CN113807163A - Method for placing support legs of pump truck, device for placing support legs of pump truck and storage medium - Google Patents
Method for placing support legs of pump truck, device for placing support legs of pump truck and storage medium Download PDFInfo
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- CN113807163A CN113807163A CN202110856632.8A CN202110856632A CN113807163A CN 113807163 A CN113807163 A CN 113807163A CN 202110856632 A CN202110856632 A CN 202110856632A CN 113807163 A CN113807163 A CN 113807163A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000001514 detection method Methods 0.000 claims abstract description 93
- 238000013507 mapping Methods 0.000 claims description 88
- 238000012790 confirmation Methods 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 4
- 238000010276 construction Methods 0.000 abstract description 21
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration by the use of more than one image, e.g. averaging, subtraction
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
Abstract
The invention discloses a method for placing supporting legs of a pump truck, a device for placing the supporting legs and a storage medium, wherein the method comprises the following steps: acquiring all-round information around the pump truck; acquiring a target detection result for performing target detection on the all-round looking information; acquiring a supporting leg placing position of a supporting leg of the pump truck based on the target detection result; performing a leg placement operation based on the leg placement position. Through acquiring the image information of the pump truck within the range of 360 degrees and carrying out target detection on the acquired panoramic image information, the surrounding environment of the pump truck is accurately and reliably sensed, and the landing leg placement position of the pump truck is quickly and safely determined according to the sensing structure, so that a driver can conveniently and safely park the pump truck at a reasonable position on a construction site, the engineering construction efficiency is effectively improved, and the use safety of the pump truck is improved.
Description
Technical Field
The invention relates to the technical field of engineering equipment, in particular to a method for placing a support leg of a pump truck, a device for placing a support leg of a pump truck and a computer-readable storage medium.
Background
In modern construction sites, various kinds of engineering equipment are widely used, including pump trucks. At present, the pump truck is controlled mainly through manual operation of a driver.
In the actual operation process, the construction site is relatively disordered, for example, various engineering mechanical equipment can be piled up, and a large amount of soil piles, pits and the like can exist due to construction, so that great trouble is caused to a driver for driving the pump truck in the construction site.
Further, in order to ensure that the pump truck has sufficient safety and stability during construction on site, the pump truck is often provided with support legs, for example, the support legs are respectively arranged at four corners of the pump truck, and during construction, a driver drives the pump truck to an open place and slowly puts down the support legs, so as to stabilize the pump truck.
However, in the practical application process, on one hand, if a driver stops the pump truck in an open area, the construction site cannot be well constructed; on the other hand, if the driver drives the pump truck to the construction site, the driver can not well observe the periphery of the pump truck, so that the pump truck can not be parked well, the construction progress is greatly influenced, and great troubles are caused for the driver.
Disclosure of Invention
In order to solve the technical problem that a pump truck cannot be safely and quickly parked on a construction site in the prior art, the embodiment of the invention provides a method and a device for placing support legs of the pump truck.
In order to achieve the above object, an embodiment of the present invention provides a method for placing a support leg of a pump truck, where the method includes: acquiring all-round information around the pump truck; acquiring a target detection result for performing target detection on the all-round looking information; acquiring a supporting leg placing position of a supporting leg of the pump truck based on the target detection result; performing a leg placement operation based on the leg placement position.
Preferably, the acquiring of the look-around information around the pump truck includes: acquiring a plurality of views around the pump truck; splicing the multiple views based on a preset image splicing rule to obtain a spliced view, wherein the spliced view comprises views within a range of 360 degrees around the pump truck; and taking the spliced view as the all-round-looking information.
Preferably, the obtaining a target detection result of target detection on the all-round viewing information includes: performing target detection on the spliced view according to a preset target detection method; acquiring at least one target object in the spliced view and position information of each target object relative to the pump truck; and taking the target object and the corresponding position information as the target detection result.
Preferably, the obtaining of the placement position of the support leg of the pump truck based on the target detection result includes: acquiring the setting position of the pump truck supporting leg on the pump truck; acquiring a mapping position of the pump truck supporting leg on the ground based on the setting position; judging whether the mapping position meets a preset supporting leg placing condition or not based on the target detection result; taking the mapping position as the supporting leg placing position under the condition that the mapping position meets the preset supporting leg placing condition; and generating a leg placement position based on the setting position and the target detection result under the condition that the mapping position does not meet the preset leg placement condition.
