CN115268372A - Control method and system for moving well lid - Google Patents
Control method and system for moving well lid Download PDFInfo
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- CN115268372A CN115268372A CN202110837527.XA CN202110837527A CN115268372A CN 115268372 A CN115268372 A CN 115268372A CN 202110837527 A CN202110837527 A CN 202110837527A CN 115268372 A CN115268372 A CN 115268372A
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Abstract
The application provides a control method and a system for moving a well lid, wherein the control method for moving the well lid comprises the steps of acquiring a ground image shot by a vision system when a movable system moves, wherein the movable system comprises a movable mechanism and a grabbing mechanism connected with the movable mechanism; if the ground image contains a well lid image, determining first position information of an uncovering groove of the well lid according to the well lid image; and controlling the grabbing mechanism to execute action instructions according to the first position information, wherein the action instructions are used for indicating the grabbing mechanism to grab and move the well lid.
Description
Technical Field
The invention relates to the technical field of design of refueling trucks, in particular to a control method and a control system for a movable well cover.
Background
When an airplane is refueled by a refueling truck in the related art, a well cover (hereinafter referred to as a well cover) of a refueling bolt well needs to be opened and closed manually by using a simple labor tool so as to realize connection of a refueling pipe of the refueling truck and an oil well opening of the refueling bolt well, and further realize fuel supply to the airplane. Specifically, the manual work relies on experience in the past, through screens or the direct absorption that operating means aimed at the well lid on the well lid, opens the well lid, then lifts the well lid again, puts aside, waits to refuel after, puts back the well lid again, closed well lid. However, the well cover is heavy in weight, labor-consuming in manual operation and high in labor cost.
Disclosure of Invention
The application provides a control method and system for a movable well lid, and manpower cost is reduced.
The application provides a control method for a movable well lid, which comprises the following steps:
acquiring a ground image shot by a vision system when a movable system moves, wherein the movable system comprises a movable mechanism and a grabbing mechanism connected with the movable mechanism;
if the ground image contains a well lid image, determining first position information of an uncovering groove of the well lid according to the well lid image; and
and controlling the grabbing mechanism to execute action instructions according to the first position information, wherein the action instructions are used for indicating the grabbing mechanism to grab and move the well lid.
Optionally, the control method for moving the manhole cover includes:
will during ground image input to well lid identification model to output well lid identification result, well lid identification result includes the identification result that ground image contains the well lid image or the ground image does not contain the identification result of well lid image, well lid identification model utilizes first sample set training to obtain, first sample set is including the image that has the well lid.
Optionally, the determining, according to the well lid image, first position information of an uncapping slot of the well lid includes:
inputting the well lid image into an uncapping groove recognition model to output an uncapping groove recognition result, wherein the uncapping groove recognition result comprises a recognition result that the well lid image has an uncapping groove or a recognition result that the well lid image does not have an uncapping groove, the uncapping groove recognition model is obtained by utilizing a second sample set, and the second sample set comprises an image of a well lid with an uncapping groove;
and if the uncapping groove identification result is that the well lid image has the identification result of the uncapping groove, determining the position of the uncapping groove according to the well lid image.
Optionally, determining, according to the manhole cover image, a position of an opening groove of the manhole cover includes:
determining the position of the uncapping groove in the manhole cover image and a first relative position of the manhole cover groove relative to the vision system;
and determining the position of the uncapping groove according to the position of the uncapping groove in the well lid image and the first relative position.
Optionally, the controlling, according to the first position information, the grabbing mechanism to execute an action instruction includes:
according to the first position information, sending a first control instruction to the movable system, wherein the first control instruction is used for controlling the grabbing mechanism to move towards the uncovering groove;
if receive movable system is in snatch the mechanism contact feedback signal that produces during the well lid groove, to movable system sends the action command, the action command is used for control snatch the mechanism and grasp uncap the groove, and rotate the well lid extremely after the uncap position, mention the well lid, in order to remove the well lid.
