CN116337043A - Positioning method, system, AGV trolley and electronic equipment - Google Patents
Positioning method, system, AGV trolley and electronic equipment Download PDFInfo
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- CN116337043A CN116337043A CN202310317334.0A CN202310317334A CN116337043A CN 116337043 A CN116337043 A CN 116337043A CN 202310317334 A CN202310317334 A CN 202310317334A CN 116337043 A CN116337043 A CN 116337043A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30232—Surveillance
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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Abstract
The invention relates to the technical field of visual positioning, and provides a positioning method, a system, an AGV (automatic guided vehicle) and electronic equipment, wherein the positioning method is used for positioning a measured object in a target area, and a monitoring camera is arranged in the target area, and the positioning method comprises the following steps: acquiring a to-be-processed image containing a to-be-detected object, which is shot by a to-be-processed monitoring camera; determining depth information of a measured object and a monitoring camera to be processed based on the image to be processed; and determining the position information of the measured object in the target area based on the depth information and the pose of the monitoring camera to be processed under the target area coordinate system. The method is used for solving the defects that the current common positioning method in the prior art is complicated in construction, the marks are required to be repeatedly arranged, the degraded scene cannot be positioned and the like, realizing the global positioning of the detected object in the target area based on the monitoring camera arranged in the target area, and being convenient for positioning AGV trolleys or materials and the like in the scenes of workshop and the like.
Description
Technical Field
The invention relates to the technical field of visual positioning, in particular to a positioning method, a positioning system, an AGV and electronic equipment.
Background
AGV dolly (Automated Guided Vehicle ) plays an increasingly important role in fields such as manufacturing because of its advantages such as high efficiency, flexibility, reduction cost of labor.
The positioning method is one of the fundamental factors that the AGV trolley can guarantee to realize the functions of the AGV trolley. According to the different application scenes of the AGV trolley, the common positioning methods are as follows: two-dimensional code positioning, reflective column positioning, magnetic positioning, ribbon positioning and laser slam (simultaneous localization and mapping, instant positioning and map construction) positioning.
However, for two-dimension code positioning, reflection column positioning and color band positioning, two-dimension codes, reflection columns or color bands are required to be arranged in the early stage, the construction is complicated, the labor and the materials are consumed, frequent maintenance is required when the two-dimension code positioning device is used, meanwhile, the flexibility is poor, and the route modification is required to be constructed and arranged again; for magnetic positioning, the construction of a ground grooving is needed, the original ground is damaged, and the problem of poor flexibility exists, namely, after a route is modified, the magnetic track or the magnetic nails are needed to be arranged again; and for laser slam positioning, the requirement on the environment change rate is high, the general requirement cannot have larger environment change, and in addition, the possibility that the positioning cannot be performed on degradation scenes such as long corridor and the like exists.
Disclosure of Invention
The invention provides a positioning method, a system, an AGV and electronic equipment, which are used for solving the defects that the current common positioning method in the prior art is complex in construction, the mark needs to be repeatedly arranged, or the degradation scene cannot be positioned, and the like, realizing the global positioning of a detected object in a target area based on a monitoring camera arranged in the target area, and facilitating the positioning of the AGV or materials in the scenes such as workshop.
The invention provides a positioning method for positioning a measured object in a target area, wherein a monitoring camera is arranged in the target area, and each position of the target area is at least covered by a preset number of monitoring cameras, and the positioning method comprises the following steps:
acquiring a to-be-processed image shot by a to-be-processed monitoring camera, wherein the to-be-processed monitoring camera is a monitoring camera shooting the to-be-detected object, and the to-be-processed image is an image containing the to-be-detected object;
determining depth information of the detected object and the monitoring camera to be processed based on the image to be processed;
and determining the position information of the measured object in the target area based on the depth information and the pose of the monitoring camera to be processed under the target area coordinate system.
The positioning method according to the invention further comprises:
determining course angle information of the measured object based on the image to be processed;
and determining the pose of the measured object based on the course angle information and the position information of the measured object.
