CN118015074A - Transfer platform docking method, device and system based on planar two-dimensional code array - Google Patents
Transfer platform docking method, device and system based on planar two-dimensional code array Download PDFInfo
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Abstract
The invention relates to the technical field of robot positioning, and particularly discloses a transfer platform docking method, device and system based on a planar two-dimensional code array, which comprises the following steps: acquiring image scanning information of a planar two-dimensional code array, wherein a planar two-dimensional code array formed by a plurality of two-dimensional code positioning labels is arranged on a track plane of a transfer platform; detecting the image scanning information and decoding the information to obtain the position information and the size information of the single two-dimensional code; determining relative pose information of the image scanning device and the single two-dimensional code according to the position information and the size information of the single two-dimensional code; determining the space position information of the image scanning device relative to the planar two-dimensional code array according to the relative pose information of the image scanning device and the single two-dimensional code; and outputting the spatial position information of the image scanning device relative to the planar two-dimensional code array to control the alignment of the transfer platform and the ground track. The transfer platform docking method based on the planar two-dimensional code array can improve the accuracy of track docking.
Description
Technical Field
The invention relates to the technical field of robot positioning, in particular to a transfer platform docking method based on a planar two-dimensional code array, a transfer platform docking device based on the planar two-dimensional code array and a transfer platform docking system based on the planar two-dimensional code array.
Background
The white car body coating process of rail transit vehicles such as high-speed rails and subways relates to complex working procedures such as sand blasting, putty spraying, paint polishing and paint spraying, and in order to realize the transportation of white car bodies among multiple working procedures, the white car bodies need to be carried on a back of a transfer platform to a designated position, the transfer platform rails are accurately butted with ground rails, and then the white car bodies can only travel to the designated stations along the rails after the butt joint. The problem that the white car body is transported among different processes and has the pain point problem that accident risk is high, large-scale car body track butt joint accuracy is poor, transport efficiency is difficult to promote etc. can realize the promotion of white car body transport efficiency based on intelligent technology.
The transfer platform track needs to be in butt joint with the ground track in an indoor factory building, the transfer scene belongs to a longitudinal characteristic similar scene without GNSS signals, and the methods of laser positioning, combined inertial navigation positioning and the like can face the problems of signal loss, insufficient positioning precision, poor robustness and the like, so that the high-precision butt joint requirement of the transfer platform track and the ground track can not be met.
Therefore, how to provide a high-precision track docking method is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The invention provides a transfer platform docking method based on a planar two-dimensional code array, a transfer platform docking device based on the planar two-dimensional code array and a transfer platform docking system based on the planar two-dimensional code array, which solve the problem of low track docking precision in the related art.
As a first aspect of the present invention, there is provided a transfer platform docking method based on a planar two-dimensional code array, including:
acquiring image scanning information of a planar two-dimensional code array, wherein a planar two-dimensional code array formed by a plurality of two-dimensional code positioning labels is arranged on a track plane of a transfer platform, each two-dimensional code positioning label at least carries position information and size information, and an image scanning device is arranged on the transfer platform;
Detecting the image scanning information and decoding the information to obtain the position information and the size information of the single two-dimensional code;
Determining relative pose information of the image scanning device and the single two-dimensional code according to the position information and the size information of the single two-dimensional code;
Determining the space position information of the image scanning device relative to the planar two-dimensional code array according to the relative pose information of the image scanning device and the single two-dimensional code;
outputting the spatial position information of the image scanning device relative to the planar two-dimensional code array to control the alignment of the transfer platform and the ground track;
The method for determining the spatial position information of the image scanning device relative to the planar two-dimensional code array according to the relative pose information of the image scanning device and the single two-dimensional code comprises the following steps:
Determining a matching relation between the three-dimensional space point and the image plane point according to the relative pose information of the image scanning device and the single two-dimensional code;
Determining matching points of the planar two-dimensional code array according to the matching relation between the three-dimensional space points and the image planar points;
And screening the matching points of the planar two-dimensional code array according to a random sampling consistency algorithm, and solving to obtain the spatial position information of the image scanning device relative to the planar two-dimensional code array.