Optionally, if a feedback signal generated when the movable system contacts the well lid slot when the grabbing mechanism contacts the well lid slot is received, sending an action instruction to the movable system, including:
acquiring a second relative position of the grabbing mechanism relative to the cover opening groove;
acquiring an uncapping slot image shot by the vision system;
determining whether the grabbing mechanism moves to the position of the uncapped slot or not according to the uncapped slot image and the second relative position;
if the position of the grabbing mechanism moving to the uncapped slot is determined according to the uncapped slot image and the second relative position, and if a feedback signal generated when the grabbing mechanism contacts the manhole cover slot by the movable system is received, an action instruction is sent to the movable system;
and if the position that the grabbing mechanism does not move to the opened cover groove is determined according to the opened cover groove image and the second relative position, controlling the grabbing mechanism to move towards the opened cover groove.
Optionally, the sending the action instruction to the movable system includes:
sending a first action instruction to the movable system, wherein the first action instruction is used for controlling the grabbing mechanism to grab the cover opening groove;
if a first feedback signal generated when the movable system grips the uncovering groove by the grabbing mechanism is received, sending a second action instruction to the movable system, wherein the second action instruction is used for controlling the grabbing mechanism to rotate by a preset angle so as to enable the well cover to rotate to the uncovering position;
and if a second feedback signal generated when the movable system rotates to the uncovering position is received, sending a third action instruction to the movable system, wherein the third action instruction is used for controlling the grabbing mechanism to lift the well cover.
Optionally, the method further includes: acquiring a preset moving path of the well lid; sending a second control instruction containing the preset moving path to the movable system, wherein the second control instruction is used for controlling the movable system to move the well lid according to the preset moving path;
and/or the presence of a gas in the gas,
the sending a first action instruction to the movable system comprises: acquiring second position information fed back by a position sensor of the grabbing mechanism; acquiring a second relative position of the vision system relative to the grabbing mechanism; determining whether the grabbing mechanism is in a grippable state or a non-grippable state according to the second position information and the second relative position; if the grabbing mechanism is determined to be in a grabbing state according to the uncapping slot image and the second relative position, sending a first action instruction to the movable system; and if the grabbing mechanism is determined to be in the non-grabbing state according to the uncapping slot image and the second relative position, sending a fourth action instruction to the movable system, wherein the fourth action instruction is used for controlling the grabbing mechanism to be changed from the non-grabbing state to the grabbing state, and sending a first action instruction to the movable system.
Optionally, the method further includes: if the ground image comprises a well lid image, sending a third control instruction to a prompt device, wherein the third control instruction is used for controlling the prompt device to generate a prompt signal for detecting the well lid;
and/or the presence of a gas in the atmosphere,
before acquiring the ground image taken by the vision system while the mobile system is in motion, the method further comprises: and if a trigger signal of a switch device of a vision system of the grabbing mechanism is received, controlling the starting of the vision system.
The present application provides a control system for moving a manhole cover, comprising one or more processors for implementing the method as described in any one of the above.
The present application provides a computer readable storage medium having stored thereon a program which, when executed by a processor, implements a method as described in any one of the above.
In some embodiments, according to the control method for moving the well lid, the first position information of the lid opening groove can be determined through the ground image shot by the vision system when the movable system moves, so that the grabbing mechanism is controlled to grab and move the well lid, manual grabbing and moving of the well lid are avoided, and the labor cost is reduced.
Drawings
Fig. 1 is a flowchart illustrating a control method for moving a manhole cover according to an embodiment of the present disclosure;
FIG. 2 is a flow chart illustrating one embodiment of step 102 of FIG. 1;
FIG. 3 is a flowchart of one embodiment of step 122 in FIG. 2;
FIG. 4 is a flowchart illustrating an embodiment of step 130 of FIG. 1;
FIG. 5 is a flowchart of one embodiment of step 132 of FIG. 4;
FIG. 6 is a flowchart of one embodiment of step 103 of FIG. 1;
fig. 7 is a block diagram illustrating a control system for moving a manhole cover according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the exemplary embodiments below do not represent all embodiments consistent with one or more embodiments of the specification. Rather, they are merely examples of apparatus and methods consistent with certain aspects of one or more embodiments of the specification, as detailed in the claims that follow.