According to the positioning method of the present invention, the determining course angle information of the measured object based on the image to be processed includes:
the method comprises the steps that the position information of a detected object in a target area is determined, and the position information of preset contour edge points of the detected object is determined, wherein the preset contour edge points at least comprise two and are respectively positioned at the front end and the rear end of the detected object;
and determining the course angle information based on the position information of the preset contour edge point.
The positioning method according to the invention further comprises:
acquiring a positioning request for the measured object;
responding to the positioning request, sending an image acquisition instruction to the monitoring camera, and searching all objects to be detected in the target area;
and matching the characteristics extracted from each object to be detected with the preset characteristics of the object to be detected, and determining a preset number of monitoring cameras to be processed from the monitoring cameras after the matching is successful.
The positioning method according to the invention further comprises:
performing iterative optimization on the pose of the measured object determined based on the image to be processed;
and taking the pose of the measured object determined based on the iterative optimization as the final pose of the measured object.
The invention also provides a positioning system, comprising: the device comprises an image acquisition module, a communication module and a processing module;
the image acquisition module is a monitoring camera arranged in a target area and is used for shooting images in the target area, and each position in the target area is at least covered by a preset number of monitoring cameras;
the communication module is respectively connected with the monitoring camera and the processing module and is used for information interaction between the monitoring camera and the processing module;
the processing module is used for acquiring a to-be-processed image shot by the to-be-processed monitoring camera, determining depth information of a to-be-detected object and the to-be-processed monitoring camera based on the to-be-processed image, and determining position information of the to-be-detected object in the target area based on the depth information and the pose of the to-be-processed monitoring camera under the target area coordinate system, wherein the to-be-processed monitoring camera is the monitoring camera shooting the to-be-detected object, and the to-be-processed image is an image containing the to-be-detected object.
According to the positioning system, the monitoring camera is a binocular camera and/or an RGBD camera.
The invention also provides the AGV for positioning by the positioning method.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the positioning method as described in any one of the above when executing the program.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a positioning method as described in any of the above.
According to the positioning method, the system, the AGV and the electronic equipment, the to-be-processed image containing the to-be-detected object is obtained through the monitoring cameras arranged in the target areas of the workshop and the like, then the depth information of the to-be-detected object and the monitoring cameras for shooting the to-be-processed image is determined based on the to-be-processed image, finally the position information of the to-be-detected object in the target areas is determined based on the depth information of the to-be-detected object and the monitoring cameras for shooting the to-be-processed image and the pose of the monitoring cameras for shooting the to-be-processed image in the target area coordinate system, global positioning of the to-be-detected object such as the AGV and the material by utilizing the existing monitoring cameras in the target areas of the workshop and the like is achieved, namely the to-be-detected object is positioned by utilizing the fixed pose and the global vision system, so that the influence of the positioning is less, and the problem of shaking and the like is avoided.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a positioning method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of the AGV A positioning method according to the embodiment of the present invention;
FIG. 3 is a schematic diagram of a positioning system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
A positioning method according to the present invention is described below with reference to fig. 1 and 2, and may be performed by software and/or hardware in an electronic device such as a computer, a tablet, a mobile phone, etc.
The positioning method provided by the embodiment of the invention is used for positioning the object to be detected in the target area, wherein the monitoring cameras are arranged in the target area, and each position of the target area is at least covered by a preset number of monitoring cameras.
It will be appreciated that for target areas such as workshops, etc., the monitoring cameras are generally disposed at the top of the workshops, etc., and the monitoring area of each monitoring camera is limited, so that a plurality of monitoring cameras may be disposed, and the monitoring of the target area is fully covered by overlapping the monitoring areas between each monitoring camera.
Based on the method, the AGV trolley, the material and the like can be positioned by the monitoring camera which is arranged in the target area and used for monitoring, so that the global positioning of the measured object in the target area based on vision is realized, and the trouble of arranging the two-dimensional code, the color ribbon and the like is avoided. Meanwhile, the global positioning of the detected object is carried out by utilizing the image shot by the monitoring camera, so that the problem that the detected object in the degraded scene cannot be positioned can be avoided.