Further, the method further comprises the following steps:
and performing internal reference correction on the image scanning device according to the planar two-dimensional code array.
Further, performing internal reference correction on the image scanning device according to the planar two-dimensional code array, including:
Constructing an internal parameter distortion coefficient model of the image scanning device;
Solving an internal reference distortion coefficient model of the image scanning device according to the space position information of the planar two-dimensional code array to obtain distortion parameters and internal references of the image scanning device;
And realizing internal reference correction according to the distortion parameters and the internal reference of the image scanning device.
Further, the method further comprises the following steps:
and performing external parameter correction on the image scanning device according to the spatial position information of the image scanning device relative to the planar two-dimensional code array.
Further, performing extrinsic correction on the image scanning device according to spatial position information of the image scanning device relative to the planar two-dimensional code array, including:
When the internal reference of the image scanning device is determined to be accurate, acquiring the space position information of the current image scanning device relative to the planar two-dimensional code array for a plurality of times, and calculating the statistical variance;
if the statistical variance is smaller than the preset threshold, determining that the spatial position information of the current image scanning device relative to the planar two-dimensional code array is accurate, and updating the spatial position information of the current image scanning device relative to the planar two-dimensional code array to be the alignment position of the transfer platform and the ground track.
Further, detecting and decoding the image scanning information to obtain position information and size information of the single two-dimensional code, including:
sequentially performing line detection and block detection on the image scanning information to obtain two-dimensional code image information;
And carrying out information decoding on the two-dimensional code image information to obtain the position information and the size information of the single two-dimensional code.
Further, determining relative pose information of the image scanning device and the single two-dimensional code according to the position information and the size information of the single two-dimensional code includes:
determining coordinate information of the single two-dimensional code in a plane according to the position information and the size information of the single two-dimensional code;
Determining a projection model from an image plane to a three-dimensional space according to the mapping relation between the two-dimensional code plane matrix in the three-dimensional space and the image plane in the image scanning device;
and determining the relative pose information of the image scanning device and the single two-dimensional code according to the coordinate information of the single two-dimensional code in the plane and the projection model of the image plane to the three-dimensional space.
As another aspect of the present invention, there is provided a transfer platform docking device based on a planar two-dimensional code array, for implementing the foregoing transfer platform docking method based on a planar two-dimensional code array, where the transfer platform docking device based on a planar two-dimensional code array includes:
The device comprises an acquisition module, a transfer platform and a transfer platform, wherein the acquisition module is used for acquiring image scanning information of a planar two-dimensional code array, a planar two-dimensional code array formed by a plurality of two-dimensional code positioning labels is arranged on a transfer platform track plane, each two-dimensional code positioning label at least carries position information and size information, and an image scanning device is arranged on the transfer platform;
the detection and decoding module is used for detecting and decoding the image scanning information to obtain the position information and the size information of the single two-dimensional code;
The first determining module is used for determining relative pose information of the image scanning device and the single two-dimensional code according to the position information and the size information of the single two-dimensional code;
The second determining module is used for determining the spatial position information of the image scanning device relative to the planar two-dimensional code array according to the relative pose information of the image scanning device and the single two-dimensional code;
And the control module is used for controlling the alignment of the transfer platform and the ground track according to the space position information of the image scanning device relative to the plane two-dimensional code array.
As another aspect of the present invention, there is provided a transfer platform docking system based on a planar two-dimensional code array, including: the image scanning device, the transfer platform driving control device and the transfer platform butting device based on the planar two-dimensional code array are both in communication connection with the transfer platform butting device based on the planar two-dimensional code array,
The image scanning device is arranged on the transfer platform, can scan a plurality of two-dimensional code positioning labels on the track plane of the transfer platform in real time, and obtains image scanning information;
the transfer platform docking device based on the planar two-dimensional code array is used for processing the image scanning information to obtain the spatial position information of the image scanning device relative to the planar two-dimensional code array;
The transfer platform control device is used for driving and controlling alignment of the transfer platform and the ground track according to the space position information of the image scanning device relative to the plane two-dimensional code array.