It should be noted that: in other embodiments, the steps of the corresponding methods are not necessarily performed in the order shown and described in this specification. In some other embodiments, the method may include more or fewer steps than those described herein. Moreover, a single step described in this specification may be broken down into multiple steps for description in other embodiments; multiple steps described in this specification may be combined into a single step in other embodiments.
The embodiment of the application provides a control method and a control system for moving a well lid, and the first position information of a cover opening groove can be determined through a ground image shot by a vision system when a movable system moves, so that a grabbing mechanism is controlled to grab and move the well lid, manual grabbing and moving of the well lid are avoided, and the labor cost is reduced.
First, a control method of a movable manhole cover provided in an embodiment of the present application is applicable to a control center, a mobile terminal, and a main control panel of a refueling truck.
Next, the method and system for controlling the moving manhole cover according to the embodiment of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is a flowchart illustrating a control method for moving a manhole cover according to an embodiment of the present disclosure. The method may include the following steps 101 to 103.
The ground image can comprise a plurality of ground images, so that the identification accuracy can be improved. A movable system may refer to a system that is capable of moving relative to the well lid, either on the ground or on a platform. The movable system can bear the grabbing mechanism through the movable mechanism, so that the grabbing mechanism moves relative to the well lid, and the grabbing mechanism can stretch and retract. In some embodiments, the movable system may include a robotic arm. The connecting structure of the movable system and the fuelling vehicle is not limited, for example, the movable system can be a system mechanically connected to the fuelling vehicle. As another example, the movable system may be a system electrically connected to a refueling truck.
In some embodiments, the movable system may include movable members, such as wheels or drive shafts, to name a few. The gripping mechanism may comprise a member, such as a gripper, which is retractable with respect to the well lid and can grip the well lid.
A vision system in this application may refer to a system that is capable of capturing images. In some embodiments, this step 101 further comprises: images of the ground taken by a camera, video camera or monitor while the mobile system is in motion are acquired. Images of the ground can thus be taken using a camera, video camera or monitor.
The ground image is a shooting range of the visual system including a range where the ground is located, and the visual system moves along with the movement of the movable system to shoot the image. In some embodiments, the vision system may be disposed on the grabbing mechanism, so that the execution action of the grabbing mechanism can be timely and synchronously grabbed, and the execution action of the grabbing mechanism can be conveniently and timely grasped, so as to better control the movement of the grabbing mechanism.
And 102, if the ground image contains the well lid image, determining first position information of the uncapping groove of the well lid according to the well lid image.
Wherein, the well lid of gas pin well is heavier, and the well lid is snatched automatically in this application, when avoiding extravagant manpower, also can reduce manual operation's the degree of difficulty. Moreover, oil exists in the oil filler plug well, and can not be extracted by electromagnetic equipment and other equipment, so that the safety of manual operation can be improved. The well lid image of this application can refer to a well lid image, so can confirm well lid fast, and recognition efficiency is high. The well lid image of this application can include many well lid images, more convenient discernment and definite well lid, and the accuracy of well lid discernment is higher.
The well cover can cover on the oil filling bolt well. The well lid groove of well lid cooperatees with snatching the mechanism, and the well lid groove can be promptly by snatching the mechanism, realizes opening or closed well lid.
The embodiment of confirming the well lid image in this application has a variety, and in an embodiment, inputs ground image to well lid identification model to output well lid identification result, well lid identification result includes that ground image contains the identification result of well lid image or ground image does not contain the identification result of well lid image, and well lid identification model utilizes the training of first sample set to obtain, and first sample set includes the image that has the well lid. Thus, the first sample set comprises a large number of images with the well lid, and the well lid identification model is obtained by training through the first sample set, so that the accuracy of the well lid identification result output by the well lid identification model can be improved.
Wherein, well lid identification model can be the convolutional neural network through first sample set training in advance, can realize the detection of well lid and the detection of snatching the key point through this well lid identification model.
