vehicle, can be according to actual physics coordinate and default end
Point coordinates, controls the travel direction of transport vehicle.Actual physics coordinate and terminal point coordinate are all the coordinates under the frame of reference.
In actual applications, actual physics coordinate can be sent to server the controller set on transport vehicle, the control
Device processed passes through internal navigation algorithm, actual physics coordinate and requires the terminal point coordinate of transportation terminal, calculates driving path, and drive
Dynamic transport vehicle is travelled according to the driving path.As actual physics coordinate is sent to transport by server by wireless WiFi LANs
Slave computer ESP8266 serial ports WiFi modules on car.
Or, server can be according to actual physics coordinate and terminal point coordinate, after determining travel direction, by driving instruction
Transport vehicle is sent to, so that transport vehicle is travelled according to the travel direction.
Server can determine the actual physics coordinate of transport vehicle according to setting time interval, control the traveling side of transport vehicle
To until transport vehicle is reached home.
The method provided using the embodiment of the present invention, server is connected with multiple images collecting device respectively, Duo Getu
As the total field range of collecting device is more than or equal to transport vehicle running space scope, the duration of two adjacent images collecting device
Scope has intersection, and server determines there is the first of transport vehicle in the image for receiving the transmission of multiple images collecting device
Image, determines first coordinate of the transport vehicle in corresponding first coordinate system of the first image capture device, according to predetermined
The corresponding coordinate system of each image capture device and the offset relationship and the first coordinate of the frame of reference, determine that transport vehicle is sat in benchmark
Actual physics coordinate in mark system, according to actual physics coordinate and default terminal point coordinate, controls the travel direction of transport vehicle, with
Make transport vehicle to terminal direction running.Positioning hauling operation of the transport vehicle in space on a large scale is realized, is fitted with stronger
With property and flexibility, automated production efficiency is improve.
Corresponding to above method embodiment, the embodiment of the present invention additionally provides a kind of multi-vision visual positioning collaboration guiding fortune
The device of defeated car, is applied to server, and server is connected with multiple images collecting device respectively, and multiple images collecting device is total
Field range is more than or equal to transport vehicle running space scope, and the field range of two adjacent images collecting device has intersection, under
A kind of device of multi-vision visual positioning collaboration guiding transport vehicle of text description is cooperateed with a kind of above-described multi-vision visual positioning
The method of guiding transport vehicle can be mutually to should refer to.
Shown in Figure 4, the device is included with lower module：
First image determining module 210, in the multiple images for receiving, it is determined that there is the first figure of transport vehicle
Picture, its field range image that the first image is collected for the first image capture device in multiple images collecting device；
First coordinate determining module 220, for determining transport vehicle in corresponding first coordinate system of the first image capture device
In the first coordinate；
Actual physics coordinate determining module 230, for according to the corresponding coordinate system of predetermined each image capture device
With the offset relationship and the first coordinate of the frame of reference, actual physics coordinate of the transport vehicle in the frame of reference is determined；
Travel direction control module 240, for according to actual physics coordinate and default terminal point coordinate, controlling transport vehicle
Travel direction, the coordinate on the basis of terminal point coordinate under coordinate system.
The device provided using the embodiment of the present invention, server is connected with multiple images collecting device respectively, Duo Getu
As the total field range of collecting device is more than or equal to transport vehicle running space scope, the duration of two adjacent images collecting device
Scope has intersection, and server determines there is the first of transport vehicle in the image for receiving the transmission of multiple images collecting device
Image, determines first coordinate of the transport vehicle in corresponding first coordinate system of the first image capture device, according to predetermined
The corresponding coordinate system of each image capture device and the offset relationship and the first coordinate of the frame of reference, determine that transport vehicle is sat in benchmark
Actual physics coordinate in mark system, according to actual physics coordinate and default terminal point coordinate, controls the travel direction of transport vehicle, with
Make transport vehicle to terminal direction running.Positioning hauling operation of the transport vehicle in space on a large scale is realized, is fitted with stronger
With property and flexibility, automated production efficiency is improve.
In a kind of specific embodiment of the invention, also including offset relationship determining module, for by following steps
Predetermined field range has the skew of second image capture device and the corresponding coordinate system of the 3rd image capture device of intersection
Relation：
In the intersection field range of the second image capture device and the 3rd image capture device select first object point and
Second impact point；
Second coordinate, first object of the first object o'clock in the corresponding coordinate system of the second image capture device are determined respectively
The 3rd coordinate, the second impact point o'clock in the corresponding coordinate system of the 3rd image capture device is in the second image capture device correspondence
Coordinate system in Five Axis in the corresponding coordinate system of the 3rd image capture device of 4-coordinate, the second impact point；
According to the second coordinate, the 3rd coordinate, 4-coordinate and Five Axis, the corresponding seat of the second image capture device is determined
The offset relationship of mark system coordinate system corresponding with the 3rd image capture device.
