CN110796023B - Recognition method for parking state wheel positions in interaction area of AGV intelligent parking system - Google Patents

Recognition method for parking state wheel positions in interaction area of AGV intelligent parking system Download PDF

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CN110796023B
CN110796023B CN201910955512.6A CN201910955512A CN110796023B CN 110796023 B CN110796023 B CN 110796023B CN 201910955512 A CN201910955512 A CN 201910955512A CN 110796023 B CN110796023 B CN 110796023B
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杜启亮
朱伟枝
向照夷
田联房
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South China University of Technology SCUT
Zhuhai Institute of Modern Industrial Innovation of South China University of Technology
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Zhuhai Institute of Modern Industrial Innovation of South China University of Technology
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Abstract

The invention discloses a method for identifying the wheel position of a parking state in an interactive area of an AGV intelligent parking system, which comprises the steps of collecting images by a main camera at an overlooking angle right above the interactive area of the intelligent parking system, accurately identifying a vehicle target, extracting and analyzing vehicle body position information when the vehicle target is in a parking state, and solving the position of a wheel in the overlooking image collected by the main camera by combining with wheel related information extracted from a vehicle side image collected by an auxiliary camera, thereby providing effective information for an automatic parking robot to carry the vehicle, and effectively improving the intelligent level of the management of the AGV parking system.

Description

Recognition method for parking state wheel positions in interaction area of AGV intelligent parking system
Technical Field
The invention relates to the technical field of intelligent parking system design and management, in particular to a method for identifying parking state wheel positions in an interactive area of an AGV intelligent parking system.
Background
At present, with the rapid increase of the number of motor vehicles kept in China, the problem of difficult parking is increasingly highlighted. The AGV intelligent parking system can effectively solve the problem of difficulty in parking, the parking robot automatically moves forwards, backwards and turns according to actual conditions, wheels are clamped through a mechanical device after the parking robot enters the bottom of a vehicle, then the vehicle is jacked up, and the vehicle is transported to an appointed parking space according to positioning navigation. However, the parking states of the interactive area of the system are various, and after the parking robot drills into the bottom of the vehicle, the wheel positions need to be recognized to jack up the vehicle. If the parking robot does not have the position information of the wheels before, the wheels are difficult to be quickly clamped by a mechanical device only by a sensor arranged on the parking robot, and the working efficiency of the system is influenced.
Therefore, the invention hopes to extract the accurate positions of the vehicle wheels in the interactive area by designing the recognition method of the parking state wheel positions in the interactive area of the AGV intelligent parking system, and provide effective information for the automatic parking robot to carry the vehicle.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art, and provides a method for identifying the wheel position of a parking state in an interactive area of an AGV intelligent parking system, which has the characteristics of simple structure, convenience in use, low cost and the like.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: the method for identifying the parking state wheel position of the AGV intelligent parking system interaction area comprises the following steps:
1) acquiring video information containing a complete vehicle body side image through an auxiliary camera, transmitting the video information to a computer, and further preprocessing a video frame through the computer;
2) preprocessing a video frame by a computer in the step 1), and extracting the wheel outline and the minimum external rectangle of the vehicle body of the vehicle in a side view by adopting a feature extraction method, so as to obtain the central coordinates and the wheel diameters of the front wheel and the rear wheel in the side view; the total length of the vehicle body in the side view is obtained through a distance formula between two points, the distances from the centers of the front and rear wheels to a front bumper of the vehicle respectively in the side view are obtained through a distance formula from the points to a straight line, the ratio of the distance from the centers of the front and rear wheels to the front bumper of the vehicle respectively in the side view to the total length of the vehicle body in the side view is further obtained, and the ratio of the diameter of the vehicle wheel in the side view to the total length of the vehicle body in the side view is obtained; adopting a pixel coordinate system as a common coordinate system where all coordinate values in the image are located, wherein the origin of the pixel coordinate system is at the upper left corner of the image, the horizontal direction is the x axis, the horizontal coordinate value is increased to the right, the longitudinal direction is the y axis, and the vertical coordinate value is increased to the lower side;
3) acquiring video information containing a complete interaction area of the AGV intelligent parking system through a main camera arranged right above the interaction area of the AGV intelligent parking system, transmitting the video information to a computer, and further preprocessing a video frame through the computer;
4) preprocessing the video frame by the computer in the step 3), and then acquiring a foreground image of the vehicle under the top view by adopting a moving target detection algorithm, so as to obtain a minimum circumscribed rectangle of the vehicle body under the top view; under the parking state, the center coordinates of the front wheel and the rear wheel under the top view are calculated by utilizing the coordinates of four vertexes of the minimum circumscribed rectangle of the vehicle body under the top view and the ratio of the distance from the center of the front wheel and the center of the rear wheel under the side view to a front bumper of the vehicle obtained in the step 2) to the total length of the vehicle body under the side view; adopting a pixel coordinate system as a common coordinate system where all coordinate values in the image are located, wherein the origin of the pixel coordinate system is at the upper left corner of the image, the horizontal direction is the x axis, the horizontal coordinate value is increased to the right, the longitudinal direction is the y axis, and the vertical coordinate value is increased to the lower side;
5) and (3) calculating the total length of the vehicle body in the top view by using the coordinates of four vertexes of the minimum circumscribed rectangle of the vehicle body in the top view, and calculating the diameter of the vehicle wheel in the top view by combining the ratio of the diameter of the vehicle wheel in the side view obtained in the step 2) to the total length of the vehicle body in the side view.