In some embodiments, inputting the ground image into the manhole cover recognition model to output the manhole cover recognition result further includes preprocessing the ground image, such as noise reduction, size scaling, and the like, and then taking the preprocessed ground image as the ground image; the well lid identification model is used for inputting the ground image into the well lid identification model, the well lid characteristic extraction and the grabbing detection of key points are carried out through the well lid identification model, and after the well lid identification model obtains the well lid key points, the well lid identification model can output the identification result of the well lid image contained in the ground image. Like this by well lid identification model carry out the characteristic and draw and well lid discernment to detect and fix a position the key point, more be favorable to really going out the well lid, in order to make things convenient for the follow-up mechanism of snatching to snatch the well lid.
The method may further comprise: and converting the positions of the key points of the well lid in the image in the world coordinate system by using the pre-calibrated internal and external parameters of the camera to obtain the position of the well lid. The position of the well lid can be determined, and therefore the grabbing mechanism can be guided to execute action instructions. Wherein, openCV can be adopted to preprocess the ground image.
In some embodiments, the method further comprises determining, by the positioning system, a location of the manhole cover in the manhole cover map. The Positioning System may include one or more of Global Positioning System (GPS) Positioning, mobile communication network such as 5G, and WiFi Positioning. The well lid map may be a well lid map in an airport previously built from a positioning system. So, the only definite of well lid position avoids peripheral well lid to disturb the discernment, also can be under the weather that vision such as heavy rain or haze weather probably receives the influence, and positioning system combines visual system, more is favorable to the discernment of well lid. Furthermore, the accuracy of well lid discernment can further be improved to the combination of sensor, positioning system and vision system. The detailed description is as follows.
And 103, controlling the grabbing mechanism to execute an action instruction according to the first position information, wherein the action instruction is used for indicating the grabbing mechanism to grab and move the well lid. The ground image that vision system shot when moving through movable system can confirm the first positional information in groove of uncapping to control snatchs the mechanism and snatchs and remove the well lid, avoid the manpower to snatch and remove the well lid, thereby reduce the human cost.
There are various embodiments of step 102 in this application. FIG. 2 is a flowchart illustrating an embodiment of step 102 in FIG. 1. In the embodiment shown in fig. 2, the step 102 may include the following steps 121 to 122. Step 121, inputting the well lid image into an uncapped slot recognition model to output an uncapped slot recognition result, wherein the uncapped slot recognition result comprises a recognition result that the well lid image has an uncapped slot or a recognition result that the well lid image does not have an uncapped slot, the uncapped slot recognition model is obtained by utilizing a second sample set, and the second sample set comprises an image of a well lid with an uncapped slot; and step 122, if the uncapping groove identification result is that the manhole cover image has the uncapping groove identification result, determining the position of the uncapping groove according to the manhole cover image. Therefore, the second sample set comprises a large number of images of the well lid with the cover opening grooves, the cover opening groove recognition model is obtained by utilizing the second sample set for training, and therefore the accuracy of the cover opening groove recognition result output by the well cover opening groove recognition model can be improved.
FIG. 3 is a flowchart illustrating an embodiment of step 122 in FIG. 2. The step 122 may include steps 211 to 212.
This step 211 further includes: and determining the position of the uncovering groove in the manhole cover image and a first relative position of the manhole cover groove relative to the vision system by using a machine vision positioning method. Among them, the machine vision positioning method may be a method of detecting the position and orientation of an element using machine vision. For example, SIFT (Scale-invariant feature transform), SURF (Speed Up Robust Features algorithm).
The well lid image in this application embodiment is including uncapping the groove, and every well lid image all has uncapping the groove, but uncapping the groove and can be in the different positions in the well lid image. And the vision system shoots the image of the object, and the first relative position of the well cover groove relative to the vision system can be determined by a machine vision positioning method.
And 212, determining the position of the uncapping groove according to the position of the uncapping groove in the well lid image and the first relative position. The position of the uncapping slot can be a position in a world coordinate system, and the position of the uncapping slot in the world coordinate system and a position of a distance between the uncapping slot and the vision system in the world coordinate system are included. In some embodiments, the position of the uncapping slot in the image coordinate system can be determined according to the position of the uncapping slot in the manhole cover image, and the position of the uncapping slot in the camera coordinate system can be determined according to the first relative position; converting the position of the uncapping groove in the image coordinate system into the position of the uncapping groove in a world coordinate system; the position of the uncapping groove in the camera coordinate system is converted into the position of the distance between the uncapping groove and the vision system under the world coordinate, so that the position of the uncapping groove is conveniently determined, the positions of the vision system and the uncapping groove are also conveniently determined, and the grabbing mechanism can be controlled to move more conveniently.