According to the transfer platform docking method based on the planar two-dimensional code array, the pose information of the image scanning device relative to the single two-dimensional code is determined through the single two-dimensional code, and further the spatial position information of the image scanning device relative to the planar two-dimensional code array is determined. Therefore, the transfer platform docking method based on the planar two-dimensional code array can realize high-precision docking of the transfer platform track and the ground track.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the description serve to explain, without limitation, the invention.
Fig. 1 is a flow chart of a transfer platform docking method based on a planar two-dimensional code array.
Fig. 2a is a top view of a camera installed on a transfer platform according to the present invention.
Fig. 2b is a side view of the camera installed on the transfer platform provided by the invention.
Fig. 3 is a schematic diagram of a label position provided in the present invention.
Fig. 4 is a flowchart of detecting image scanning information and decoding the information according to the present invention.
Fig. 5 is a flowchart for determining relative pose information of an image scanning device and a single two-dimensional code provided by the invention.
Fig. 6 is a flowchart for determining spatial position information of an image scanning device relative to a planar two-dimensional code array.
Fig. 7 is a diagram of a system coordinate system distribution diagram provided by the present invention.
Fig. 8 is a schematic diagram of a hand-eye calibration relationship provided by the invention.
Fig. 9 is a structural block diagram of a transfer platform docking device based on a planar two-dimensional code array.
Fig. 10 is a structural block diagram of a transfer platform docking system based on a planar two-dimensional code array.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only 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 present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Aiming at the existing problem that the high-precision butt joint of a transfer platform track and a ground track cannot be met, although the prior art proposes to adjust the pose by using a two-dimensional code and position the butt joint by using a reflecting plate, in a scene with high precision requirement such as track butt joint, the positioning precision is difficult to meet the requirement because the reflecting plate has a certain width; in addition, it is proposed that the laser radar and the two-dimensional code are used for realizing the butt joint of the traction platform and the cargo platform, and the mode is mainly aimed at positioning between the traction platform and the cargo platform, and the positioning accuracy of the system in long-time operation cannot be ensured due to the lack of verification and correction of sensor parameters in the butt joint process.
Based on this, in this embodiment, a transfer platform docking method based on a planar two-dimensional code array is provided, and fig. 1 is a flowchart of a transfer platform docking method based on a planar two-dimensional code array provided in an embodiment of the present invention, as shown in fig. 1, including:
S100, acquiring image scanning information of a planar two-dimensional code array, wherein a planar two-dimensional code array formed by a plurality of two-dimensional code positioning labels is arranged on a track plane of a transfer platform, each two-dimensional code positioning label at least carries position information and size information, and an image scanning device is arranged on the transfer platform;
In an embodiment of the present invention, the image scanning device may specifically be a camera. As shown in fig. 2a and 2b, cameras are installed in front of and behind the transfer platform, and are installed vertically and downwards and are used for observing two-dimensional code positioning labels stuck on the track plane of the transfer platform; the label arrangement scheme is shown in fig. 3, and is distributed in a matrix on a transfer platform track plane (wherein a ground track line is shown as 1, a two-dimensional code label array is shown as 2, a transfer platform track line is shown as 3, and a transfer platform is shown as 4), and each two-dimensional code label carries information such as position, size, serial number and the like, and the information is measured and determined in advance and is used for positioning calculation.
S200, detecting the image scanning information and decoding the information to obtain the position information and the size information of the single two-dimensional code;
In the embodiment of the invention, the position information and the size information of the single two-dimensional code can be obtained through the image scanning information, so that the relative pose information of the image scanning device relative to the single two-dimensional code can be obtained conveniently.
S300, determining relative pose information of the image scanning device and the single two-dimensional code according to the position information and the size information of the single two-dimensional code;
In the embodiment of the invention, the relative pose information of the camera relative to the single two-dimensional code can be determined based on the position information and the size information of the single two-dimensional code.
S400, determining the spatial position information of the image scanning device relative to the planar two-dimensional code array according to the relative pose information of the image scanning device and the single two-dimensional code;
Specifically, after the relative pose information of the camera relative to the single two-dimensional code is determined, the spatial positioning of the planar two-dimensional code array can be further realized based on the relative pose information.