In step 1), the auxiliary camera is arranged in any area of the whole AGV intelligent parking system, wherein the area can collect video information containing complete images of the side faces of the vehicle body, and the vehicle information collected by the auxiliary camera is required to be in one-to-one correlation with the information collected by the main camera.
In the step 2), the wheel outline and the minimum external rectangle of the vehicle body of the vehicle in the side view are extracted by adopting a characteristic extraction method, so that the central coordinates PWF (x) of the front wheel and the rear wheel in the side view are obtainedPWF,yPWF)、PWB(xPWB,yPWB) And wheel diameter D in side viewCAnd four vertex coordinates of a minimum bounding rectangle of the vehicle body in the side view, wherein the vertex with the maximum longitudinal coordinate value is defined as PC0 (x)PC0,yPC0) If the ordinate values of the two vertexes are the maximum, the vertex having the maximum ordinate value and the minimum abscissa value is defined as PC0 (x)PC0,yPC0) And the remaining three vertices are PC0 (x)PC0,yPC0) As a starting point, sequentially defined as PC1 (x) in clockwise orderPC1,yPC1)、PC2(xPC2,yPC2)、PC3(xPC3,yPC3)；
According to the distance formula between two points, the vertex coordinate PC0 (x) of the minimum bounding rectangle of the car body in the side view is utilizedPC0,yPC0)、PC1(xPC1,yPC1) Determining the total length L of the vehicle body in the side viewCComprises the following steps:
Figure BDA0002227150510000031
according to the distance formula from the point to the straight line, the central coordinates PWF (x) of the front wheel and the rear wheel in the side view are utilizedPWF,yPWF)、PWB(xPWB,yPWB) The vertex coordinates PC0 (x) of the minimum bounding rectangle of the vehicle body in the side viewPC0,yPC0)、PC3(xPC3,yPC3) Determining the distance L from the center of the front and rear wheels to the front bumper of the vehicle in the side viewF、LBComprises the following steps:
Figure BDA0002227150510000041
by means of LC、LF、LBThe Ratio of the distance from the center of the front wheel to the front bumper of the vehicle to the center of the rear wheel to the total length of the vehicle body in the side view is calculatedF、RatioBComprises the following steps:
Figure BDA0002227150510000042
by means of LC、DCAnd determining the Ratio of the diameter of the wheel under the side view to the total length of the vehicle body under the side viewWComprises the following steps:
RatioW＝DCLC。
in the step 3), the main camera is installed right above the interaction area of the AGV intelligent parking system, collects video information containing the complete interaction area of the AGV intelligent parking system from a overlooking angle, and transmits the video information to the computer.
In the step 4), under the pixel coordinate system, the x axis rotates anticlockwise, and the first side of the minimum circumscribed rectangle of the vehicle body under the first encountering plan view is defined as LHThe other with LHThe mutually perpendicular sides are defined as LWDefining θ as x-axis and LHThe value range of theta is [0 degrees and 90 degrees ]; in the parking state, the vehicle body is divided into three states of left deviation, right deviation and body straightening according to different angles of the vehicle body; when L isH＞LWWhen the vehicle body deviates to the right; when L isH＜LWIn time, two cases are distinguished: when theta is larger than 0 DEG, the vehicle body deviates to the left, and when theta is equal to 0 DEG, the vehicle body is straight; among the four vertex coordinates of the minimum circumscribed rectangle of the vehicle body in the plan view, the vertex with the largest ordinate value is defined as P0 (x)P0,yP0) If the ordinate values of the two vertexes are maximum, the vertex having the maximum ordinate value and the minimum abscissa value is defined as P0 (x)P0,yP0) And the other three vertexes are represented by P0 (x)P0,yP0) As a starting point, sequentially defined as P1 (x) in clockwise orderP1,yP1)、P2(xP2,yP2)、P3(xP3,yP3)；
When the vehicle is in a left inclined state and a right straight state, the center coordinates of a left front wheel, a right front wheel, a left rear wheel and a right rear wheel of the vehicle are respectively PW3 (x)PW3,yPW3)、PW0(xPW0,yPW0)、PW2(xPW2,yPW2)、PW1(xPW1,yPW1) (ii) a Using the coordinates P0 (x) of four vertexes of the minimum bounding rectangle of the car body in the top viewP0,yP0)、P1(xP1,yP1)、P2(xP2,yP2)、P3(xP3,yP3) And the Ratio of the distance from the center of the front wheel to the front bumper of the vehicle to the center of the rear wheel to the total length of the vehicle body in the side view obtained in the step 2) isF、RatioBAnd calculating the center coordinates of the front wheel and the rear wheel under the plan view as follows:
Figure BDA0002227150510000051