FIG. 4 is a flowchart illustrating an embodiment of step 130 in FIG. 1. In the embodiment shown in fig. 4, the step 130 may further include steps 131 to 132.
And step 131, sending a first control instruction to the movable system according to the first position information, wherein the first control instruction is used for controlling the grabbing mechanism to move towards the uncovering groove. Therefore, the control instruction is determined according to the first position information of the current uncapping slot.
In an actual scenario, the first position information may include any one of a position of the hydrant well, which is a scenario in which the manhole cover is not removed from the hydrant well, and a position around the hydrant well, which is a scenario in which the manhole cover has been shifted to be in place.
And 132, if a feedback signal generated when the grabbing mechanism contacts the well lid groove by the movable system is received, sending an action instruction to the movable system, wherein the action instruction is used for controlling the grabbing mechanism to grasp the uncovering groove, and lifting the well lid to move the well lid after rotating the well lid to the uncovering position. So, can conveniently control movable system through first control command, avoid snatching the mechanism and block the groove of uncapping for the groove of uncapping is in vision system's blind area, can't in time determine the groove of uncapping.
The feedback signal generated when the grabbing mechanism contacts the well lid groove by the movable system can comprise a contact signal generated by the contact sensor when the grabbing mechanism contacts the well lid groove, and the contact signal is used as the feedback signal.
FIG. 5 is a flowchart illustrating an embodiment of step 132 of FIG. 4. In the embodiment shown in fig. 5, the step 132 further includes steps 311 to 315.
And 311, acquiring a second relative position of the grabbing mechanism relative to the cover opening groove.
And step 312, acquiring an uncapped slot image shot by the vision system.
And step 313, determining whether the grabbing mechanism moves to the position of the uncapping slot or not according to the uncapping slot image and the second relative position.
This step 313 further includes determining whether the grasping mechanism is moved to the well lid well by the relative position of the vision system with respect to the grasping mechanism in the image of the open well. In some embodiments, the position of the grabbing mechanism moving to the manhole cover groove is determined by overlapping the position of the opened groove in the opened groove image with the position of the grabbing mechanism. In other embodiments, it is determined that the grabbing mechanism does not move to the well lid slot by the fact that the position of the open lid slot in the open lid slot image does not overlap with the position of the grabbing mechanism.
And step 314, if the position of the grabbing mechanism moving to the open cover groove is determined according to the open cover groove image and the second relative position, and if a feedback signal generated when the grabbing mechanism contacts the well cover groove by the movable system is received, sending an action instruction to the movable system.
And 315, if the position of the grabbing mechanism which is not moved to the uncapped slot is determined according to the uncapped slot image and the second relative position, controlling the grabbing mechanism to move towards the uncapped slot. Therefore, whether the grabbing mechanism moves to the position of the cover opening groove or not is determined through the visual system, and the action instruction is sent, so that the visual system can assist the movable system in grabbing feedback signals generated when the mechanism contacts the well cover groove, the movable system is prevented from mistakenly generating the feedback signals to result in incapability of grabbing the well cover groove, the accuracy of the position of the cover opening groove is improved, and the grabbing mechanism can be better controlled to move towards the cover opening groove. Further, can be under the weather that vision such as heavy rain or haze weather probably receives the influence, position sensor combines visual system, more is favorable to snatching the mechanism and removes the determination of uncapping the position in groove.
FIG. 6 is a flowchart illustrating an embodiment of step 103 in FIG. 1. In the embodiment shown in fig. 4, the step 130 may further include steps 133 to 135.
And step 133, sending a first action instruction to the movable system, wherein the first action instruction is used for controlling the grabbing mechanism to grasp the uncovering groove. When the movable system receives the first action instruction, the movable system can generate a pressure signal through the pressure sensor when the grabbing mechanism grabs the cover opening groove, and the pressure signal is used as a first feedback signal.
