CN113551597A - Vehicle positioning method and vehicle positioning device - Google Patents
Vehicle positioning method and vehicle positioning device Download PDFInfo
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- CN113551597A CN113551597A CN202110819809.7A CN202110819809A CN113551597A CN 113551597 A CN113551597 A CN 113551597A CN 202110819809 A CN202110819809 A CN 202110819809A CN 113551597 A CN113551597 A CN 113551597A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
A vehicle positioning method and a vehicle positioning device are used for automatically detecting the deviation condition of a vehicle in a parking space. The parking stall includes plummer, a plurality of fixed column, a plurality of infrared sensor ware, a plurality of image acquisition equipment and a plurality of lifting structure. The infrared sensor is fixedly arranged on the fixed column, and the distance between a vehicle parked in the parking space and the corresponding fixed column is measured as a sensing distance; the image acquisition equipment is fixedly arranged on the fixed column, and acquires an area image of the vehicle parked in the parking space as a sensing image; the method comprises the following steps: calculating the offset angle of the vehicle in the parking space according to the plurality of sensing distances; calculating centroid point coordinates from the received sensed image; calculating the coordinates of the lifting points according to the size, the offset angle and the coordinates of the mass center point of the vehicle; and controlling the lifting structure to move to a position corresponding to the lifting point coordinate.
Description
Technical Field
The present invention relates to a vehicle positioning method and a vehicle positioning device, and more particularly to a vehicle positioning method and a vehicle positioning device for an electric vehicle in a battery replacement station.
Background
The electric automobile replaces oil with electricity, can realize zero emission and low noise, and is an important means for solving the problems of energy and environment. Along with the improvement of the cruising ability of a new energy vehicle, the electric automobile is favored by more users with the advantage of excellent environmental protection performance. The electric automobile realizes charging or battery replacement operation in the battery replacement station. In the prior art, a manual and mechanical combined mode is usually adopted to guide an electric vehicle to drive into a specified position, and then the battery replacement or charging operation can be realized, so that the labor cost is too high. Meanwhile, the fixed position is adopted for charging or battery replacement operation, so that the alignment is difficult.
Disclosure of Invention
The invention mainly aims to provide a vehicle positioning method and a vehicle positioning device, and aims to solve the problems of high labor cost and difficult alignment in the prior art.
A vehicle positioning method is used for automatically detecting the offset angle of a vehicle in a parking space; the parking space comprises a bearing platform, a plurality of fixing columns, a plurality of infrared sensors, a plurality of image acquisition devices and a plurality of lifting structures; the infrared sensor is fixedly arranged on the fixed column and used for measuring the distance between the vehicle parked in the parking space and the corresponding fixed column as a sensing distance; the image acquisition equipment is fixedly arranged on the fixed column and used for acquiring an area image of the vehicle parked in the parking space as a sensing image; the vehicle positioning method includes:
calculating the offset angle of the vehicle in the parking space according to a plurality of the sensing distances;
calculating centroid point coordinates from the received sensed images;
calculating lifting point coordinates according to the size of the vehicle, the offset angle and the center of mass point coordinates; and
and controlling the lifting structure to move to a position corresponding to the lifting point coordinate.
A vehicle positioning device is used for automatically detecting the offset angle of a vehicle in a parking space; the parking space comprises a bearing platform, a plurality of fixing columns, a plurality of infrared sensors, a plurality of image acquisition devices and a plurality of lifting structures; the infrared sensor is fixedly arranged on the fixed column and used for measuring the distance between the vehicle parked in the parking space and the corresponding fixed column as a sensing distance; the image acquisition equipment is fixedly arranged on the fixed column and used for acquiring an area image of the vehicle parked in the parking space as a sensing image; the vehicle locating device comprises a processor and a memory; the processor executing program code in the memory to implement the respective functions, the memory comprising:
the offset angle calculation module is used for calculating the offset angle of the vehicle in the parking space according to a plurality of sensing distances;
the centroid point calculation module is used for calculating centroid point coordinates according to the received sensing images;
the lifting point calculating module is used for calculating a lifting point coordinate according to the size of the vehicle, the offset angle and the center of mass point coordinate; and
and the control module is used for controlling the lifting structure to move to the position corresponding to the lifting point coordinate.