when the vehicle is in a right-leaning state, the center coordinates of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the wheels are respectively PW0 (x)PW0,yPW0)、PW1(xPW1,yPW1)、PW3(xPW3,yPW3)、PW2(xPW2,yPW2) (ii) a Using the coordinates P0 (x) of four vertexes of the minimum bounding rectangle of the car body in the top viewP0,yP0)、P1(xP1,yP1)、P2(xP2,yP2)、P3(xP3,yP3) And the Ratio of the distance from the center of the front wheel to the front bumper of the vehicle to the center of the rear wheel to the total length of the vehicle body in the side view obtained in the step 2) isF、RatioBAnd calculating the center coordinates of the front wheel and the rear wheel under the plan view as follows:
Figure BDA0002227150510000052
in step 5), under the pixel coordinate system,the x axis rotates anticlockwise, and the first side of the minimum circumscribed rectangle of the vehicle body under the first encountering plan view is defined as LHThe other with LHThe mutually perpendicular sides are defined as LWDefining θ as x-axis and LHThe value range of theta is [0 degrees and 90 degrees ]; in the parking state, the vehicle body is divided into three states of left deviation, right deviation and body straightening according to different angles of the vehicle body; when L isH＞LWWhen the vehicle body deviates to the right; when L isH＜LWIn time, two cases are distinguished: when theta is larger than 0 DEG, the vehicle body deviates to the left, and when theta is equal to 0 DEG, the vehicle body is straight; among the four vertex coordinates of the minimum circumscribed rectangle of the vehicle body in the plan view, the vertex with the largest ordinate value is defined as P0 (x)P0,yP0) If the ordinate values of the two vertexes are maximum, the vertex having the maximum ordinate value and the minimum abscissa value is defined as P0 (x)P0,yP0) And the other three vertexes are represented by P0 (x)P0,yP0) As a starting point, sequentially defined as P1 (x) in clockwise orderP1,yP1)、P2(xP2,yP2)、P3(xP3,yP3)；
When the vehicle is in a state that the vehicle body is deviated from the left and the vehicle body is straight, according to a distance formula between two points, the vertex coordinate P0 (x) of the minimum circumscribed rectangle of the vehicle body in the plan view is utilizedP0,yP0)、P1(xP1,yP1) Calculating the total length L of the vehicle body in plan viewDComprises the following steps:
Figure BDA0002227150510000061
when the vehicle is in a right-leaning state, according to a distance formula between two points, the vertex coordinate P1 (x) of the minimum circumscribed rectangle of the vehicle body in a plan view is utilizedP1,yP1)、P2(xP2,yP2) Calculating the total length L of the vehicle body in plan viewDComprises the following steps:
Figure BDA0002227150510000062
the Ratio of the wheel diameter under the side view and the total length of the vehicle body under the side view, which is obtained in the step 2), is reusedWDetermining the wheel diameter D in plan viewDComprises the following steps:
DD＝RatioW·LD。
compared with the prior art, the invention has the following advantages and beneficial effects:
1. the specific positions of the vehicle wheels in the parking interaction area of the AGV intelligent parking system are identified and extracted, effective information is provided for the automatic parking robot to carry the vehicle, and the working efficiency of the system is improved.
2. And effective information is provided for the design and management of the intelligent parking system.
3. And information fusion is carried out with the prior art, so that the identification accuracy is improved.
4. The detection algorithm is simple and accurate, has good real-time performance and is suitable for general application.
Drawings
Fig. 1 is a schematic layout of two main and auxiliary cameras according to the present invention.
Fig. 2 is a schematic side view of the wheel and body contour extraction of the present invention.
Fig. 3 is a schematic side view of the present invention.
Fig. 4 is a schematic diagram showing three states of the vehicle parking in a plan view according to the present invention.
Fig. 5 is a schematic diagram of wheel position information corresponding to a left offset of a vehicle body according to the present invention.
Fig. 6 is a schematic diagram of wheel position information corresponding to a right-hand yaw of a vehicle body according to the present invention.
Detailed Description
The following is a further description with reference to specific examples.
The method for identifying the parking state wheel position of the interactive area of the AGV intelligent parking system comprises the following steps:
step 1: referring to fig. 1, video information including a complete vehicle body side image is acquired by an auxiliary camera, and transmitted to a computer, and then a video frame is preprocessed by the computer. The auxiliary camera is arranged in any area of the whole AGV intelligent parking system, wherein the area can collect video information containing complete vehicle body side images. The vehicle information collected by the auxiliary camera must be associated with the information of the main camera one by one. The invention is explained by taking the side arranged in the interactive area of the AGV intelligent parking system as an example.