S500, outputting the space position information of the image scanning device relative to the planar two-dimensional code array to control the alignment of the transfer platform and the ground track.
According to the transfer platform docking method based on the planar two-dimensional code array, the pose information of the image scanning device relative to the single two-dimensional code is determined through the single two-dimensional code, and further the spatial position information of the image scanning device relative to the planar two-dimensional code array is determined. Therefore, the transfer platform docking method based on the planar two-dimensional code array can realize high-precision docking of the transfer platform track and the ground track.
Specifically, in the embodiment of the present invention, detecting and decoding the image scanning information to obtain the position information and the size information of the single two-dimensional code, as shown in fig. 4, includes:
S210, sequentially performing line detection and block detection on the image scanning information to obtain two-dimensional code image information;
In the embodiment of the invention, line detection is firstly performed on the image scanning information. Specifically, after the image is grayed, the gradient of each pixel is calculated, then non-maximum suppression is carried out, the pixel with the maximum gradient is reserved, pixels with similar gradient amplitude and direction are clustered, the inner contour and the outer contour of the two-dimensional code can be extracted in a robust and efficient mode, meanwhile, the extracted pixel gradient value is saved and is used as the direction of the detected line characteristic, the two-dimensional code information is extracted according to the direction through the later process.
And detecting the square after detecting the outgoing line characteristics. Specifically, each two-dimensional code can be regarded as being formed by splicing a plurality of pixel squares, the smallest basic structure is the squares, the possible square structures are searched out by utilizing gradient line segments in line detection, the identification of the two-dimensional codes is realized, meanwhile, the influence of environmental impurities is removed by utilizing square constraint, and the robustness of a program is improved. The specific implementation algorithm is as follows:
(1) Parameterizing the line segment gradient by utilizing an included angle theta between the line segment gradient and the x-axis direction under the image coordinates;
(2) Building a quarter search tree according to a specific rotation direction (for example, clockwise) by using theta, and searching out four sides of the square according to the specific rotation direction;
(3) Judging whether four sides of the square searched in the previous step can meet the closed constraint, screening out four correct selected segments belonging to the square, and deleting the selected segments which are correctly matched from the quarter search tree so as to reduce the calculation scale of a search algorithm;
(4) Traversing the search tree, and selecting all possible line combinations.
S220, performing information decoding on the two-dimensional code image information to obtain position information and size information of the single two-dimensional code.
Specifically, the block combination identified in the block detection is decoded according to a rule to obtain information such as the position and physical size of the code.
In the embodiment of the present invention, determining relative pose information of an image scanning device and a single two-dimensional code according to position information and size information of the single two-dimensional code, as shown in fig. 5, includes:
S310, determining coordinate information of the single two-dimensional code in a plane according to the position information and the size information of the single two-dimensional code;
in the embodiment of the invention, the image scanning device specifically takes a camera as an example.
Specifically, after a camera detects a label with a corresponding number, modeling is performed by using a homography matrix based on a mapping relation from a two-dimensional code plane in a 3D space to a camera imaging 2D plane, and the relative pose of the camera and the label is calculated, when the actual side length L of the label is known, the coordinates of four vertexes in the label plane are as follows:
。
s320, determining a projection model from an image plane to a three-dimensional space according to the mapping relation between the two-dimensional code plane matrix in the three-dimensional space and the image plane in the image scanning device;
in the embodiment of the present invention, the projection model from the image plane to the three-dimensional space may specifically be a camera projection formula:
，
wherein K represents a camera reference, E represents a camera reference, s represents a scale factor, The pixel coordinates of the camera and the space coordinates of the two-dimensional code are respectively represented, and the physical dimensions of the two-dimensional code are known, so/>The value of (2) is known.
S330, determining relative pose information of the image scanning device and the single two-dimensional code according to the coordinate information of the single two-dimensional code in the plane and the projection model of the image plane to the three-dimensional space.