Preferably, the target object includes a pit and an obstacle, and the determining whether the mapping position satisfies a preset leg placement condition based on the target detection result includes: judging whether an obstacle exists at the mapping position; and/or determining whether a pit is present at the mapped location; determining that the mapping position does not meet the preset leg placement condition under the condition that the obstacle and/or the pit exist in the mapping position; determining that the mapping position satisfies the preset leg placement condition in a case where the obstacle and the pit are not present in the mapping position.
Preferably, the generating a leg placement position based on the setting position and the target detection result includes: generating a corresponding filling frame based on the setting position; performing moving matching on the filling frame in the spliced view; judging whether a parking available area exists in the spliced view, wherein the parking available area is an area which does not contain any target object in a filling frame in an area range; under the condition that the parking available area exists, acquiring a mobile mapping position of the pump truck supporting leg in the parking available area; determining the moved mapping position as the landing leg placement position.
Preferably, the method further comprises: confirming whether the current leg position of the pump truck leg is located at the leg placing position before the leg placing operation is executed based on the leg placing position; performing the leg placement operation in a case where a current leg position is located at the leg placement position; and feeding back corresponding prompt information under the condition that the current position of the supporting leg is not located at the supporting leg placing position.
Correspondingly, the embodiment of the invention also provides a device for placing the supporting leg of the pump truck, which comprises: the information acquisition unit is used for acquiring the surrounding all-round information of the pump truck; a detection result acquisition unit configured to acquire a target detection result of target detection on the all-round viewing information; the position determining unit is used for acquiring the supporting leg placing position of the supporting leg of the pump truck based on the target detection result; a leg placing unit for performing a leg placing operation based on the leg placing position.
Preferably, the information acquisition unit includes: the view acquisition module is used for acquiring a plurality of views around the pump truck; the splicing module is used for splicing the multiple views based on a preset image splicing rule to obtain a spliced view, and the spliced view comprises views within a range of 360 degrees around the pump truck; and the information confirmation module is used for taking the spliced view as the all-around information.
Preferably, the detection result acquiring unit includes: the detection module is used for carrying out target detection on the spliced view according to a preset target detection method; the object confirmation module is used for acquiring at least one target object in the spliced view and the position information of each target object relative to the pump truck; and the detection result confirmation module is used for taking the target object and the corresponding position information as the target detection result.
Preferably, the position determination unit includes: the first position acquisition module is used for acquiring the setting position of the pump truck supporting leg on the pump truck; the second position acquisition module is used for acquiring the mapping position of the pump truck supporting leg on the ground based on the setting position; the judging module is used for judging whether the mapping position meets the preset supporting leg placing condition or not based on the target detection result; a first position determining module, configured to take the mapping position as the leg placement position when the mapping position meets the preset leg placement condition; and the second position determining module is used for generating a supporting leg placing position based on the setting position and the target detection result under the condition that the mapping position does not meet the preset supporting leg placing condition.
Preferably, the target object includes a pit and an obstacle, and the determination module is configured to: judging whether an obstacle exists at the mapping position; and/or determining whether a pit is present at the mapped location; determining that the mapping position does not meet the preset leg placement condition under the condition that the obstacle and/or the pit exist in the mapping position; determining that the mapping position satisfies the preset leg placement condition in a case where the obstacle and the pit are not present in the mapping position.
Preferably, the second position determination module is configured to: generating a corresponding filling frame based on the setting position; performing moving matching on the filling frame in the spliced view; judging whether a parking available area exists in the spliced view, wherein the parking available area is an area which does not contain any target object in a filling frame in an area range; under the condition that the parking available area exists, acquiring a mobile mapping position of the pump truck supporting leg in the parking available area; determining the moved mapping position as the landing leg placement position.
Preferably, the apparatus further comprises a placement confirmation unit comprising: a position confirmation module for confirming whether the current leg position of the pump truck leg is located at the leg placing position before the leg placing operation is executed based on the leg placing position; the first execution module is used for executing the landing leg placing operation under the condition that the current landing leg position is located at the landing leg placing position; and the second execution module is used for feeding back corresponding prompt information under the condition that the current supporting leg position is not located at the supporting leg placing position.
In another aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method provided by the embodiment of the present invention.