In some embodiments, this step 133 further comprises: acquiring second position information fed back by a position sensor of the grabbing mechanism; acquiring a second relative position of the vision system relative to the grabbing mechanism; determining whether the grabbing mechanism is in a grippable state or a non-grippable state according to the second position information and the second relative position; if the grabbing mechanism is determined to be in the grabbing state according to the uncapping slot image and the second relative position, sending a first action instruction to the movable system; and if the grabbing mechanism is determined to be in the non-grabbing state according to the uncapping slot image and the second relative position, sending a fourth action instruction to the movable system, wherein the fourth action instruction is used for controlling the grabbing mechanism to be changed into the grabbing state from the non-grabbing state, and sending the first action instruction to the movable system. So, can carry out timely adjustment through snatching the mechanism to better snatch well lid groove.
The grabbing state can mean that the grabbing mechanism can grab the well lid groove and is fixedly connected with the well lid groove. The non-grabbing state can mean that the grabbing mechanism cannot grab the well lid groove and cannot be fixedly connected with the cover opening groove.
And 134, if a first feedback signal generated when the movable system grips the uncovering groove by the grabbing mechanism is received, sending a second action instruction to the movable system, wherein the second action instruction is used for controlling the grabbing mechanism to rotate by a preset angle so as to enable the well cover to rotate to the uncovering position. When the movable system receives the second action instruction, the angle signal generated when the movable system controls the grabbing mechanism to rotate by a preset angle is used as a second feedback signal.
The predetermined angle may be a preset rotation angle value of the manhole cover. In some embodiments, the moveable system includes a rotating disk disposed between the moveable mechanism and the grasping mechanism, and a rotating disk motor coupled to the rotating disk. So, rotary disk itself has a rotational degree of freedom, and this motor rotates the back and then drives the rotary disk rotation through synchronous belt drive. The second motion command may include a direction, a speed, and an angle value for controlling the turntable motor. After the cover opening groove is clamped by the manipulator, a second feedback signal is generated through the rotary disc motor position sensor, whether a preset angle is reached or not is judged, and if the preset angle is reached, a second action instruction is sent to the movable system to lift the well lid. In some embodiments, the output shaft of the rotating disk motor is connected with an absolute type rotary encoder, and the rotation angle of the motor is obtained through the rotary encoder so as to obtain the rotation angle of the rotating disk. The preset angle of the rotating angle is determined according to the thread specification of the well cover and the oil filling bolt well mouth matched with each other. Whether the rotating disk rotates to a preset angle or not is a second feedback signal generated by the rotary encoder to the main control board.
The method further includes determining whether the manhole cover is lifted; if the well lid can not be lifted, a second action command is continuously sent to the movable system, so that the well lid rotates to the uncovering position until the well lid can be lifted.
And step 135, if a second feedback signal generated when the well lid is rotated to the uncovering position by the movable system is received, sending a third action instruction to the movable system, wherein the third action instruction is used for controlling the grabbing mechanism to lift the well lid. In this way, the first action command, the second action command and the third action command can be respectively sent to respectively control the movable system to move, so that each fine action can be accurately achieved, and the movable system can be effectively controlled.
The control method for moving the well lid further comprises the step of controlling the grabbing mechanism to move the well lid to a preset position to be suspended or put down when controlling the grabbing mechanism to lift the well lid. Wherein the predetermined location may be a region outside of the wellhead. The position where the oil nozzle and the oil well opening are butted with each other by the refueling operator can be used as the preset position as long as the well cover lifted by the grabbing mechanism does not obstruct the refueling operator, and the preset position is not limited herein.
In some embodiments, the control method of moving the manhole cover further comprises obtaining a predetermined movement path of the manhole cover; and sending a second control instruction containing a preset moving path to the movable system, wherein the second control instruction is used for controlling the movable system to move the well lid according to the preset moving path. Therefore, the well lid can be quickly moved according to the preset moving path of the well lid, and the calculation burden caused by the temporary planning path is also avoided, wherein the preset moving path comprises the moving starting point of the well lid, the moving destination of the well lid and a route from the moving starting point to the moving destination, and the preset moving path can be a movement path planned in advance by the lifted well lid. The predetermined movement path includes a path for the well lid to move out of the hydrant well and a path for the well lid to reset to the hydrant well.