Further, the preset number can be flexibly set according to the positioning accuracy and the like required in practice, and it is known that the more images of the measured object are shot from different angles, the more accurate the position information of the measured object is determined by the images, however, the cost is increased along with the increase of the number of the monitoring cameras, so in the positioning method provided by the embodiment of the invention, the preset number is preferably set to 3, that is, by adjusting the shooting angles of all the monitoring cameras arranged in the target area, each position in the target area is at least covered by the shooting areas of the 3 monitoring cameras at the same time, and the 3 monitoring cameras can be shot from different angles, thereby not only reducing the use cost of the positioning method provided by the embodiment of the invention, but also improving the positioning accuracy of the measured object.
As shown in fig. 1, the positioning method provided by the embodiment of the invention includes the following steps:
101. acquiring a to-be-processed image shot by a to-be-processed monitoring camera;
specifically, the monitoring cameras to be processed are monitoring cameras for shooting the detected object, the images to be processed are images containing the detected object, and the number of the monitoring cameras capable of shooting the detected object is at least a preset number, so that the acquired images to be processed at least comprise the preset number.
102. Determining depth information of the detected object and the monitoring camera to be processed based on the image to be processed;
specifically, in order to ensure the monitoring effect, the position where the monitoring camera is disposed is high, for example, generally disposed on the top of a target area such as a workshop or on a wall surface near the top, and thus, the image to be processed captured by the monitoring camera to be processed is a top view of the object to be detected captured from above. By analyzing the image to be processed, the distance between the measured object and the monitoring camera to be processed, namely the depth information of the measured object and the monitoring camera to be processed, can be obtained.
103. And determining the position information of the measured object in the target area based on the depth information and the pose of the monitoring camera to be processed under the target area coordinate system.
Specifically, taking a target area as a workshop as an example, after the monitoring camera is installed, the pose of the monitoring camera in the workshop, namely the transformation relation between the coordinate system of the monitoring camera and the coordinate system of the workshop, can be obtained through a workshop construction drawing and a mapping result.
More specifically, in the case that the distance between the object to be measured and the monitoring camera to be processed and the position of the monitoring camera to be processed in the target area are known, the position of the object to be measured in the target area can be further determined, that is, the positioning of the object to be measured is realized.
According to the positioning method provided by the embodiment of the invention, the image of the detected object such as the AGV trolley and the material shot by the existing monitoring camera in the target area is utilized, the global positioning of the detected object can be realized only by adjusting the shooting angle of the monitoring camera for monitoring the target area without modifying the site, the implementation is convenient, the use cost is low, the monitoring camera is arranged at a high place and is not easy to damage, the maintenance cost is reduced, in addition, the monitoring camera can realize the full coverage of the target area, so that the influence on the positioning is small when the local change occurs in the target area, on one hand, compared with the laser slam positioning, the requirement on the environment change rate is reduced, and on the other hand, compared with the two-dimensional code positioning, the reflective column positioning and the like, the trouble of rearranging marks is avoided.
Furthermore, the positioning method provided by the embodiment of the invention realizes the positioning of the measured object by analyzing the image shot by the monitoring camera, avoids the situation that the positioning system is installed on the measured object, and the monitoring camera is fixed in position in the target area, is less influenced by the environment and does not worry about the problem of shaking and the like, thereby ensuring the consistency and stability of positioning, and reducing the number of visual positioning sensors when a large number of measured objects exist in the target area, and further reducing the positioning cost.
Taking a target area as a workshop or a factory building, taking a measured object as an AGV trolley running in the workshop or the factory building as an example, in one embodiment, the AGV trolley can be stopped after being positioned and lost in the running process of the AGV trolley, the position and the pose of the AGV trolley are sent to the AGV trolley through the positioning method provided by the invention for fusion positioning, and therefore the stability and the robustness of positioning of a large amount of the AGV trolley are increased.
In another embodiment, in the case that the position of the target point of the AGV, for example, the position of the tray that interfaces with the AGV is unknown, the positioning method provided by the embodiment of the invention can be used to determine the position of the target point, and then the position of the target point is sent to the AGV, so that the production is more flexible.