In a kind of specific embodiment of the invention, offset relationship determining module, specifically for：
According to the second coordinate, the 3rd coordinate, 4-coordinate and Five Axis, the corresponding seat of the second image capture device is determined
The slanted angle of mark system coordinate system corresponding with the 3rd image capture device；
According to slanted angle, the second coordinate, the 3rd coordinate, 4-coordinate and Five Axis, determine that the second IMAQ sets
The relative displacement of standby corresponding coordinate system coordinate system corresponding with the 3rd image capture device.
In a kind of specific embodiment of the invention, offset relationship determining module, specifically for：
Determine that the corresponding coordinate system of the second image capture device is corresponding with the 3rd image capture device according to below equation
The relative displacement of coordinate system：
Wherein, Δ x is x-axis direction relative displacement, and Δ y is y-axis direction relative displacement, (x1, y1) it is the second coordinate,
(u2, v2) it is Five Axis, θ is slanted angle.
In a kind of specific embodiment of the invention, transport vehicle in the picture be masked as monochromatic ball.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment same or similar part mutually referring to.For being filled disclosed in embodiment
For putting, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is referring to method part
Illustrate.
Professional further appreciates that, with reference to the unit of each example of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, generally describes the composition and step of each example according to function in the above description.These
Function is performed with hardware or software mode actually, depending on the application-specific and design constraint of technical scheme.Specialty
Technical staff can realize described function to each specific application using distinct methods, but this realization should not
Think beyond the scope of this invention.
The step of method or algorithm for being described with reference to the embodiments described herein, directly can be held with hardware, processor
Capable software module, or the two combination is implemented.Software module can be placed in random access memory (RAM), internal memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In field in known any other form of storage medium.
Specific case used herein is set forth to principle of the invention and implementation method, and above example is said
It is bright to be only intended to help and understand technical scheme and its core concept.It should be pointed out that common for the art
For technical staff, under the premise without departing from the principles of the invention, some improvement and modification can also be carried out to the present invention, these
Improve and modification is also fallen into the protection domain of the claims in the present invention.
Claims (10)
1. a kind of method that multi-vision visual positioning collaboration guides transport vehicle, it is characterised in that be applied to server, the server
It is connected with multiple images collecting device respectively, the total field range of multiple images collecting device is run empty more than or equal to transport vehicle
Between scope, the field range of two adjacent images collecting device has intersection, the multi-vision visual positioning collaboration guiding transport vehicle
Method includes：
In the multiple images for receiving, it is determined that there is the first image of the transport vehicle, described first image is multiple images
Its field range image that the first image capture device is collected in collecting device；
Determine first coordinate of the transport vehicle in corresponding first coordinate system of described first image collecting device；
According to the offset relationship and described first of the corresponding coordinate system of predetermined each image capture device and the frame of reference
Coordinate, determines actual physics coordinate of the transport vehicle in the frame of reference；
According to the actual physics coordinate and default terminal point coordinate, the travel direction of the transport vehicle is controlled, the terminal is sat
It is designated as the coordinate under the frame of reference.
2. the method that multi-vision visual positioning collaboration according to claim 1 guides transport vehicle, it is characterised in that by following
Step predefines field range second image capture device and the 3rd image capture device corresponding coordinate system of intersection
Offset relationship：
First object is selected in the intersection field range of second image capture device and the 3rd image capture device
Point and the second impact point；
Second coordinate of the first object point in the corresponding coordinate system of second image capture device, described is determined respectively
Threeth coordinate, second impact point of the first object point in the corresponding coordinate system of the 3rd image capture device are described
4-coordinate, second impact point in the corresponding coordinate system of second image capture device is in the 3rd image capture device
Five Axis in corresponding coordinate system；
According to second coordinate, the 3rd coordinate, the 4-coordinate and the Five Axis, second image is determined
The offset relationship of the corresponding coordinate system of collecting device coordinate system corresponding with the 3rd image capture device.