In some embodiments, the control method for moving the manhole cover further includes sending a third control command to the prompting device if the ground image includes the manhole cover image, where the third control command is used to control the prompting device to generate a prompting signal for detecting the manhole cover. Therefore, the user can be reminded in time through the prompt signal, and the well lid is detected, so that the manual operation that the user participates in moving the movable system is reduced. In some embodiments, the prompting device may include, but is not limited to, a warning light and/or a warning sound. For example, sending the third control instruction to the prompting device further comprises sending the third control instruction to a warning lamp and/or a warning sound, and the third control instruction is used for controlling the prompting device to generate a light prompting signal and/or a sound prompting signal for detecting the well lid.
In some embodiments, before step 101, the control method for moving the manhole cover further comprises controlling the opening of the vision system if a trigger signal of a switching device of the vision system of the gripping mechanism is received. Therefore, a user can control the opening of the visual system through the switch device, the interaction between the user and the device is facilitated, meanwhile, the effectiveness of images shot by the visual system is improved, and the data processing amount is reduced. In some instances, the camera begins to take a picture when the operator can move the tubing near the hydrant well, triggering a switch of the vision system. In other examples, when the operator removes the tube from the fuelling vehicle, the switch of the vision system is triggered, at which time the camera begins to take a picture.
Fig. 7 is a block diagram illustrating a control system 400 for moving a manhole cover according to an embodiment of the present disclosure. The control system 400 for moving a manhole cover includes one or more processors 401 for implementing the control method for moving a manhole cover as described above.
In some embodiments, control system 400 to move a manhole cover may include computer readable storage medium 409, and computer readable storage medium 409 may store a program that may be invoked by processor 401, and may include non-volatile storage media. In some embodiments, the control system 400 to move the manhole cover may include a memory 408 and an interface 407. In some embodiments, the control system 400 for moving the manhole cover may also include other hardware depending on the application.
The computer-readable storage medium 409 of the embodiment of the present application has a program stored thereon, and when the program is executed by the processor 401, the program is used to implement the control method for moving the manhole cover as described above.
This application may take the form of a computer program product embodied on one or more computer-readable storage media 409 (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having program code embodied therein. Computer-readable storage media 409, which include both permanent and non-permanent, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer-readable storage media 409 include, but are not limited to: phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technologies, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium, may be used to store information that may be accessed by a computing device.
The above description is only a preferred embodiment of the present disclosure, and should not be taken as limiting the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
It should also be noted that 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 phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or apparatus comprising the element.
Claims (10)
1. A control method for moving a manhole cover is characterized by comprising the following steps:
acquiring a ground image shot by a vision system when a movable system moves, wherein the movable system comprises a movable mechanism and a grabbing mechanism connected with the movable mechanism;
if the ground image contains a well lid image, determining first position information of an uncapping groove of the well lid according to the well lid image; and
and controlling the grabbing mechanism to execute action instructions according to the first position information, wherein the action instructions are used for indicating the grabbing mechanism to grab and move the well lid.
2. The control method of the moving manhole cover according to claim 1, comprising:
will during ground image input to well lid identification model to output well lid identification result, well lid identification result includes ground image contains the identification result of well lid image or ground image does not contain the identification result of well lid image, well lid identification model utilizes first sample set training to obtain, first sample set is including the image that has the well lid.
3. The control method for moving the manhole cover according to claim 1, wherein the determining the first position information of the uncapping slot of the manhole cover from the manhole cover image includes:
inputting the well lid image into an uncapping groove recognition model to output an uncapping groove recognition result, wherein the uncapping groove recognition result comprises a recognition result that the well lid image has an uncapping groove or a recognition result that the well lid image does not have an uncapping groove, the uncapping groove recognition model is obtained by utilizing a second sample set, and the second sample set comprises an image of a well lid with an uncapping groove;
and if the uncapping groove identification result is that the well lid image has the identification result of the uncapping groove, determining the position of the uncapping groove according to the well lid image.