Based on the content of the foregoing embodiment, the positioning method provided by the embodiment of the present invention further includes:
determining course angle information of the measured object based on the image to be processed;
and determining the pose of the measured object based on the course angle information and the position information of the measured object.
It will be appreciated that for a measured object such as an AGV moving within a target area, after determining the position information of the measured object, the direction of movement of the measured object needs to be determined.
Specifically, the course angle information of the measured object can be determined through the image to be processed, and the pose of the measured object can be determined through combining the course angle information and the position information, so that the follow-up fusion or scheduling is facilitated.
Based on the content of the foregoing embodiment, the determining, based on the image to be processed, heading angle information of the measured object includes:
determining position information of preset contour edge points of the detected object based on the position information of the detected object in the target area, wherein the preset contour edge points at least comprise two and are respectively positioned at the front end and the rear end of the detected object;
and determining the course angle information based on the position information of the preset contour edge point.
Specifically, by extracting the contour features of the object to be measured on the image to be processed and then based on the position information of the contour features, the heading angle information of the object to be measured can be determined.
More specifically, taking an AGV trolley as an example, assuming that the preset contour edge points are two position points of 45 degrees left in front of and 45 degrees right behind the center point of the AGV trolley respectively, after the position information of the AGV trolley is determined, the position information of the preset contour edge point can be calculated through the center point of the AGV trolley by further using a geometric method because the positions of the center point and the contour edge point of the AGV trolley are fixed, and then the course angle of the AGV trolley can be determined by using the geometric method through the position information of the preset contour edge point. The head part and the tail part of the AGV trolley are distinguished by extracting the outline features of the AGV trolley, and then the course angle information of the AGV trolley can be determined based on the directions of the head part and the tail part.
Based on the content of the foregoing embodiment, the positioning method provided by the embodiment of the present invention further includes:
acquiring a positioning request for the measured object;
responding to the positioning request, sending an image acquisition instruction to the monitoring camera, and searching all objects to be detected in the target area;
and matching the characteristics extracted from each object to be detected with the preset characteristics of the object to be detected, and determining a preset number of monitoring cameras to be processed from the monitoring cameras after the matching is successful.
It will be appreciated that for a target area such as a workshop, the number of objects to be measured such as AGV's traveling therein is generally more than one, while for the same model of AGV's it is difficult to distinguish each AGV from the image.
Specifically, different preset features are set on each object to be detected in the target area, then when the positioning requirement for a certain object to be detected is received, whether the object to be detected to be positioned is in the target area or not can be determined by comparing the features of all the objects to be detected searched in the target area with the preset features of the object to be detected to be positioned, and when the object to be detected to be positioned is determined to be in the target area, a preset number of monitoring cameras to be processed are further determined, namely the monitoring cameras of the object to be detected to be positioned can be shot, so that the object to be detected to be positioned can be positioned by acquiring the images shot by the monitoring cameras to be processed in the follow-up process.
More specifically, the image acquisition instruction is sent to the monitoring camera after the positioning request for the detected object is acquired, so that the monitoring camera can be used for normal monitoring when the positioning request for the detected object is not required, and reliable monitoring of the target area is ensured.
Further, the preset features set for each object to be tested may be in various manners, for example: setting the objects to be measured to different colors, arranging different two-dimensional codes, reflective marks and the like on each object to be measured.
Taking the measured object as an AGV trolley for example, considering that the AGV trolley may have the operations of placing materials at the top for lifting and the like, the mark is arranged at the top of the AGV trolley, and the differentiation of each AGV trolley is inconvenient. In one embodiment, through set up lamps and lanterns on the AGV dolly, then when lamps and lanterns are opened, make the subaerial projection of AGV dolly direction of operation go out the light of different colours, perhaps distinguish different AGV dollies by the serial number etc. of the AGV dolly that light formed to the differentiation to each AGV dolly has been made things convenient for.
Based on the content of the foregoing embodiment, the positioning method provided by the embodiment of the present invention further includes:
performing iterative optimization on the pose of the measured object determined based on the image to be processed;
and taking the pose of the measured object determined based on the iterative optimization as the final pose of the measured object.