According to the vehicle positioning method and the vehicle positioning device, the deviation angle of the vehicle in the parking space is calculated through the cooperation of the infrared sensor and the image acquisition equipment, the lifting point coordinate is calculated according to the size, the deviation angle and the mass center point coordinate of the vehicle, the vehicle does not need to stop at the specified position in the parking space, the lifting point coordinate can be automatically adjusted according to the position of the vehicle in the parking space, the accurate positioning of the vehicle is realized, and a positioning basis is provided for the battery replacement operation of the battery replacement robot.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a perspective view of a parking space according to the present invention.
Fig. 2 is a schematic perspective view of the parking space in fig. 1 with a vehicle parked therein.
FIG. 3 is a block schematic diagram of a vehicle locating device of the present invention.
Fig. 4 is a schematic diagram of the centroid point calculation module shown in fig. 3.
Fig. 5 is a schematic view of the imaging principle of the image acquisition apparatus shown in fig. 1.
FIG. 6 is a flow chart of a vehicle locating method of the present invention.
Fig. 7 is a detailed flowchart of step S11 in fig. 6.
Fig. 8 is a detailed flowchart of step S12 in fig. 6.
Description of the main elements
Bearing table 101
Fixing column 103
Centroid point calculation module 322
Lifting point calculation module 323
Steps S10-S13
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first", "second", and "third", etc. in the description of the present invention and the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "comprises" and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or modules is not limited to the listed steps or modules but may alternatively include other steps or modules not listed or inherent to such process, method, article, or apparatus.
The following describes a vehicle positioning method and a vehicle positioning device according to embodiments of the present invention with reference to the drawings.
Please refer to fig. 1, which is a perspective view of a parking space 100 according to the present invention. In the present embodiment, the parking space 100 is used for parking a vehicle 200 (shown in fig. 2) to be charged/recharged. The vehicle space 100 may communicate with a vehicle locating device 300 (shown in fig. 3) to provide locating parameters to the vehicle locating device 300. In at least one embodiment of the present invention, data transmission between the parking space 100 and the vehicle 200 is performed according to a wireless communication network, for example: a mobile communication network or a satellite network. In at least one embodiment of the present invention, the vehicle positioning apparatus 300 may be a server or a terminal device.
In at least one embodiment of the present invention, the positioning parameters include a plurality of sensing distances and a plurality of sensing images.
The space 100 is substantially rectangular. The parking space 100 includes a loading platform 101, a plurality of fixing columns 103, a plurality of infrared sensors 105, a plurality of image capturing devices 107, and a plurality of lifting structures 109. The susceptor 101 is substantially flat. The loading platform 101 is used for loading the vehicle 200.
The fixing column 103 is vertically arranged on the bearing table 101. The plurality of fixing columns 103 are arranged in a matrix. The number of the fixed columns 103 is even. In at least one embodiment of the present invention, the parking space 100 includes 4 fixing posts 103. In other embodiments, the parking space 100 may further include 6 or more fixing posts 103.
Each infrared sensor 105 corresponds to one fixed column 103. The infrared sensor 105 is fixedly arranged on the fixed column 103 and faces the interior of the parking space 100. The infrared sensor 105 is configured to measure a distance between the vehicle 200 parked in the parking space 100 and the corresponding fixed pillar 103 as the sensing distance.
Each of the image capturing devices 107 corresponds to one of the fixed columns 103. The image capturing device 107 is fixedly disposed on the fixing column 103 and located below the infrared sensor 105. The image capturing device 107 is configured to capture an area image of the vehicle 200 parked in the parking space 100 as the sensed image. In at least one embodiment of the present invention, the image acquisition device 107 is a camera, and the area image is a tire side image of the vehicle 200.
Each lifting structure 109 corresponds to one of the fixing posts 103. One end of the lifting structure 109 is fixed on the fixing column 103. The lifting structure 109 can move relative to the fixing post 103 and lift the vehicle 200 under the control of the vehicle positioning device 300. Specifically, the lifting structure 109 receives the lifting point output by the vehicle positioning device 300 and moves below the lifting point, and the lifting structure 109 lifts the vehicle 200 at the lifting point when the vehicle positioning device 300 generates a lifting command.