Order theThe homography matrix H is formed as follows:
，
Four corner points of the two-dimensional code are used as constraints:
，
wherein, because the z axis in the two-dimensional code coordinates is 0, the rotation of one column in the z direction can be eliminated for the E matrix.
And under the condition that the internal parameters of the camera are known, the values of the scale s and the external parameters E of the camera can be solved by using a direct linear transformation method, and at the moment, E is the pose of the camera relative to the two-dimensional code.
In the embodiment of the present invention, determining spatial position information of the image scanning device relative to the planar two-dimensional code array according to the relative pose information of the image scanning device and the single two-dimensional code, as shown in fig. 6, includes:
S410, determining a matching relation between a three-dimensional space point and an image plane point according to relative pose information of the image scanning device and a single two-dimensional code;
S420, determining matching points of the planar two-dimensional code array according to the matching relation between the three-dimensional space points and the image planar points;
and S430, screening the matching points of the planar two-dimensional code array according to a random sampling consistency algorithm, and solving to obtain the spatial position information of the image scanning device relative to the planar two-dimensional code array.
It is understood that aiming at the problem that the robustness of a single two-dimensional code label positioning method is low because the position distribution of a single two-dimensional code is discrete and the position of the two-dimensional code has an influence on the measurement accuracy, a matrix array arrangement mode is adopted to ensure that the two-dimensional code is distributed in space, so that the reliability of pose measurement at any working position is ensured. Specifically, a plane two-dimensional code array and a space positioning method are adopted, the screened points are brought into a coordinate formula of four vertexes in the label plane and a camera projection formula, a least square solution is obtained for the obtained overdetermined equation, and a scale s and a camera external parameter E are calculated, so that the system measurement precision can be greatly improved, and the positioning precision requirement of a transfer platform is met.
Specifically, in the embodiment of the present invention, according to the projection relationship of the monocular camera, the matching relationship between a certain spatial point and a visual identification point is shown as follows:
，
different from the two-dimensional code space point expression, wherein The physical meaning of (2) is the distance of the spatial point from the camera optics, so it is not 0, the following linear equation can be obtained:
，
space-free dotting is a homogeneous coordinate, and operation is simplified:
，
this equation can be solved exactly by the 4-point provided matches:
。
Considering the introduction of the array, the constraint of the increase of the equation is considered, and the n two-dimensional codes arranged in the array are equivalent to 4n matching points for the equation, so that n times of redundant measurement values are provided. The random sampling consistency method (RANSAC) is used for the measurements, correct matching points are screened, and the screened matching points are substituted, so that an overdetermined equation is still obtained:
。
And solving a least square solution for the equation, so that an optimized H matrix can be obtained, and the positioning pose can be solved.
In the embodiment of the invention, in order to further improve the positioning accuracy, the transfer platform docking method based on the planar two-dimensional code array further comprises the following steps:
and performing internal reference correction on the image scanning device according to the planar two-dimensional code array.
Specifically, self-correction is performed for the in-camera parameters. As can be seen from the camera projection formula, the two-dimensional code positioning is sensitive to the camera internal reference K, and in order to ensure accurate positioning, accurate camera internal reference needs to be obtained.
In the running process of the transfer platform, the camera lens group or the photosensitive device is displaced due to vibration, collision and noise, so that the conditions of changing parameters and distortion coefficients in the camera are very common. Therefore, the influence of the error on the operation precision of the system needs to be considered, and the system is ensured to be in a stable operation state by carrying out self-correction on the internal parameters during operation. In the embodiment of the invention, the internal parameters of the monocular camera can be corrected online in the running process, namely, the two-dimensional codes are distributed on the transfer platform in a matrix manner, and the internal parameters and distortion coefficients of the camera are calibrated online similarly to the structural characteristics of the checkerboard for camera calibration.