Step 2: the wheel contour and the minimum bounding rectangle of the vehicle body of the vehicle in the side view are extracted by adopting a feature extraction method, as shown in fig. 2, the wheel contour and the minimum bounding rectangle of the vehicle body of the vehicle in the side view are extracted by adopting the feature extraction method, and thus the central coordinates PWF (x) of the front wheel and the rear wheel in the side view are obtainedPWF,yPWF)、PWB(xPWB,yPWB) And wheel diameter D in side viewCAnd four vertex coordinates of a minimum bounding rectangle of the vehicle body in the side view, wherein the vertex with the maximum longitudinal coordinate value is defined as PC0 (x)PC0,yPC0) If the ordinate values of the two vertexes are the maximum, the vertex having the maximum ordinate value and the minimum abscissa value is defined as PC0 (x)PC0,yPC0) And the remaining three vertices are PC0 (x)PC0,yPC0) As a starting point, sequentially defined as PC1 (x) in clockwise orderPC1,yPC1)、PC2(xPC2,yPC2)、PC3(xPC3,yPC3) Referring to fig. 3, the side view is shown in fig. 3, wherein a pixel coordinate system is used as a common coordinate system where all coordinate values in the image are located, the origin of the pixel coordinate system is located at the upper left corner of the image, the horizontal direction is the x axis, the horizontal coordinate value increases progressively to the right, the vertical direction is the y axis, and the vertical coordinate value increases progressively downward.
According to the distance formula between two points, the vertex coordinate PC0 (x) of the minimum bounding rectangle of the car body in the side view is utilizedPC0,yPC0)、PC1(xPC1,yPC1) Determining the total length L of the vehicle body in the side viewCComprises the following steps:
Figure BDA0002227150510000081
according to the distance formula from point to straight line, the utilization sideCenter coordinates PWF (x) of front and rear wheels under viewPWF,yPWF)、PWB(xPWB,yPWB) The vertex coordinates PC0 (x) of the minimum bounding rectangle of the vehicle body in the side viewPC0,yPC0)、PC3(xPC3,yPC3) Determining the distance L from the center of the front and rear wheels to the front bumper of the vehicle in the side viewF、LBComprises the following steps:
Figure BDA0002227150510000082
by means of LC、LF、LBThe Ratio of the distance from the center of the front wheel to the front bumper of the vehicle to the center of the rear wheel to the total length of the vehicle body in the side view is calculatedF、RatioBComprises the following steps:
Figure BDA0002227150510000083
by means of LC、DCAnd determining the Ratio of the diameter of the wheel under the side view to the total length of the vehicle body under the side viewWComprises the following steps:
RatioW＝DCLC。
and step 3: referring to fig. 1, video information including a complete interactive area of the AGV intelligent parking system is collected by a main camera disposed right above the interactive area of the AGV intelligent parking system, and the video information is transmitted to a computer, so that a video frame is preprocessed by the computer. The image preprocessing method includes image graying, histogram equalization processing, and the like.
And 4, step 4: extracting the background of the image through Gaussian mixture modeling, separating a vehicle foreground image under the top view by adopting a background difference method, and performing morphological processing, shadow detection and elimination on the vehicle foreground image to obtain the minimum external rectangle of the vehicle body under the top view.
Under a pixel coordinate system, the x axis rotates anticlockwise, and a first side of a minimum circumscribed rectangle of the car body under the condition of first encountering a top view is defined as LHThe other with LHThe mutually perpendicular sides are defined as LWDefining θ as x-axis and LHThe value range of theta is [0 degrees and 90 degrees ]; referring to fig. 4, in the parking state, the vehicle body is divided into three states of left-side vehicle body deviation, right-side vehicle body deviation and right-side vehicle body straightening according to different angles of the vehicle body; when L isH＞LWWhen the vehicle body deviates to the right; when L isH＜LWIn time, two cases are distinguished: when theta is larger than 0 DEG, the vehicle body deviates to the left, and when theta is equal to 0 DEG, the vehicle body is straight; among the four vertex coordinates of the minimum circumscribed rectangle of the vehicle body in the plan view, the vertex with the largest ordinate value is defined as P0 (x)P0,yP0) If the ordinate values of the two vertexes are maximum, the vertex having the maximum ordinate value and the minimum abscissa value is defined as P0 (x)P0,yP0) And the other three vertexes are represented by P0 (x)P0,yP0) As a starting point, sequentially defined as P1 (x) in clockwise orderP1,yP1)、P2(xP2,yP2)、P3(xP3,yP3). In addition, when the vehicle body is in a straight state, the four vertexes corresponding to the minimum circumscribed rectangle of the vehicle body are the same as the left-side time of the vehicle body, so that the straight state of the vehicle body is the same as the left-side time of the vehicle body.