The parking space 100 further comprises a limiting structure 110. The limiting structure 110 is used for limiting the moving distance of the vehicle 200 in the parking space 100 along the length direction of the parking space 100. In at least one embodiment of the present invention, the longitudinal direction of the parking space 100 is a first direction X. In at least one embodiment of the present invention, the position-limiting structure 110 is further provided with a fluorescent indication mark.
The vehicle positioning device 300 calculates an offset angle of the vehicle 200 in the parking space 100 according to the received sensing distance output by each infrared sensor 105 and the received sensing image output by the image capturing device 107, and calculates a lifting point of the vehicle 200 according to the offset angle.
Referring to fig. 3, the vehicle positioning apparatus 300 includes a processor 310 and a memory 320. The processor 310 and the memory 320 communicate via a communication bus 104.
The processor 310 may include one or more microprocessors, digital processors. The processor 310 may call the program code stored in the memory 320 to perform the associated functions. For example, each of the modules 321-324 in the memory 320 is program code stored in the memory 320 and executed by the processor 310 to implement a vehicle positioning method. The processor 310 is also called a Central Processing Unit (CPU), and is an ultra-large scale integrated circuit, which is an operation Core (Core) and a Control Core (Control Unit).
The memory 320 is used to store program codes. The memory 320 may be a circuit without a physical form and having a storage function in an integrated circuit, such as a memory bank, a TF Card (Trans-flash Card), a smart media Card (smart media Card), a secure digital Card (secure digital Card), a flash memory Card (flash Card), and other storage devices. The memory 320 may be in data communication with the processor 310 via the communication bus.
The memory 320 includes an angle calculation module 321, a centroid point calculation module 322, a lift point calculation module 323, and a control module 324.
Referring to fig. 4, the angle calculating module 321 is configured to calculate an offset angle of the vehicle 200 in the parking space 100 according to a plurality of the sensed distances. The angle calculation module 321 obtains a distance between two adjacent infrared sensors 105 arranged along the length direction of the parking space 100 as a first distance, and calculates the offset angle according to a pythagorean theorem based on a difference between sensing distances output by the two adjacent infrared sensors 105 and the first distance. Wherein, the offset angle is calculated by the following formula I.
Theta is cot (| D2-D1|/D1) formula one
Where θ is the offset angle, D2 is the sensing distance output by one of the infrared sensors 105, D1 is the sensing distance output by the other infrared sensor 105, and D1 is the distance between two adjacent infrared sensors 105 along the length direction of the parking space 100.
The centroid point calculation module 322 is configured to calculate centroid point coordinates from the received sensed images. Please refer to fig. 5, which is a schematic diagram illustrating an imaging principle of the image capturing apparatus 107. Specifically, the centroid point calculation module 322 calculates a focal length pixel value according to the monocular imaging ranging principle. And calculating the focal length pixel value by the following formula two.
f/d ═ w'/w equation two
Where d is the distance between the object to be measured and the image acquisition device 107, i.e., the distance between the wheels of the vehicle 200 and the image acquisition device 107 opposing thereto. f is the focal length of the camera lens. w is the actual width or height of the object under test, w' is the width or height of the object under test on the imaging plane (photosensitive element). I.e. the width or height over the photosensitive elements within the image acquisition device 107.
The centroid point calculation module 322 further calculates each of the centroid point coordinates based on image processing techniques according to the focal length pixel values. Wherein the center of mass point is a center of a wheel of the vehicle 200. And the coordinates of the centroid point are calculated by the following formula III.
(n) (d1+ f) ((n) x-Iw/2)/Pf equation three
Wherein c (n) (X) is the coordinate of the centroid point c (n) in the first direction X; d1 is the sensing distance output by the infrared sensor 105 corresponding to the image acquisition device 107; pc (n) (X) is the pixel value of the centroid point c (n) in the first direction X in the sensed image; iw is the width of the sensed image; pf is the pixel value of the focal length.