Specifically, the pose of the detected object is determined, and the pose of the monitoring camera for shooting the image for determining the pose of the detected object is subjected to back-end optimization, so that the final position information of the detected object is obtained, and the accuracy of a positioning result is effectively ensured.
In one embodiment, according to the pose of the camera to be processed under the target area coordinate system, the internal reference of the camera to be processed and the corresponding distortion model, the position information of the object to be measured under the target area coordinate system and the image to be processed are subjected to back-end iterative optimization through Bundle Adjustment (beam adjustment method), so that the final position information of the object to be measured under the target area coordinate system is obtained.
In another embodiment, a specific flow of positioning the AGV cart a by applying the positioning method provided in the foregoing embodiment of the present invention is shown in fig. 2, and includes the following steps:
201. determining the pose of the monitoring camera under a target area coordinate system;
202. acquiring a positioning request for an AGV car A;
203. sending an image acquisition instruction to the monitoring camera, and searching all AGV trolleys in the target area;
204. extracting the characteristics of all the searched AGV trolleys, and matching with the preset characteristics of the AGV trolley A;
205. determining whether the matching is successful; if yes, go to step 206; if not, returning to the step 202;
206. determining a monitoring camera to be processed, and acquiring an image to be processed by the monitoring camera to be processed;
207. determining depth information of the monitoring camera to be processed and the AGV car A based on the image to be processed;
208. determining position information of the AGV trolley A based on the depth information and the pose of the monitoring camera to be processed under the target area coordinate system;
209. determining position information of a preset contour edge point of the AGV car A;
210. determining course angle information of the AGV car A;
211. determining the pose of the AGV trolley A;
212. performing back-end iterative optimization based on Bundle Adjustment;
213. and sending the final pose of the AGV trolley A determined by the back-end iterative optimization to the AGV trolley A.
As shown in fig. 2, when the positioning method provided by the embodiment of the invention is applied to positioning an AGV trolley, a positioning system is not required to be arranged on the AGV trolley, but an image of the AGV trolley is acquired through a monitoring camera fixedly installed in a target area such as a factory workshop, so that the pose of the AGV trolley is determined, the positioning consistency and stability are ensured, the number of visual positioning sensors can be reduced for a scene with a large number of AGV trolleys, the positioning cost is reduced, and meanwhile, the accuracy of a positioning result is ensured through the combination of front-end positioning and rear-end optimization.
The following describes a positioning system provided by the present invention, and a positioning system described below and a positioning method described above may be referred to correspondingly.
As shown in fig. 3, the positioning system provided by the present invention includes: an image acquisition module 310, a communication module 320, and a processing module 330;
the image acquisition module 310 is a monitoring camera arranged in a target area and is used for shooting images in the target area, and each position in the target area is at least covered by a preset number of monitoring cameras;
the communication module 320 is connected to the monitoring camera and the processing module 330, respectively, and is used for information interaction between the monitoring camera and the processing module 330;
the processing module 330 is configured to obtain a to-be-processed image captured by a to-be-processed monitoring camera, determine depth information of a to-be-detected object and the to-be-processed monitoring camera based on the to-be-processed image, and determine position information of the to-be-detected object in the target area based on the depth information and a pose of the to-be-processed monitoring camera in the target area coordinate system, where the to-be-processed monitoring camera is a monitoring camera capturing the to-be-detected object, and the to-be-processed image is an image including the to-be-detected object.
Specifically, the communication module is responsible for information interaction between the image acquisition module and the processing module, wherein the image acquisition module and the processing module can adopt USB communication, and further, when the measured object is an object that needs to be operated through positioning, for example, a robot such as an AGV car, the communication module can also be responsible for communication between the measured object and the processing module, for example: the object to be measured and the processing module can adopt network communication, such as 4G, 5G and the like, and in a target area with small whole-course working area range and bad network signals, radio stations, bluetooth and other radio transmission modes can be adopted for communication.