4. The control method for moving the manhole cover according to claim 3, wherein the determining the position of the uncapping groove of the manhole cover according to the manhole cover image comprises:
determining the position of the uncapping groove in the manhole cover image and a first relative position of the manhole cover groove relative to the vision system;
and determining the position of the uncapping groove according to the position of the uncapping groove in the well lid image and the first relative position.
5. The control method for moving the manhole cover according to claim 1, wherein the controlling the grabbing mechanism to execute the action command according to the first position information comprises:
according to the first position information, sending a first control instruction to the movable system, wherein the first control instruction is used for controlling the grabbing mechanism to move towards the uncovering groove;
if receive movable system is in snatch the mechanism contact feedback signal that produces during the well lid groove, to movable system sends the action command, the action command is used for control snatch the mechanism and grasp uncap the groove, and rotate the well lid extremely after the uncap position, mention the well lid, in order to remove the well lid.
6. The method for controlling the moving of the manhole cover according to claim 5, wherein the step of sending an action command to the movable system upon receiving a feedback signal generated when the movable system contacts the manhole cover groove comprises:
acquiring a second relative position of the grabbing mechanism relative to the cover opening groove;
acquiring an uncapping slot image shot by the vision system;
determining whether the grabbing mechanism moves to the position of the uncapped slot or not according to the uncapped slot image and the second relative position;
if the position of the grabbing mechanism moving to the uncapped slot is determined according to the uncapped slot image and the second relative position, and if a feedback signal generated when the grabbing mechanism contacts the well lid slot by the movable system is received, an action instruction is sent to the movable system;
and if the position that the grabbing mechanism does not move to the uncovering groove is determined according to the uncovering groove image and the second relative position, controlling the grabbing mechanism to move towards the uncovering groove.
7. The method for controlling the movement of the manhole cover according to claim 5, wherein the sending of the action command to the movable system comprises:
sending a first action instruction to the movable system, wherein the first action instruction is used for controlling the grabbing mechanism to grab the uncovering groove;
if a first feedback signal generated when the movable system grips the uncovering groove by the grabbing mechanism is received, sending a second action instruction to the movable system, wherein the second action instruction is used for controlling the grabbing mechanism to rotate by a preset angle so as to enable the well cover to rotate to the uncovering position;
and if a second feedback signal generated when the movable system rotates to the uncovering position is received, sending a third action instruction to the movable system, wherein the third action instruction is used for controlling the grabbing mechanism to lift the well cover.
8. The method of controlling a moving well lid of claim 7, further comprising: acquiring a preset moving path of the well lid; sending a second control instruction containing the preset moving path to the movable system, wherein the second control instruction is used for controlling the movable system to move the well lid according to the preset moving path;
and/or the presence of a gas in the gas,
the sending a first action instruction to the movable system comprises: acquiring second position information fed back by a position sensor of the grabbing mechanism; acquiring a second relative position of the vision system relative to the grabbing mechanism; determining whether the grabbing mechanism is in a grippable state or a non-grippable state according to the second position information and the second relative position; if the grabbing mechanism is determined to be in a grabbing state according to the uncapping slot image and the second relative position, sending a first action instruction to the movable system; and if the grabbing mechanism is determined to be in the non-grabbing state according to the uncapping slot image and the second relative position, sending a fourth action instruction to the movable system, wherein the fourth action instruction is used for controlling the grabbing mechanism to be changed from the non-grabbing state to the grabbing state, and sending a first action instruction to the movable system.
9. The control method of moving a manhole cover according to any one of claims 1 to 8, further comprising: if the ground image comprises a well lid image, sending a third control instruction to a prompt device, wherein the third control instruction is used for controlling the prompt device to generate a prompt signal for detecting the well lid;
and/or the presence of a gas in the gas,
before acquiring the ground image taken by the vision system while the mobile system is in motion, the method further comprises: and if a trigger signal of a switch device of a vision system of the grabbing mechanism is received, controlling the starting of the vision system.
10. A control system for moving a manhole cover, comprising one or more processors for implementing the control method for moving a manhole cover according to any one of claims 1 to 9.
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