When the vehicle is in a vehicle body left-offset state, referring to fig. 5, the center coordinates of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the vehicle are PW3 (x)PW3,yPW3)、PW0(xPW0,yPW0)、PW2(xPW2,yPW2)、PW1(xPW1,yPW1) (ii) a Using the coordinates P0 (x) of four vertexes of the minimum bounding rectangle of the car body in the top viewP0,yP0)、P1(xP1,yP1)、P2(xP2,yP2)、P3(xP3,yP3) And the Ratio of the distance from the center of the front wheel to the front bumper of the vehicle to the center of the rear wheel to the total length of the vehicle body in the side view obtained in the step 2) isF、RatioBAnd calculating the center coordinates of the front wheel and the rear wheel under the plan view as follows:
Figure BDA0002227150510000101
when the vehicle is in a state of right-leaning of the vehicle body, referring to fig. 6, the center coordinates of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the wheels are respectively PW0 (x)PW0,yPW0)、PW1(xPW1,yPW1)、PW3(xPW3,yPW3)、PW2(xPW2,yPW2) (ii) a Using the coordinates P0 (x) of four vertexes of the minimum bounding rectangle of the car body in the top viewP0,yP0)、P1(xP1,yP1)、P2(xP2,yP2)、P3(xP3,yP3) And the Ratio of the distance from the center of the front wheel to the front bumper of the vehicle to the center of the rear wheel to the total length of the vehicle body in the side view obtained in the step 2) isF、RatioBAnd calculating the center coordinates of the front wheel and the rear wheel under the plan view as follows:
Figure BDA0002227150510000102
and 5: when the vehicle is in the left-hand position, the vertex coordinate P0 (x) of the minimum bounding rectangle of the vehicle body in the plan view obtained in the step 4 is used according to the distance formula between the two pointsP0,yP0)、P1(xP1,yP1) Calculating the total length L of the vehicle body in plan viewDComprises the following steps:
Figure BDA0002227150510000103
when the vehicle is in a state of right-hand body deviation, the vertex coordinate P1 (x) of the minimum bounding rectangle of the vehicle body in the plan view obtained in the step 4 is used according to the distance formula between the two pointsP1,yP1)、P2(xP2,yP2) Calculating the total length L of the vehicle body in plan viewDComprises the following steps:
Figure BDA0002227150510000111
the Ratio of the diameter of the wheel in the side view to the total length of the vehicle body in the side view, which is obtained in the step 2, is usedWDetermining the wheel diameter D in plan viewDComprises the following steps:
DD＝RatioW·LD
the above-mentioned embodiments are merely preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that the changes in the shape and principle of the present invention should be covered within the protection scope of the present invention.

Claims (5)

1.AGV智能泊车系统交互区停车状态车轮位置的识别方法，其特征在于，包括以下步骤：1. The identification method of the wheel position in the parking state in the interactive area of the AGV intelligent parking system is characterized in that, comprising the following steps: 1)通过辅助摄像机采集包含完整的车辆车身侧面图像的视频信息，并将视频信息传输给计算机，进而通过计算机对视频帧进行预处理；1) Collect the video information including the complete vehicle body side image through the auxiliary camera, and transmit the video information to the computer, and then preprocess the video frame by the computer; 2)通过步骤1)中计算机对视频帧进行预处理后，再采用特征提取方法提取出侧视图下车辆的车轮轮廓和车身最小外接矩形，从而获取到侧视图下前、后车轮的中心坐标和车轮直径；通过两点间距离公式求出侧视图下车身总长度，通过点到直线的距离公式求出侧视图下前、后车轮的中心分别到车辆前保险杠的距离，进而求出侧视图下前、后车轮的中心分别到车辆前保险杠的距离与侧视图下车身总长度的比率，求出侧视图下车轮直径与侧视图下车身总长度的比率；采用像素坐标系作为图像中所有坐标值所在的共同坐标系，像素坐标系原点在图像左上角，横向为x轴，横坐标值向右递增，纵向为y轴，纵坐标值向下递增；2) After the video frame is preprocessed by the computer in step 1), the feature extraction method is used to extract the wheel contour of the vehicle under the side view and the minimum circumscribed rectangle of the body, so as to obtain the center coordinates and the center coordinates of the front and rear wheels under the side view. Wheel diameter; the total length of the vehicle body in the side view is obtained by the distance formula between two points, and the distance from the center of the front and rear wheels in the side view to the front bumper of the vehicle is obtained by the distance formula from the point to the straight line, and then the side view is obtained. The ratio of the distance from the center of the lower front and rear wheels to the front bumper of the vehicle to the total length of the vehicle in side view, and the ratio of the diameter of the wheel