According to the positioning system provided by the embodiment of the invention, the to-be-processed image containing the to-be-detected object is obtained through the monitoring cameras arranged in the target area of the workshop and the like, then the depth information of the to-be-detected object and the monitoring cameras for shooting the to-be-processed image is determined based on the to-be-processed image, and finally the position information of the to-be-detected object in the target area is determined based on the depth information of the to-be-detected object and the monitoring cameras for shooting the to-be-processed image and the pose of the monitoring cameras in the target area coordinate system, so that the global positioning of the to-be-detected object such as an AGV (automatic guided vehicle) and a material by utilizing the existing monitoring cameras in the target area of the workshop and the like is realized, namely the positioning of the to-be-detected object by utilizing the fixed pose and the global vision system, so that the influence of the positioning is less by the environment is worried about, the problem of shaking and the like is avoided, and meanwhile, the trouble of arranging marks such as a two-dimensional code, a reflecting column and the like is avoided, the positioning of the to-be-detected object in a long degradation scene is also realized, so that the positioning of the to-be-detected object in a long and the like degradation scene is used for positioning the AGV and the global positioning position of the to be invalid, and the AGV can be positioned in a stable position of the moving carrier, and the AGV.
Based on the foregoing embodiments, the monitoring camera is a binocular camera and/or an RGBD camera.
Specifically, the monitoring camera is set to be a binocular camera and/or an RGBD camera, so that depth information between the measured object and the monitoring camera can be accurately determined.
Optionally, the processing module 330 is further configured to:
determining course angle information of the measured object based on the image to be processed;
and determining the pose of the measured object based on the course angle information and the position information of the measured object.
Optionally, the processing module 330 is more specifically configured to:
determining position information of preset contour edge points of the detected object based on the position information of the detected object in the target area, wherein the preset contour edge points at least comprise two and are respectively positioned at the front end and the rear end of the detected object;
and determining the course angle information based on the position information of the preset contour edge point.
Optionally, the processing module 330 is further configured to:
acquiring a positioning request for the measured object;
responding to the positioning request, sending an image acquisition instruction to the monitoring camera, and searching all objects to be detected in the target area;
and matching the characteristics extracted from each object to be detected with the preset characteristics of the object to be detected, and determining a preset number of monitoring cameras to be processed from the monitoring cameras after the matching is successful.
Optionally, the processing module 330 is further configured to:
performing iterative optimization on the pose of the measured object determined based on the image to be processed;
and taking the pose of the measured object determined based on the iterative optimization as the final pose of the measured object.
The embodiment of the invention also provides an AGV trolley positioned by adopting the positioning method according to any one of the embodiments.
It can be appreciated that the AGV cart performing positioning by using the positioning method according to any one of the above embodiments has all the advantages and technical effects of the positioning method according to any one of the above embodiments, which are not described herein.
Fig. 4 illustrates a physical schematic diagram of an electronic device, as shown in fig. 4, which may include: processor 410, communication interface (Communications Interface) 420, memory 430 and communication bus 440, wherein processor 410, communication interface 420 and memory 430 communicate with each other via communication bus 440. The processor 410 may invoke logic instructions in the memory 430 to execute a positioning method for positioning a measured object in a target area, where a monitoring camera is disposed, and each position of the target area is covered by at least a preset number of the monitoring cameras, the positioning method includes: acquiring a to-be-processed image shot by a to-be-processed monitoring camera, wherein the to-be-processed monitoring camera is a monitoring camera shooting the to-be-detected object, and the to-be-processed image is an image containing the to-be-detected object; determining depth information of the detected object and the monitoring camera to be processed based on the image to be processed; and determining the position information of the measured object in the target area based on the depth information and the pose of the monitoring camera to be processed under the target area coordinate system.