The lifting point calculation module 323 calculates the lifting point coordinates according to the size of the vehicle 200, the offset angle, and the centroid point coordinates. Specifically, the lifting point calculation module 323 calculates a first offset and a second offset from the centroid point coordinates. The first offset amount is an offset amount in the first direction X, and the second offset amount is an offset amount in a second direction Y perpendicular to the first direction X. Wherein the first offset is calculated by the following formula four.
Δ X ═ L ═ c (n) (X) · cos θ formula
Wherein Δ X is the first offset in the first direction X; l is the length of the vehicle 200 in the first direction X; c (n) X is the coordinate of the centroid point c (n) in the first direction X; θ is the offset angle.
The second offset amount is calculated by the following formula five.
Δ y ═ L ═ c (n) (x) · (sin θ equation five
Wherein Δ Y is the second offset in the second direction Y; (X) is the coordinate of the centroid point c (n) in the first direction X; θ is the offset angle.
The lifting point calculating module 323 further shifts the abscissa of the centroid point c (n) to the right by the first offset amount to serve as the abscissa of the lifting point l (n) corresponding to the centroid point c (n), and shifts the ordinate of the centroid point c (n) to the upper by the second offset amount to serve as the ordinate of the lifting point l (n) corresponding to the centroid point c (n).
The control module 324 is configured to control the lifting structure 109 to move to a position corresponding to the coordinates of the lifting point.
The vehicle positioning device 300 calculates the offset angle of the vehicle 200 in the parking space 100 through the cooperation of the infrared sensor 105 and the image acquisition device 107, calculates the coordinates of the lifting point according to the size of the vehicle 200, the offset angle and the coordinates of the center of mass point, does not need to stop the vehicle 200 at the designated position in the parking space 100, and can automatically adjust the coordinates of the lifting point according to the position of the vehicle 200 in the parking space 100 to realize the accurate positioning of the vehicle 200, thereby providing a positioning basis for the battery replacement operation of the battery replacement robot.
Please refer to fig. 6, which is a flowchart of the vehicle positioning method. In at least one embodiment of the present invention, the vehicle positioning method is applied to the vehicle positioning device 300, and is performed based on the processor 310 executing the angle calculation module 321, the centroid point calculation module 322, the lift point calculation module 323, and the control module 324 stored on the memory 320 and communicably engaged with the infrared sensor 105, the image acquisition device 107, and the lift structure 109.
S10, the angle calculating module 321 calculates an offset angle of the vehicle 200 in the parking space 100 according to the plurality of sensed distances.
In at least one embodiment of the present invention, the angle calculating module 321 obtains a distance between two adjacent infrared sensors 105 along the length direction of the parking space 100 as a first distance, and calculates the offset angle according to a pythagorean theorem according to a difference between the sensing distances output by the two adjacent infrared sensors 105 and the first distance. Wherein, the offset angle is calculated by the following formula I.
Theta is cot (| D2-D1|/D1) formula one
Where θ is the offset angle, D2 is the sensing distance output by one of the infrared sensors 105, D1 is the sensing distance output by the other infrared sensor 105, and D1 is the distance between two adjacent infrared sensors 105 along the length direction of the parking space 100.
S11, the centroid point calculation module 322 is configured to calculate centroid point coordinates from the received sensing images.
Referring to fig. 7, the step of the centroid point calculating module 322 obtaining the coordinates of the centroid point according to the received sensing image further includes:
s111, the centroid point calculation module 322 calculates a focal length pixel value according to a monocular imaging distance measurement principle;
s112, the centroid point calculating module 322 further calculates each centroid point coordinate based on image processing technique according to the focal length pixel value.
In at least one embodiment of the present invention, the focus pixel value is calculated by the following formula two.
f/d ═ w'/w equation two
Where d is the distance between the object to be measured and the image acquisition device 107, i.e., the distance between the wheels of the vehicle 200 and the image acquisition device 107 opposing thereto. f is the focal length of the camera lens. w is the actual width or height of the object under test, w' is the width or height of the object under test on the imaging plane (photosensitive element). I.e. the width or height over the photosensitive elements within the image acquisition device 107.
In at least one embodiment of the present invention, the centroid point coordinates are calculated by the following formula three.