Specifically, performing internal reference correction on the image scanning device according to the planar two-dimensional code array includes:
a1, constructing an intrinsic distortion coefficient model of the image scanning device;
modeling distortion coefficients of camera references using a camera pinhole model:
，
，
，
，
，
，
Wherein X, Y and Z each represent coordinates of a spatial point, Representing the angle between the camera optical axis,/>Representing the included angle of a point and the horizontal axis of the imaging plane of the camera,/>The distance from the point to the optical axis of the camera is shown as heel/>Associated function,/>Representing the spatially homogeneous coordinates of the camera (because the two-dimensional code is a plane in space, the z-coordinates are identical without taking into account),/>The homogeneous coordinates of the image representing the point, K representing the camera internal parameters. Similar to the calculation mode of the two-dimensional code scanning process, the matching between points is known, the space position of the two-dimensional code is known, and the equation is easy to solve.
A2, solving an internal parameter distortion coefficient model of the image scanning device according to the space position information of the planar two-dimensional code array to obtain distortion parameters and internal parameters of the image scanning device;
Because the distortion parameters can be expanded to 4 orders to achieve the sub-pixel level distortion removal effect, the equations are combined to have 8 unknowns in total, and the numerical solution can be solved theoretically by using 4 pairs of matching points, and the influence of mismatching or wrong data is considered. Therefore, a random sampling consistency method (RANSAC) is carried out on all matching points in the camera view to screen correct matching points, and then a least squares method is used to solve distortion parameters And camera internal parameters。
A3, internal reference correction is achieved according to the distortion parameters and the internal reference of the image scanning device.
It is understood that by reasonably setting the installation position of the monocular camera, the two-dimensional code positioning tag just fills the field of view of the monocular camera, so that the matching points are uniformly distributed in the field of view of the camera, the excitation of each direction of the field of view of the camera is increased, and the internal parameters of the monocular camera can be accurately and rapidly corrected.
In addition, aiming at the situation that a camera deviates from an initial installation pose due to vibration, collision, noise and the like in the running process of the transfer platform, the transfer platform docking method based on the planar two-dimensional code array provided by the embodiment of the invention further comprises the following steps:
and performing external parameter correction on the image scanning device according to the spatial position information of the image scanning device relative to the planar two-dimensional code array.
Specifically, performing extrinsic correction on the image scanning device according to spatial position information of the image scanning device relative to the planar two-dimensional code array, including:
When the internal reference of the image scanning device is determined to be accurate, acquiring the space position information of the current image scanning device relative to the planar two-dimensional code array for a plurality of times, and calculating the statistical variance;
if the statistical variance is smaller than the preset threshold, determining that the spatial position information of the current image scanning device relative to the planar two-dimensional code array is accurate, and updating the spatial position information of the current image scanning device relative to the planar two-dimensional code array to be the alignment position of the transfer platform and the ground track.
In the embodiment of the invention, the situation that the camera deviates from the initial installation pose due to vibration, collision and noise in the running process of the transfer platform is solved by a camera external parameter error return-to-zero mode.
Specifically, the detailed process of zeroing the external parameter error of the camera is as follows, and the external parameter error zeroing is carried out once every time the track is completed, so that the accumulated error of the pose offset of the camera caused by vibration, collision and noise in the process of each reciprocating motion can be eliminated advantageously. When the vehicle is detected to finish docking, an algorithm flow of external parameter error zeroing is started, firstly, whether the internal parameters are the latest updated parameters is needed to be judged, the internal parameters are accurate is confirmed, namely, the current positioning is output according to the method, the statistical characteristics are calculated through multiple measurements, if the statistical variance is smaller than a set threshold, the current position is reliably measured, and the position is updated to be a new docking position.
The system coordinate system distribution diagram is shown in fig. 7, and because the two-dimensional code array is stuck on the ground plane, the two-dimensional code coordinates are the coordinates of the world coordinate system, and the relation between the camera coordinates and the two-dimensional code coordinates can be simplified into the camera coordinatesAnd world coordinate System/>While camera external parameters are the camera coordinates/>And transfer platform body coordinates/>The relationship between them is denoted as/>The error of the external parameters is zeroed to determine/>Is an accurate value of (a).