Through the technical scheme provided by the invention, the invention at least has the following technical effects:
through acquiring the image information of the pump truck within the range of 360 degrees and carrying out target detection on the acquired panoramic image information, the surrounding environment of the pump truck is accurately and reliably sensed, and the landing leg placement position of the pump truck is quickly and safely determined according to the sensing structure, so that a driver can conveniently and safely park the pump truck at a reasonable position on a construction site, the engineering construction efficiency is effectively improved, and the use safety of the pump truck is improved.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is a flowchart of a specific implementation of a method for placing a support leg of a pump truck according to an embodiment of the present invention;
fig. 2 is a flowchart of a specific implementation of obtaining look-around information in a method for placing a support leg of a pump truck according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a specific implementation of target detection on the look-around information in the method for placing the support leg of the pump truck according to the embodiment of the present invention;
fig. 4 is a schematic structural diagram of a method and an apparatus for placing a support leg of a pump truck according to an embodiment of the present invention.
Detailed Description
In order to solve the technical problem that a pump truck cannot be safely and quickly parked on a construction site in the prior art, the embodiment of the invention provides a method and a device for placing support legs of the pump truck.
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
The terms "system" and "network" in embodiments of the present invention may be used interchangeably. The "plurality" means two or more, and in view of this, the "plurality" may also be understood as "at least two" in the embodiments of the present invention. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" generally indicates that the preceding and following related objects are in an "or" relationship, unless otherwise specified. In addition, it should be understood that the terms first, second, etc. in the description of the embodiments of the invention are used for distinguishing between the descriptions and are not intended to indicate or imply relative importance or order to be construed.
Referring to fig. 1, an embodiment of the present invention provides a method for placing a support leg of a pump truck, where the method includes:
s10) obtaining the surrounding information of the pump truck;
s20) obtaining a target detection result of the target detection of the all-round looking information;
s30) acquiring the placement positions of the support legs of the pump truck based on the target detection result;
s40) performing a leg placing operation based on the leg placing position.
In one possible embodiment, in order to effectively observe and detect the environment around the pump truck and facilitate the driver to obtain sufficiently accurate and complete detection information without getting off the pump truck, a plurality of cameras may be installed around the pump truck, for example, one camera may be installed at each of four corners of the pump truck to detect the environment around the pump truck in each direction. After a driver drives the pump truck to arrive at a site, the environment around the pump truck is detected through the camera, and corresponding all-round information is obtained. At this time, a preset target detection algorithm can be called to analyze the look-around information, so that a target detection result of target detection on the look-around information is obtained, a landing leg placing position where a landing leg can be placed around the pump truck is further obtained according to the target detection result, and landing leg placing operation is performed on the landing leg according to the landing leg placing position.
In the embodiment of the invention, the supporting leg placing position where the supporting leg can be placed on the pump truck is further determined by detecting the environment of 360 degrees around the pump truck and sensing the environmental condition around the pump truck by adopting the preset target detection algorithm, so that a driver does not need to check or equip special auxiliary personnel in person when getting off the pump truck, the difficulty of the driver is solved, and the construction progress is improved.
Referring to fig. 2, in the embodiment of the present invention, the acquiring the look-around information around the pump truck includes:
s101) acquiring a plurality of views around the pump truck;
s102) splicing the multiple views based on a preset image splicing rule to obtain a spliced view, wherein the spliced view comprises views within a range of 360 degrees around the pump truck;
s103) taking the spliced view as the all-round viewing information.
In a possible implementation manner, image acquisition is performed around the pump truck through 4 cameras, for example, the 4 cameras may be wide-angle cameras with viewing angles larger than 90 °, and after multiple views around the pump truck are acquired, the multiple views are automatically spliced according to a preset image splicing rule, so that a spliced view around the pump truck with 360 ° panoramic view is obtained.
Referring to fig. 3, in the embodiment of the present invention, the obtaining a target detection result for performing target detection on the all-round viewing information includes:
s201) carrying out target detection on the spliced view according to a preset target detection method;
s202) acquiring at least one target object in the spliced view and position information of each target object relative to the pump truck;
s203) taking the target object and the corresponding position information as the target detection result.
In a possible implementation manner, after the spliced rear view of 360 degrees around the pump truck is obtained, the target in the spliced rear view is detected by a preset target detection method, for example, in the embodiment of the present invention, any one of a sliding window algorithm, an R-CNN algorithm, and a COCO algorithm may be used to perform target detection on the spliced rear view, and obtain at least one corresponding target object, and position information of each target object in the spliced rear view relative to the pump truck.
In an embodiment of the present invention, the obtaining a placement position of a leg of a pump truck based on the target detection result includes: acquiring the setting position of the pump truck supporting leg on the pump truck; acquiring a mapping position of the pump truck supporting leg on the ground based on the setting position; judging whether the mapping position meets a preset supporting leg placing condition or not based on the target detection result; taking the mapping position as the supporting leg placing position under the condition that the mapping position meets the preset supporting leg placing condition; and generating a leg placement position based on the setting position and the target detection result under the condition that the mapping position does not meet the preset leg placement condition.