in side view to the total length of the vehicle in side view is obtained; the pixel coordinate system is used as all The common coordinate system where the coordinate values are located, the origin of the pixel coordinate system is in the upper left corner of the image, the horizontal axis is the x-axis, the abscissa value increases to the right, the vertical axis is the y-axis, and the ordinate value increases downward; 3)通过设置于AGV智能泊车系统交互区正上方的主摄像机采集包含完整的AGV智能泊车系统交互区的视频信息，并将视频信息传输给计算机，进而通过计算机对视频帧进行预处理；3) Collect the video information including the complete AGV intelligent parking system interaction area through the main camera set directly above the AGV intelligent parking system interaction area, and transmit the video information to the computer, and then preprocess the video frame by the computer; 4)通过步骤3)中计算机对视频帧进行预处理后，再采用运动目标检测算法获取俯视图下车辆前景图像，进而得到俯视图下车身最小外接矩形；停车状态下，利用俯视图下车身最小外接矩形的四个顶点坐标，以及步骤2)得到的侧视图下前、后车轮的中心分别到车辆前保险杠的距离与侧视图下车身总长度的比率，求出俯视图下前、后车轮的中心坐标；采用像素坐标系作为图像中所有坐标值所在的共同坐标系，像素坐标系原点在图像左上角，横向为x轴，横坐标值向右递增，纵向为y轴，纵坐标值向下递增；4) After the video frame is preprocessed by the computer in step 3), the moving target detection algorithm is used to obtain the foreground image of the vehicle in the top view, and then the minimum circumscribed rectangle of the body in the top view is obtained; in the parking state, the minimum circumscribed rectangle of the body in the top view is used. The coordinates of the four vertices, and the ratio of the distance from the center of the front and rear wheels under the side view obtained in step 2) to the front bumper of the vehicle and the total length of the vehicle body under the side view, respectively, obtain the center coordinates of the front and rear wheels under the top view; The pixel coordinate system is used as the common coordinate system for all coordinate values in the image. The origin of the pixel coordinate system is in the upper left corner of the image, the horizontal axis is the x-axis, the abscissa value increases to the right, the vertical axis is the y-axis, and the vertical coordinate value increases downward; 5)利用俯视图下车身最小外接矩形的四个顶点坐标，求出俯视图下车身总长度，再结合步骤2)得到的侧视图下车轮直径与侧视图下车身总长度的比率，求出俯视图下车轮直径，具体如下：5) Use the coordinates of the four vertices of the minimum circumscribed rectangle of the body in the top view to obtain the total length of the body in the top view, and then combine the ratio of the diameter of the wheel in the side view to the total length of the body in the side view obtained in step 2) to obtain the wheel in the top view. diameter, as follows: 在像素坐标系下，x轴按逆时针旋转，首先遇到俯视图下车身最小外接矩形的第一条边定义为LH，另一条与LH相互垂直的边定义为LW，定义θ为x轴与LH边的夹角，θ的取值范围为[0°，90°)；停车状态下，根据车身不同的角度分为车身左偏、车身右偏、车身正直三种状态；当LH＞LW时，车身右偏；当LH＜LW时，分两种情况：θ＞0°时，车身左偏，θ＝0°时，车身正直；俯视图下车身最小外接矩形的四个顶点坐标中，取纵坐标值最大的顶点定义为P0(xP0，yP0)，如果存在两个顶点的纵坐标值为最大的情况下，取纵坐标值最大且横坐标值最小的顶点定义为P0(xP0，yP0)，其余三个顶点以P0(xP0，yP0)为起点，按顺时针排序依次定义为P1(xP1，yP1)、P2(xP2，yP2)、P3(xP3，yP3)；In the pixel coordinate system, the x-axis rotates counterclockwise. First, the first side of the smallest circumscribed rectangle of the vehicle body in the top view is defined as L H , the other side perpendicular to L H is defined as L W , and θ is defined as x The angle between the axis and the L/ H side, the value range of θ is [0°, 90°); in the parking state, according to the different angles of the body, it is divided into three states: left deviation of the body, right deviation of the body, and uprightness of the body; when L When H > L W , the body is deviated to the right; when L H < L W , there are two cases: when θ > 0°, the body is deviated to the left; when θ = 0°, the body is straight; Among the coordinates of the vertices, the vertex with the largest ordinate value is defined as P0 (x P0 , y P0 ). If there are two vertices with the largest ordinate value, the vertex with the largest ordinate value and the smallest abscissa value is selected. Defined as P0(x P0 , y P0 ), the remaining three vertices take P0(x P0 , y P0 ) as the starting point, and are defined as P1(x P1 , y P1 ), P2(x P2 , y P2 ) in clockwise order ), P3(x P3 , y P3 ); 当车辆处于车身左偏和车身正直状态时，根据两点间的距离公式，利用俯视图下车身最小外接矩形的顶点坐标P0(xP0，yP0)、P1(xP1，yP1)，求出俯视图下车身总长度LD为：When the vehicle is in the left-biased and upright state of the vehicle body, according to the distance formula between the two points, using the vertex coordinates P0(x P0 , y P0 ) and P1 (x P1 , y P1 ) of the smallest circumscribed rectangle of the vehicle body in the top view, find out The total length L D of the vehicle body under the top view is:
Figure FDA0003411604170000021
Figure FDA0003411604170000021
 当车辆处于车身右偏状态时，根据两点间的距离公式，利用俯视图下车身最小外接矩形的顶点坐标P1(xP1，yP1)、P2(xP2，yP2)，求出俯视图下车身总长度LD为：When the vehicle is in the right-biased state of the body, according to the distance formula between the two points, using the vertex coordinates P1(x P1 , y P1 ) and P2 (x P2 , y P2 ) of the minimum circumscribed rectangle of the body in the top view, the body in the top view is obtained The total length L D is:
Figure FDA0003411604170000022
Figure FDA0003411604170000022
 再利用步骤2)求出的侧视图下车轮直径与侧视图下车身总长度的比率RatioW，求出俯视图下车轮直径DD为：Then, using the ratio Ratio W of the wheel diameter in the side view and the total length of the vehicle body in the side view obtained in step 2), the wheel diameter D D in the top view is obtained as: DD＝RatioW·LD。D D =Ratio W ·L D . 2.根据权利要求1所述的AGV智能泊车系统交互区停车状态车轮位置的识别方法，其特征在于：在步骤1)中，所述辅助摄像机布置在整个AGV智能泊车系统中能够采集包含完整的车辆车身侧面图像的视频信息的任何区域，且辅助摄像机采集到的车辆信息必须与主摄像机采集到的信息一一关联。2. The method for recognizing the position of the wheels in the parking state in the interactive area of the AGV intelligent parking system according to claim 1, wherein in step 1), the auxiliary camera is arranged in the entire AGV intelligent parking system and can collect information including: Any area of the video information of the complete vehicle body side image, and the vehicle information collected by the auxiliary camera must be associated with the information collected by the main camera. 3.根据权利要求1所述的AGV智能泊车系统交互区停车状态车轮位置的识别方法，其特征在于：在步骤2)中，采用特征提取方法提取出侧视图下车辆的车轮轮廓和车身最小外接矩形，从而获取到侧视图下前、后车轮的中心坐标PWF(xPWF，yPWF)、PWB(xPWB，yPWB)和侧视图下车轮直径DC，侧视图下车身最小外接矩形的四个顶点坐标，其中，取纵坐标值最大的顶点定义为PC0(xPC0，yPC0)，如果存在两个顶点的纵坐标值为最大的情况下，取纵坐标值最大且横坐标值最小的顶点定义为PC0(xPC0，yPC0)，其余三个顶点以PC0(xPC0，yPC0)为起点，按顺时针排序依次定义为PC1(xPC1，yPC1)、PC2(xPC2，yPC2)、PC3(xPC3，yPC3)；3. The method for recognizing the position of the wheel in the parking state in the interactive area of the AGV intelligent parking system according to claim 1, is characterized in that: in step 2), a feature extraction method is used to extract the wheel profile and the minimum body of the vehicle under the side view. Circumscribed rectangle to obtain the center coordinates PWF(x PWF , y PWF ), PWB(x PWB , y PWB ) of the front and rear wheels in the side view, and the wheel diameter D C in the side view, and the minimum circumscribed rectangle of the vehicle body in the side view Four vertex coordinates, among which, the vertex with the largest ordinate value is defined as PC0 (x PC0 , y PC0 ). If there are two vertices with the largest ordinate value, take the largest ordinate value and the smallest abscissa value. The vertex is defined as PC0 (x PC0 , y PC0 ), and the other three vertices take PC0 (x PC0 , y PC0 ) as the starting point, and are defined in clockwise order as PC1 (x PC1 , y PC1 ), PC2 (x PC2 , y PC2 ), PC3 (x PC3 , y PC3 ); 根据两点间距离公式，利用侧视图下车身最小外接矩形的顶点坐标PC0(xPC0，yPC0)、PC1(xPC1，yPC1)，求出侧视图下车身总长度LC为：According to the distance formula between the two points, using the vertex coordinates PC0 (x PC0 , y PC0 ) and PC1 (x PC1 , y PC1 ) of the smallest circumscribed rectangle of the body in the side view, the total length of the body in the side view L C is obtained as:
Figure FDA0003411604170000031
Figure FDA0003411604170000031
 根据点到直线的距离公式，利用侧视图下前、后车轮的中心坐标PWF(xPWF，yPWF)、PWB(xPWB，yPWB)，侧视图下车身最小外接矩形的顶点坐标PC0(xPC0，yPC0)、PC3(xPC3，yPC3)，求出侧视图下前、后车轮的中心分别到车辆前保险杠的距离LF、LB为：According to the distance formula from point to line, use the center coordinates PWF(x PWF , y PWF ) and PWB(x PWB , y PWB ) of the front and rear wheels in the side view, and the vertex coordinates PC0(x PC0 , y PC0 ), PC3 (x PC3 , y PC3 ), the distances LF and LB from the center of the front and rear wheels to the front bumper of the vehicle in the side view are obtained as:
Figure FDA0003411604170000032
Figure FDA0003411604170000032
 利用LC、LF、LB，求出侧视图下前、后车轮的中心分别到车辆前保险杠的距离与侧视图下车身总长度的比率RatioF、RatioB为：Using L C , L F , and L B , the ratios Ratio F and Ratio B of the distance from the center of the front and rear wheels to the front bumper of the vehicle in the side view and the total length of the vehicle body in the side view are calculated as:
Figure FDA0003411604170000041
Figure FDA0003411604170000041