The calibration calculation relation is given by the hand-eye calibration relation diagram of fig. 8, and the two-dimensional code is measured according to the camera, soIt is known that because the transfer table track is aligned with the ground track at this time,/>Also know, then ask/>Given by the formula:
。
therefore, the transfer platform docking method based on the planar two-dimensional code array provided by the invention utilizes the monocular camera to detect the two-dimensional code array laid on the transfer platform track plane, and the two-dimensional code array is formed by arranging a plurality of two-dimensional codes in a matrix form, so that a plurality of two-dimensional code positioning labels exist in the camera view at any moment; detecting the two-dimensional code by using a camera, and outputting high-precision positioning information through algorithm processing; the positioning information is output to the control system and used for guiding the alignment of the transfer platform; and during the operation of the system, mechanical errors caused by factors such as camera vibration, offset and the like are corrected in real time.
In summary, according to the transfer platform docking method based on the planar two-dimensional code array, accurate positioning of the transfer platform is realized through the planar two-dimensional code array, the array two-dimensional code provides multiple groups of measurement data in one measurement, and the positioning precision and robustness can be improved simultaneously through the array two-dimensional code fusion positioning algorithm provided by the patent; through the monocular camera internal parameter automatic correction technology, manual intervention is not needed, the internal parameter error of the camera can be corrected in the running process of the transfer platform, and the monocular vision positioning accuracy is maintained; through the monocular camera external parameter error return-to-zero technology, the external parameter error can be automatically returned to zero in the butt joint process of the transfer platform track and the ground track, and the positioning precision of the system is kept.
As another embodiment of the present invention, a transfer platform docking device based on a planar two-dimensional code array is provided, for implementing the foregoing transfer platform docking method based on a planar two-dimensional code array, where, as shown in fig. 9, the transfer platform docking device 10 based on a planar two-dimensional code array includes:
The acquisition module 100 is configured to acquire image scanning information of a planar two-dimensional code array, wherein a planar two-dimensional code array formed by a plurality of two-dimensional code positioning labels is arranged on a track plane of a transfer platform, each two-dimensional code positioning label at least carries position information and size information, and an image scanning device is arranged on the transfer platform;
The detection and decoding module 200 is used for detecting and decoding the image scanning information to obtain the position information and the size information of the single two-dimensional code;
a first determining module 300, configured to determine relative pose information of the image scanning device and the single two-dimensional code according to position information and size information of the single two-dimensional code;
the second determining module 400 is configured to determine spatial position information of the image scanning device relative to the planar two-dimensional code array according to the relative pose information of the image scanning device and the single two-dimensional code;
The control module 500 is configured to control alignment of the transfer platform and the ground track according to spatial position information of the image scanning device relative to the planar two-dimensional code array.
According to the transfer platform docking device based on the planar two-dimensional code array, the pose information of the image scanning device relative to the single two-dimensional code is determined through the single two-dimensional code, and further the spatial position information of the image scanning device relative to the planar two-dimensional code array is determined. Therefore, the transfer platform docking device based on the planar two-dimensional code array can realize high-precision docking of the transfer platform track and the ground track.
The specific working principle of the transfer platform docking device based on the planar two-dimensional code array provided by the invention can refer to the description of the transfer platform docking method based on the planar two-dimensional code array, and the description is omitted here.
As another embodiment of the present invention, there is provided a transfer platform docking system 40 based on a planar two-dimensional code array, where, as shown in fig. 10, the transfer platform docking system includes: the image scanning device 20, the transfer platform driving control device 30 and the transfer platform docking device 10 based on the planar two-dimensional code array are in communication connection with the transfer platform docking device 10 based on the planar two-dimensional code array,
The image scanning device 20 is arranged on the transfer platform, and can scan a plurality of two-dimensional code positioning labels on the track plane of the transfer platform in real time and obtain image scanning information;
the transfer platform docking device 10 based on the planar two-dimensional code array is used for processing the image scanning information to obtain the spatial position information of the image scanning device relative to the planar two-dimensional code array;
the transfer platform control device 30 is used for driving and controlling alignment of the transfer platform and the ground track according to the space position information of the image scanning device relative to the planar two-dimensional code array.
The transfer platform docking system based on the planar two-dimensional code array can realize high-precision docking of the transfer platform track and the ground track.