Further, in an embodiment of the present invention, the target object includes a pit and an obstacle, and the determining whether the mapping position satisfies a preset leg placement condition based on the target detection result includes: judging whether an obstacle exists at the mapping position; and/or determining whether a pit is present at the mapped location; determining that the mapping position does not meet the preset leg placement condition under the condition that the obstacle and/or the pit exist in the mapping position; determining that the mapping position satisfies the preset leg placement condition in a case where the obstacle and the pit are not present in the mapping position.
In a possible implementation manner, after the target detection result is obtained, the setting position of the supporting leg on the pump truck is further obtained, and the mapping position of the setting position on the ground is further obtained, and at this time, whether the mapping position meets the preset supporting leg placing condition or not is judged according to the target detection result, for example, according to the target object around the pump truck and the position where the target object is located in combination with the setting position of the supporting leg on the pump truck. For example, whether a pit exists in the mapping position may be determined first, and then whether an obstacle exists in the mapping position may be determined, and of course, whether other objects exist in the mapping position, such as a human body or an animal, may be further determined. In the embodiment of the present invention, it is determined that the mapping position satisfies the preset leg placement condition only when there is no target object such as any pit or obstacle present at the mapping position, and at this time, the mapping position may be determined as a leg placement position where a leg is placed.
In another possible embodiment, an obstacle exists at the mapping position, so that the mapping position is determined not to satisfy the preset leg placement condition, and therefore the positions of other placeable legs need to be determined.
In an embodiment of the present invention, the generating a leg placement position based on the setting position and the target detection result includes: generating a corresponding filling frame based on the setting position; performing moving matching on the filling frame in the spliced view; judging whether a parking available area exists in the spliced view, wherein the parking available area is an area which does not contain any target object in a filling frame in an area range; under the condition that the parking available area exists, acquiring a mobile mapping position of the pump truck supporting leg in the parking available area; determining the moved mapping position as the landing leg placement position.
In a possible embodiment, when the current mapping position of the pump truck leg does not satisfy the preset leg placement condition, the setting position of the leg is further automatically used as a vertex to generate a corresponding filling frame, and the filling frame is moved and matched in the spliced view, for example, the filling frame is moved in the spliced view to judge whether a parking available area where the filling frame is located does not have any target object exists in the area where the filling frame is located, if so, the filling frame is moved to the area, and the moved mapping positions corresponding to the four vertices of the moved filling frame are used as leg placement positions.
In the embodiment of the invention, the environment around the pump truck is accurately and comprehensively detected in a target detection mode, the supporting leg placing position suitable for placing the supporting leg of the pump truck is automatically identified according to the detection result, and a driver does not need to check the supporting leg in person or equip special people for auxiliary guidance, so that the driving safety and the construction efficiency of the pump truck are greatly improved, and the construction speed of the whole project is improved.
In an embodiment of the present invention, the method further comprises: confirming whether the current leg position of the pump truck leg is located at the leg placing position before the leg placing operation is executed based on the leg placing position; performing the leg placement operation in a case where a current leg position is located at the leg placement position; and feeding back corresponding prompt information under the condition that the current position of the supporting leg is not located at the supporting leg placing position.
In a possible implementation manner, in order to further ensure the safety and reliability of placement of the pump truck support legs, in the embodiment of the present invention, after the support leg placement position is automatically obtained, whether the position corresponding to the current support leg is located at the automatically identified support leg placement position or not may be further confirmed, if so, the support leg is automatically placed immediately, so as to complete quick, safe and reliable placement of the support leg of the pump truck, and if not, corresponding prompt information is immediately fed back, so as to prompt a driver to further move the pump truck to effectively place the support leg.
In the embodiment of the invention, the position for placing the support leg is further confirmed before the support leg is placed, so that the automatic placement of the support leg of the pump truck in a complex environment of a construction site can be ensured to have enough safety, and the safety of the pump truck construction is further improved under the condition of improving the construction efficiency.
The following describes a leg placing device of a pump truck according to an embodiment of the present invention with reference to the accompanying drawings.