3. the method that multi-vision visual positioning collaboration according to claim 2 guides transport vehicle, it is characterised in that the basis
Second coordinate, the 3rd coordinate, the 4-coordinate and the Five Axis, determine second image capture device
The offset relationship of corresponding coordinate system coordinate system corresponding with the 3rd image capture device, including：
According to second coordinate, the 3rd coordinate, the 4-coordinate and the Five Axis, second image is determined
The slanted angle of the corresponding coordinate system of collecting device coordinate system corresponding with the 3rd image capture device；
According to the slanted angle, second coordinate, the 3rd coordinate, the 4-coordinate and the Five Axis, really
Determine the relative inclined of the corresponding coordinate system of second image capture device coordinate system corresponding with the 3rd image capture device
Shifting amount.
4. the method that multi-vision visual positioning collaboration according to claim 3 guides transport vehicle, it is characterised in that the basis
The slanted angle, second coordinate, the 3rd coordinate, the 4-coordinate and the Five Axis, determine described
The relative displacement of the corresponding coordinate system of two image capture devices coordinate system corresponding with the 3rd image capture device, bag
Include：
The corresponding coordinate system of second image capture device and the 3rd image capture device pair are determined according to below equation
The relative displacement of the coordinate system answered：
Wherein, Δ x is x-axis direction relative displacement, and Δ y is y-axis direction relative displacement, (x1,y1) it is the second coordinate, (u2,
v2) it is Five Axis, θ is slanted angle.
5. the method that the multi-vision visual positioning collaboration according to any one of Claims 1-4 guides transport vehicle, its feature exists
In, the transport vehicle in the picture be masked as monochromatic ball.
6. a kind of multi-vision visual positioning collaboration guides the device of transport vehicle, it is characterised in that be applied to server, the server
It is connected with multiple images collecting device respectively, the total field range of multiple images collecting device is run empty more than or equal to transport vehicle
Between scope, the field range of two adjacent images collecting device has intersection, the multi-vision visual positioning collaboration guiding transport vehicle dress
Put including：
First image determining module, in the multiple images for receiving, it is determined that there is the first image of the transport vehicle, institute
State its field range image that the first image is collected for the first image capture device in multiple images collecting device；
First coordinate determining module, for determining the transport vehicle in corresponding first coordinate system of described first image collecting device
In the first coordinate；
Actual physics coordinate determining module, for being sat according to the corresponding coordinate system of predetermined each image capture device and benchmark
The offset relationship and first coordinate of system are marked, actual physics coordinate of the transport vehicle in the frame of reference is determined；
Travel direction control module, for according to the actual physics coordinate and default terminal point coordinate, controlling the transport vehicle
Travel direction, the terminal point coordinate is the coordinate under the frame of reference.
7. multi-vision visual positioning collaboration according to claim 6 guides the device of transport vehicle, it is characterised in that also including inclined
Relationship determination module is moved, has second image capture device and the 3rd of intersection for predefining field range by following steps
The offset relationship of the corresponding coordinate system of image capture device：
First object is selected in the intersection field range of second image capture device and the 3rd image capture device
Point and the second impact point；
Second coordinate of the first object point in the corresponding coordinate system of second image capture device, described is determined respectively
Threeth coordinate, second impact point of the first object point in the corresponding coordinate system of the 3rd image capture device are described
4-coordinate, second impact point in the corresponding coordinate system of second image capture device is in the 3rd image capture device
Five Axis in corresponding coordinate system；
According to second coordinate, the 3rd coordinate, the 4-coordinate and the Five Axis, second image is determined
The offset relationship of the corresponding coordinate system of collecting device coordinate system corresponding with the 3rd image capture device.
8. multi-vision visual positioning collaboration according to claim 7 guides the device of transport vehicle, it is characterised in that the skew
Relationship determination module, specifically for：
According to second coordinate, the 3rd coordinate, the 4-coordinate and the Five Axis, second image is determined
The slanted angle of the corresponding coordinate system of collecting device coordinate system corresponding with the 3rd image capture device；
According to the slanted angle, second coordinate, the 3rd coordinate, the 4-coordinate and the Five Axis, really
Determine the relative inclined of the corresponding coordinate system of second image capture device coordinate system corresponding with the 3rd image capture device
Shifting amount.
9. multi-vision visual positioning collaboration according to claim 8 guides the device of transport vehicle, it is characterised in that the skew
Relationship determination module, specifically for：
The corresponding coordinate system of second image capture device and the 3rd image capture device pair are determined according to below equation
The relative displacement of the coordinate system answered：
Wherein, Δ x is x-axis direction relative displacement, and Δ y is y-axis direction relative displacement, (x1,y1) it is the second coordinate, (u2,
v2) it is Five Axis, θ is slanted angle.
10. the multi-vision visual positioning collaboration according to any one of claim 6 to 9 guides the device of transport vehicle, and its feature exists
In, the transport vehicle in the picture be masked as monochromatic ball.
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