(n) (d1+ f) ((n) x-Iw/2)/Pf equation three
Wherein c (n) (X) is the coordinate of the centroid point c (n) in the first direction X; d1 is the sensing distance output by the infrared sensor 105 corresponding to the image acquisition device 107; pc (n) (X) is the pixel value of the centroid point c (n) in the first direction X in the sensed image; iw is the width of the sensed image; pf is the pixel value of the focal length.
S12, the lifting point calculation module 323 calculates lifting point coordinates according to the size of the vehicle 200, the offset angle, and the centroid point coordinates.
Referring to fig. 8, the step of calculating the lifting point coordinate by the lifting point calculating module 323 according to the size of the vehicle 200, the offset angle and the centroid coordinate further includes:
s121, the lifting point calculating module 323 calculates a first offset and a second offset according to the coordinates of the centroid point;
s122, the lifting point calculating module 323 translates the abscissa of the centroid point c (n) to the right by the first offset amount to serve as the abscissa of the lifting point l (n) corresponding to the centroid point c (n), and translates the ordinate of the centroid point c (n) to the upper side by the second offset amount to serve as the ordinate of the lifting point l (n) corresponding to the centroid point c (n).
In at least one embodiment of the present invention, the first offset amount is an offset amount in the first direction X, and the second offset amount is an offset amount in a second direction Y perpendicular to the first direction X. Wherein the first offset is calculated by the following formula four.
Δ X ═ L ═ c (n) (X) · cos θ formula
Wherein Δ X is the first offset in the first direction X; l is; c (n) X is the coordinate of the centroid point c (n) in the first direction X; θ is the offset angle.
The second offset amount is calculated by the following formula five.
Δ y ═ L ═ c (n) (x) · (sin θ equation five
Wherein Δ Y is the second offset in the second direction Y; (X) is the coordinate of the centroid point c (n) in the first direction X; θ is the offset angle.
S13, the control module 324 is configured to control the lifting structure 109 to move to a position corresponding to the lifting point coordinate.
According to the vehicle positioning method, the offset angle of the vehicle 200 in the parking space 100 is calculated through the cooperation of the infrared sensor 105 and the image acquisition device 107, the coordinates of the lifting point are calculated according to the size of the vehicle 200, the offset angle and the coordinates of the center of mass point, the vehicle 200 does not need to stop at the specified position in the parking space 100, the coordinates of the lifting point can be automatically adjusted according to the position of the vehicle 200 in the parking space 100, so that the accurate positioning of the vehicle 200 is realized, and a positioning basis is provided for the battery replacement operation of the battery replacement robot.
It should also be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A vehicle positioning method is used for automatically detecting the offset angle of a vehicle in a parking space; the parking space comprises a bearing platform, a plurality of fixing columns, a plurality of infrared sensors, a plurality of image acquisition devices and a plurality of lifting structures; the infrared sensor is fixedly arranged on the fixed column and used for measuring the distance between the vehicle parked in the parking space and the corresponding fixed column as a sensing distance; the image acquisition equipment is fixedly arranged on the fixed column and used for acquiring an area image of the vehicle parked in the parking space as a sensing image; the method is characterized in that: the vehicle positioning method includes:
calculating the offset angle of the vehicle in the parking space according to a plurality of the sensing distances;
calculating centroid point coordinates from the received sensed images;
calculating lifting point coordinates according to the size of the vehicle, the offset angle and the center of mass point coordinates; and
and controlling the lifting structure to move to a position corresponding to the lifting point coordinate.
2. The vehicle positioning method according to claim 1, wherein the offset angle is calculated by obtaining a distance between two adjacent infrared sensors along the length direction of the parking space as a first distance, and calculating the offset angle according to a pythagorean theorem based on a difference between the sensing distances output by the two adjacent infrared sensors and the first distance.
3. The vehicle positioning method according to claim 1, wherein the step of calculating the coordinates of the center of mass point from the received sensed image includes:
calculating to obtain a focal length pixel value according to a monocular imaging distance measurement principle;
calculating coordinates of each centroid point based on an image processing technique according to the focal length pixel values;
the centroid point coordinates satisfy c (n) (x) (d1+ f) × [ pc (n) x-Iw/2 ]/Pf; wherein c (n) (x) is the coordinate of the centroid point in a first direction; d1 is the sensing distance output by the infrared sensor corresponding to the image acquisition device; pc (n) (x) is a pixel value of the centroid point in the first direction in the sensed image; iw is the width of the sensed image; pf is the pixel value of the focal length.