Referring to fig. 4, based on the same inventive concept, an embodiment of the present invention provides a leg placing device for a pump truck, including: the information acquisition unit is used for acquiring the surrounding all-round information of the pump truck; a detection result acquisition unit configured to acquire a target detection result of target detection on the all-round viewing information; the position determining unit is used for acquiring the supporting leg placing position of the supporting leg of the pump truck based on the target detection result; a leg placing unit for performing a leg placing operation based on the leg placing position.
In an embodiment of the present invention, the information acquiring unit includes: the view acquisition module is used for acquiring a plurality of views around the pump truck; the splicing module is used for splicing the multiple views based on a preset image splicing rule to obtain a spliced view, and the spliced view comprises views within a range of 360 degrees around the pump truck; and the information confirmation module is used for taking the spliced view as the all-around information.
In an embodiment of the present invention, the detection result obtaining unit includes: the detection module is used for carrying out target detection on the spliced view according to a preset target detection method; the object confirmation module is used for acquiring at least one target object in the spliced view and the position information of each target object relative to the pump truck; and the detection result confirmation module is used for taking the target object and the corresponding position information as the target detection result.
In an embodiment of the present invention, the position determining unit includes: the first position acquisition module is used for acquiring the setting position of the pump truck supporting leg on the pump truck; the second position acquisition module is used for acquiring the mapping position of the pump truck supporting leg on the ground based on the setting position; the judging module is used for judging whether the mapping position meets the preset supporting leg placing condition or not based on the target detection result; a first position determining module, configured to take the mapping position as the leg placement position when the mapping position meets the preset leg placement condition; and the second position determining module is used for generating a supporting leg placing position based on the setting position and the target detection result under the condition that the mapping position does not meet the preset supporting leg placing condition.
In an embodiment of the present invention, the target object includes a pit and an obstacle, and the determining module is configured to: judging whether an obstacle exists at the mapping position; and/or determining whether a pit is present at the mapped location; determining that the mapping position does not meet the preset leg placement condition under the condition that the obstacle and/or the pit exist in the mapping position; determining that the mapping position satisfies the preset leg placement condition in a case where the obstacle and the pit are not present in the mapping position.
In an embodiment of the present invention, the second position determining module is configured to: generating a corresponding filling frame based on the setting position; performing moving matching on the filling frame in the spliced view; judging whether a parking available area exists in the spliced view, wherein the parking available area is an area which does not contain any target object in a filling frame in an area range; acquiring a post-movement mapping position of the pump truck support leg in the parking available area under the condition that the parking available area exists; determining the moved mapping position as the landing leg placement position.
In an embodiment of the present invention, the apparatus further includes a placement confirmation unit, and the placement confirmation unit includes: a position confirmation module for confirming whether the current leg position of the pump truck leg is located at the leg placing position before the leg placing operation is executed based on the leg placing position; the first execution module is used for executing the landing leg placing operation under the condition that the current landing leg position is located at the landing leg placing position; and the second execution module is used for feeding back corresponding prompt information under the condition that the current supporting leg position is not located at the supporting leg placing position.
Further, the embodiment of the present invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the method according to the embodiment of the present invention.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (15)
1. A method of placing a leg of a pump truck, the method comprising:
acquiring all-round information around the pump truck;
acquiring a target detection result for performing target detection on the all-round looking information;
acquiring a supporting leg placing position of a supporting leg of the pump truck based on the target detection result;
performing a leg placement operation based on the leg placement position.
2. The method of claim 1, wherein the obtaining of look-around information about the pump truck comprises:
acquiring a plurality of views around the pump truck;
splicing the multiple views based on a preset image splicing rule to obtain a spliced view, wherein the spliced view comprises views within a range of 360 degrees around the pump truck;
and taking the spliced view as the all-round-looking information.
3. The method of claim 2, wherein the obtaining of the target detection result for target detection of the all-round looking information comprises:
performing target detection on the spliced view according to a preset target detection method;
acquiring at least one target object in the spliced view and position information of each target object relative to the pump truck;
and taking the target object and the corresponding position information as the target detection result.
4. The method of claim 3, wherein the obtaining a leg placement position of a pump truck leg based on the target detection result comprises:
acquiring the setting position of the pump truck supporting leg on the pump truck;
acquiring a mapping position of the pump truck supporting leg on the ground based on the setting position;
judging whether the mapping position meets a preset supporting leg placing condition or not based on the target detection result;
taking the mapping position as the supporting leg placing position under the condition that the mapping position meets the preset supporting leg placing condition;
and generating a leg placement position based on the setting position and the target detection result under the condition that the mapping position does not meet the preset leg placement condition.