 利用LC、DC，求出侧视图下车轮直径与侧视图下车身总长度的比率RatioW为：Using L C , D C , find the ratio Ratio W of the wheel diameter in the side view to the total length of the body in the side view as: RatioW＝DC/LC。Ratio W =D C /L C . 4.根据权利要求1所述的AGV智能泊车系统交互区停车状态车轮位置的识别方法，其特征在于：在步骤3)中，所述主摄像机安装在AGV智能泊车系统交互区正上方，以俯视角度采集包含完整的AGV智能泊车系统交互区的视频信息，并将视频信息传输给计算机。4. The method for recognizing the wheel position in the parking state in the interactive area of the AGV intelligent parking system according to claim 1, wherein in step 3), the main camera is installed just above the interactive area of the AGV intelligent parking system, Collect video information including the interaction area of the complete AGV intelligent parking system from an overhead angle, and transmit the video information to the computer. 5.根据权利要求1所述的AGV智能泊车系统交互区停车状态车轮位置的识别方法，其特征在于：在步骤4)中，在像素坐标系下，x轴按逆时针旋转，首先遇到俯视图下车身最小外接矩形的第一条边定义为LH，另一条与LH相互垂直的边定义为LW，定义θ为x轴与LH边的夹角，θ的取值范围为[0°，90°)；停车状态下，根据车身不同的角度分为车身左偏、车身右偏、车身正直三种状态；当LH＞LW时，车身右偏；当LH＜LW时，分两种情况：θ＞0°时，车身左偏，θ＝0°时，车身正直；俯视图下车身最小外接矩形的四个顶点坐标中，取纵坐标值最大的顶点定义为P0(xP0，yP0)，如果存在两个顶点的纵坐标值为最大的情况下，取纵坐标值最大且横坐标值最小的顶点定义为P0(xP0，yP0)，其余三个顶点以P0(xP0，yP0)为起点，按顺时针排序依次定义为P1(xP1，yP1)、P2(xP2，yP2)、P3(xP3，yP3)；5. The method for recognizing the position of the wheel in the parking state in the interactive area of the AGV intelligent parking system according to claim 1, is characterized in that: in step 4), in the pixel coordinate system, the x-axis rotates counterclockwise, and first encounters The first side of the minimum circumscribed rectangle of the vehicle body in the top view is defined as L H , the other side perpendicular to L H is defined as L W , and θ is defined as the angle between the x-axis and the L H side, and the value range of θ is [ 0°, 90°); in the parking state, according to the different angles of the body, it is divided into three states: left deviation of the body, right deviation of the body, and uprightness of the body; when L H > L W , the body is right deviation; when L H < L W When θ>0°, the vehicle body is left deviated, and when θ=0°, the vehicle body is upright; among the coordinates of the four vertices of the smallest circumscribed rectangle of the vehicle body in the top view, the vertex with the largest ordinate value is defined as P0 ( x P0 , y P0 ), if there are two vertices with the largest ordinate value, the vertex with the largest ordinate value and the smallest abscissa value is defined as P0 (x P0 , y P0 ), and the remaining three vertices are defined as P0 (x P0 , y P0 ). P0(x P0 , y P0 ) is the starting point, defined in clockwise order as P1(x P1 , y P1 ), P2(x P2 , y P2 ), P3(x P3 , y P3 ); 当车辆处于车身左偏和车身正直状态时，车辆的左前轮、右前轮、左后轮、右后轮的中心坐标分别为PW3(xPW3，yPW3)、PW0(xPW0，yPW0)、PW2(xPW2，yPW2)、PW1(xPW1，yPW1)；利用俯视图下车身最小外接矩形的四个顶点坐标P0(xP0，yP0)、P1(xP1，yP1)、P2(xP2，yP2)、P3(xP3，yP3)，以及步骤2)得到的侧视图下前、后车轮的中心分别到车辆前保险杠的距离与侧视图下车身总长度的比率RatioF、RatioB，求出俯视图下前、后车轮的中心坐标分别为：When the vehicle is in a left-biased and upright state, the center coordinates of the left front wheel, right front wheel, left rear wheel, and right rear wheel of the vehicle are PW3(x PW3 , y PW3 ), PW0(x PW0 , y PW0 , respectively ), PW2(x PW2 , y PW2 ), PW1(x PW1 , y PW1 ); using the four vertex coordinates P0(x P0 , y P0 ), P1(x P1 , y P1 ), P2(x P2 , y P2 ), P3(x P3 , y P3 ), and the ratio of the distance from the center of the front and rear wheels in the side view to the front bumper of the vehicle obtained in step 2) to the total length of the vehicle body in the side view Ratio F , Ratio B , the center coordinates of the front and rear wheels in the top view are obtained as:
Figure FDA0003411604170000051
Figure FDA0003411604170000051
 当车辆处于车身右偏状态时，车轮的左前轮、右前轮、左后轮、右后轮的中心坐标分别为PWO(xPW0，yPW0)、PW1(xPW1，yPW1)、PW3(xPW3，yPW3)、PW2(xPW2，yPW2)；利用俯视图下车身最小外接矩形的四个顶点坐标P0(xP0，yP0)、P1(xP1，yP1)、P2(xP2，yP2)、P3(xP3，yP3)，以及步骤2)得到的侧视图下前、后车轮的中心分别到车辆前保险杠的距离与侧视图下车身总长度的比率RatioF、RatioB，求出俯视图下前、后车轮的中心坐标分别为：When the vehicle body is in the state of right deflection, the center coordinates of the left front wheel, right front wheel, left rear wheel and right rear wheel are PWO(x PW0 , y PW0 ), PW1(x PW1 , y PW1 ), PW3 respectively (x PW3 , y PW3 ), PW2(x PW2 , y PW2 ); using the coordinates of the four vertices of the smallest circumscribed rectangle of the body in the top view, P0(x P0 , y P0 ), P1(x P1 , y P1 ), P2(x P2 , y P2 ), P3 (x P3 , y P3 ), and the ratios Ratio F of the distance from the center of the front and rear wheels in the side view to the front bumper of the vehicle and the total length of the vehicle body in the side view obtained in step 2) respectively Ratio F , Ratio B , the center coordinates of the front and rear wheels in the top view are obtained as:
Figure FDA0003411604170000052
Figure FDA0003411604170000052
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