4. The vehicle positioning method according to claim 1, wherein the step of calculating a lifting point coordinate from the size of the vehicle, the offset angle, and the centroid point coordinate:
calculating a first offset and a second offset according to the coordinates of the centroid point;
and translating the abscissa of the centroid point to the right by the first offset to serve as the abscissa of the lifting point corresponding to the centroid point, and translating the ordinate of the centroid point to the upper direction by the second offset to serve as the ordinate of the lifting point corresponding to the centroid point.
5. The vehicle positioning method according to claim 4, wherein the first offset amount satisfies Δ X ═ L · c (n) (X) · cos θ; wherein Δ X is the first offset in a first direction; l is the length of the vehicle in the first direction; c (n) x is the coordinate of the centroid point in the first direction; θ is the offset angle; the second offset amount satisfies Δ y ═ L ═ c (n) (x) sin θ; wherein Δ y is the second offset in a second direction perpendicular to the first direction; c (n) (x) is the coordinate of the centroid point in the first direction; θ is the offset angle.
6. A vehicle positioning device is used for automatically detecting the offset angle of a vehicle in a parking space; the parking space comprises a bearing platform, a plurality of fixing columns, a plurality of infrared sensors, a plurality of image acquisition devices and a plurality of lifting structures; the infrared sensor is fixedly arranged on the fixed column and used for measuring the distance between the vehicle parked in the parking space and the corresponding fixed column as a sensing distance; the image acquisition equipment is fixedly arranged on the fixed column and used for acquiring an area image of the vehicle parked in the parking space as a sensing image; the method is characterized in that: the vehicle locating device comprises a processor and a memory; the processor executing program code in the memory to implement the respective functions, the memory comprising:
the offset angle calculation module is used for calculating the offset angle of the vehicle in the parking space according to a plurality of sensing distances;
the centroid point calculation module is used for calculating centroid point coordinates according to the received sensing images;
the lifting point calculating module is used for calculating a lifting point coordinate according to the size of the vehicle, the offset angle and the center of mass point coordinate; and
and the control module is used for controlling the lifting structure to move to the position corresponding to the lifting point coordinate.
7. The vehicle positioning device according to claim 6, wherein the offset angle is calculated by a pythagorean theorem according to a difference between the sensing distances output by two adjacent infrared sensors and the first distance, by acquiring a distance between the two adjacent infrared sensors along the length direction of the parking space as the first distance.
8. The vehicle positioning apparatus of claim 6, wherein the centroid point calculation module calculates focal length pixel values according to a monocular imaging ranging principle and calculates each centroid point coordinate based on an image processing technique according to the focal length pixel values; the centroid point coordinates satisfy c (n) (x) (d1+ f) × [ pc (n) x-Iw/2 ]/Pf; wherein c (n) (x) is the coordinate of the centroid point in a first direction; d1 is the sensing distance output by the infrared sensor corresponding to the image acquisition device; pc (n) (x) is a pixel value of the centroid point in the first direction in the sensed image; iw is the width of the sensed image; pf is the pixel value of the focal length.
9. The vehicle locating apparatus of claim 6, wherein the lift point calculation module calculates a first offset and a second offset from the centroid point coordinates; and translating the abscissa of the centroid point to the right by the first offset to serve as the abscissa of the lifting point corresponding to the centroid point, and translating the ordinate of the centroid point to the upper direction by the second offset to serve as the ordinate of the lifting point corresponding to the centroid point.
10. The vehicle positioning apparatus of claim 9, wherein the first offset amount satisfies Δ X ═ L · c (n) (X) · cos θ; wherein Δ X is the first offset in a first direction; l is the length of the vehicle in the first direction; c (n) x is the coordinate of the centroid point in the first direction; θ is the offset angle; the second offset amount satisfies Δ y ═ L ═ c (n) (x) sin θ; wherein Δ y is the second offset in a second direction perpendicular to the first direction; c (n) (x) is the coordinate of the centroid point in the first direction; θ is the offset angle.
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Application publication date: 20211026 |