Further, the logic instructions in the memory 430 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, are capable of performing a positioning method provided by the methods described above for positioning a measured object within a target area in which a monitoring camera is arranged and each position of the target area is covered by at least a preset number of the monitoring cameras, the positioning method comprising: acquiring a to-be-processed image shot by a to-be-processed monitoring camera, wherein the to-be-processed monitoring camera is a monitoring camera shooting the to-be-detected object, and the to-be-processed image is an image containing the to-be-detected object; determining depth information of the detected object and the monitoring camera to be processed based on the image to be processed; and determining the position information of the measured object in the target area based on the depth information and the pose of the monitoring camera to be processed under the target area coordinate system.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a positioning method for positioning a measured object in a target area in which monitoring cameras are arranged, and each position of the target area is covered by at least a preset number of the monitoring cameras, the positioning method comprising: acquiring a to-be-processed image shot by a to-be-processed monitoring camera, wherein the to-be-processed monitoring camera is a monitoring camera shooting the to-be-detected object, and the to-be-processed image is an image containing the to-be-detected object; determining depth information of the detected object and the monitoring camera to be processed based on the image to be processed; and determining the position information of the measured object in the target area based on the depth information and the pose of the monitoring camera to be processed under the target area coordinate system.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A positioning method for positioning a measured object in a target area in which monitoring cameras are arranged, each position of the target area being covered by at least a preset number of the monitoring cameras, the positioning method comprising:
acquiring a to-be-processed image shot by a to-be-processed monitoring camera, wherein the to-be-processed monitoring camera is a monitoring camera shooting the to-be-detected object, and the to-be-processed image is an image containing the to-be-detected object;
determining depth information of the detected object and the monitoring camera to be processed based on the image to be processed;
and determining the position information of the measured object in the target area based on the depth information and the pose of the monitoring camera to be processed under the target area coordinate system.
2. The positioning method as set forth in claim 1, further comprising:
determining course angle information of the measured object based on the image to be processed;
and determining the pose of the measured object based on the course angle information and the position information of the measured object.
3. The positioning method according to claim 2, wherein the determining course angle information of the object to be measured based on the image to be processed includes:
determining position information of preset contour edge points of the detected object based on the position information of the detected object in the target area, wherein the preset contour edge points at least comprise two and are respectively positioned at the front end and the rear end of the detected object;
and determining the course angle information based on the position information of the preset contour edge point.
4. The positioning method as set forth in claim 1, further comprising:
acquiring a positioning request for the measured object;
responding to the positioning request, sending an image acquisition instruction to the monitoring camera, and searching all objects to be detected in the target area;
and matching the characteristics extracted from each object to be detected with the preset characteristics of the object to be detected, and determining a preset number of monitoring cameras to be processed from the monitoring cameras after the matching is successful.
5. The positioning method according to claim 2, further comprising:
performing iterative optimization on the pose of the measured object determined based on the image to be processed;
and taking the pose of the measured object determined based on the iterative optimization as the final pose of the measured object.
6. A positioning system, comprising: the device comprises an image acquisition module, a communication module and a processing module;
the image acquisition module is a monitoring camera arranged in a target area and is used for shooting images in the target area, and each position in the target area is at least covered by a preset number of monitoring cameras;
the communication module is respectively connected with the monitoring camera and the processing module and is used for information interaction between the monitoring camera and the processing module;
the processing module is used for acquiring a to-be-processed image shot by the to-be-processed monitoring camera, determining depth information of a to-be-detected object and the to-be-processed monitoring camera based on the to-be-processed image, and determining position information of the to-be-detected object in the target area based on the depth information and the pose of the to-be-processed monitoring camera under the target area coordinate system, wherein the to-be-processed monitoring camera is the monitoring camera shooting the to-be-detected object, and the to-be-processed image is an image containing the to-be-detected object.
7. The positioning system of claim 6, wherein the monitoring camera is a binocular camera and/or an RGBD camera.
8. An AGV trolley, wherein the positioning is performed using the positioning method according to any one of claims 1 to 5.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the positioning method according to any of claims 1 to 5 when the program is executed by the processor.
10. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the positioning method according to any of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310317334.0A CN116337043A (en) | 2023-03-27 | 2023-03-27 | Positioning method, system, AGV trolley and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310317334.0A CN116337043A (en) | 2023-03-27 | 2023-03-27 | Positioning method, system, AGV trolley and electronic equipment |
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| CN116337043A true CN116337043A (en) | 2023-06-27 |
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| CN202310317334.0A Pending CN116337043A (en) | 2023-03-27 | 2023-03-27 | Positioning method, system, AGV trolley and electronic equipment |
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| CN (1) | CN116337043A (en) |
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- 2023-03-27 CN CN202310317334.0A patent/CN116337043A/en active Pending
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