5. The method of claim 4, wherein the target object comprises a pit and an obstacle, and the determining whether the mapped position satisfies a preset leg placement condition based on the target detection result comprises:
judging whether an obstacle exists at the mapping position; and/or
Judging whether a pit exists at the mapping position;
determining that the mapping position does not meet the preset leg placement condition under the condition that the obstacle and/or the pit exist in the mapping position;
determining that the mapping position satisfies the preset leg placement condition in a case where the obstacle and the pit are not present in the mapping position.
6. The method of claim 4, wherein generating leg placement positions based on the setup position and the target detection results comprises:
generating a corresponding filling frame based on the setting position;
performing moving matching on the filling frame in the spliced view;
judging whether a parking available area exists in the spliced view, wherein the parking available area is an area which does not contain any target object in a filling frame in an area range;
under the condition that the parking available area exists, acquiring a mobile mapping position of the pump truck supporting leg in the parking available area;
determining the moved mapping position as the landing leg placement position.
7. The method of claim 1, further comprising:
confirming whether the current leg position of the pump truck leg is located at the leg placing position before the leg placing operation is executed based on the leg placing position;
performing the leg placement operation in a case where a current leg position is located at the leg placement position;
and feeding back corresponding prompt information under the condition that the current position of the supporting leg is not located at the supporting leg placing position.
8. A leg placement device for a pump truck, the device comprising:
the information acquisition unit is used for acquiring the surrounding all-round information of the pump truck;
a detection result acquisition unit configured to acquire a target detection result of target detection on the all-round viewing information;
the position determining unit is used for acquiring the supporting leg placing position of the supporting leg of the pump truck based on the target detection result;
a leg placing unit for performing a leg placing operation based on the leg placing position.
9. The apparatus according to claim 8, wherein the information acquisition unit includes:
the view acquisition module is used for acquiring a plurality of views around the pump truck;
the splicing module is used for splicing the multiple views based on a preset image splicing rule to obtain a spliced view, and the spliced view comprises views within a range of 360 degrees around the pump truck;
and the information confirmation module is used for taking the spliced view as the all-around information.
10. The apparatus according to claim 9, wherein the detection result obtaining unit includes:
the detection module is used for carrying out target detection on the spliced view according to a preset target detection method;
the object confirmation module is used for acquiring at least one target object in the spliced view and the position information of each target object relative to the pump truck;
and the detection result confirmation module is used for taking the target object and the corresponding position information as the target detection result.
11. The apparatus of claim 10, wherein the position determining unit comprises:
the first position acquisition module is used for acquiring the setting position of the pump truck supporting leg on the pump truck;
the second position acquisition module is used for acquiring the mapping position of the pump truck supporting leg on the ground based on the setting position;
the judging module is used for judging whether the mapping position meets the preset supporting leg placing condition or not based on the target detection result;
a first position determining module, configured to take the mapping position as the leg placement position when the mapping position meets the preset leg placement condition;
and the second position determining module is used for generating a supporting leg placing position based on the setting position and the target detection result under the condition that the mapping position does not meet the preset supporting leg placing condition.
12. The apparatus of claim 11, wherein the target object comprises a pit and an obstacle, and wherein the determining module is configured to:
judging whether an obstacle exists at the mapping position; and/or
Judging whether a pit exists at the mapping position;
determining that the mapping position does not meet the preset leg placement condition under the condition that the obstacle and/or the pit exist in the mapping position;
determining that the mapping position satisfies the preset leg placement condition in a case where the obstacle and the pit are not present in the mapping position.
13. The apparatus of claim 11, wherein the second position determination module is configured to:
generating a corresponding filling frame based on the setting position;
performing moving matching on the filling frame in the spliced view;
judging whether a parking available area exists in the spliced view, wherein the parking available area is an area which does not contain any target object in a filling frame in an area range;
under the condition that the parking available area exists, acquiring a mobile mapping position of the pump truck supporting leg in the parking available area;
determining the moved mapping position as the landing leg placement position.
14. The apparatus of claim 8, further comprising a placement confirmation unit, the placement confirmation unit comprising:
a position confirmation module for confirming whether the current leg position of the pump truck leg is located at the leg placing position before the leg placing operation is executed based on the leg placing position;
the first execution module is used for executing the landing leg placing operation under the condition that the current landing leg position is located at the landing leg placing position;
and the second execution module is used for feeding back corresponding prompt information under the condition that the current supporting leg position is not located at the supporting leg placing position.
15. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the method of any one of claims 1 to 7.
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