The specific working principle of the transfer platform docking system based on the planar two-dimensional code array provided by the invention can refer to the description of the transfer platform docking method based on the planar two-dimensional code array, and the description is omitted here.
It is to be understood that the above embodiments are merely illustrative of the application of the principles of the present invention, but not in limitation thereof. Various modifications and improvements may be made by those skilled in the art without departing from the spirit and substance of the invention, and are also considered to be within the scope of the invention.
Claims (9)
1. The transfer platform docking method based on the planar two-dimensional code array is characterized by comprising the following steps of:
acquiring image scanning information of a planar two-dimensional code array, wherein a planar two-dimensional code array formed by a plurality of two-dimensional code positioning labels is arranged on a track plane of a transfer platform, each two-dimensional code positioning label at least carries position information and size information, and an image scanning device is arranged on the transfer platform;
Detecting the image scanning information and decoding the information to obtain the position information and the size information of the single two-dimensional code;
Determining relative pose information of the image scanning device and the single two-dimensional code according to the position information and the size information of the single two-dimensional code;
Determining the space position information of the image scanning device relative to the planar two-dimensional code array according to the relative pose information of the image scanning device and the single two-dimensional code;
outputting the spatial position information of the image scanning device relative to the planar two-dimensional code array to control the alignment of the transfer platform and the ground track;
The method for determining the spatial position information of the image scanning device relative to the planar two-dimensional code array according to the relative pose information of the image scanning device and the single two-dimensional code comprises the following steps:
Determining a matching relation between the three-dimensional space point and the image plane point according to the relative pose information of the image scanning device and the single two-dimensional code;
Determining matching points of the planar two-dimensional code array according to the matching relation between the three-dimensional space points and the image planar points;
And screening the matching points of the planar two-dimensional code array according to a random sampling consistency algorithm, and solving to obtain the spatial position information of the image scanning device relative to the planar two-dimensional code array.
2. The transfer platform docking method based on the planar two-dimensional code array according to claim 1, further comprising:
and performing internal reference correction on the image scanning device according to the planar two-dimensional code array.
3. The transfer platform docking method based on the planar two-dimensional code array according to claim 2, wherein the performing of the internal reference correction on the image scanning device according to the planar two-dimensional code array comprises:
Constructing an internal parameter distortion coefficient model of the image scanning device;
Solving an internal reference distortion coefficient model of the image scanning device according to the space position information of the planar two-dimensional code array to obtain distortion parameters and internal references of the image scanning device;
And realizing internal reference correction according to the distortion parameters and the internal reference of the image scanning device.
4. The transfer platform docking method based on the planar two-dimensional code array according to claim 1, further comprising:
and performing external parameter correction on the image scanning device according to the spatial position information of the image scanning device relative to the planar two-dimensional code array.
5. The transfer platform docking method based on the planar two-dimensional code array according to claim 4, wherein performing the external parameter correction on the image scanning device according to the spatial position information of the image scanning device relative to the planar two-dimensional code array comprises:
When the internal reference of the image scanning device is determined to be accurate, acquiring the space position information of the current image scanning device relative to the planar two-dimensional code array for a plurality of times, and calculating the statistical variance;
if the statistical variance is smaller than the preset threshold, determining that the spatial position information of the current image scanning device relative to the planar two-dimensional code array is accurate, and updating the spatial position information of the current image scanning device relative to the planar two-dimensional code array to be the alignment position of the transfer platform and the ground track.
6. The transfer platform docking method based on the planar two-dimensional code array according to any one of claims 1 to 5, wherein detecting and decoding the image scanning information to obtain the position information and the size information of the single two-dimensional code comprises:
sequentially performing line detection and block detection on the image scanning information to obtain two-dimensional code image information;
And carrying out information decoding on the two-dimensional code image information to obtain the position information and the size information of the single two-dimensional code.
7. The transfer platform docking method based on the planar two-dimensional code array according to any one of claims 1 to 3, wherein determining the relative pose information of the image scanning device and the single two-dimensional code according to the position information and the size information of the single two-dimensional code comprises:
determining coordinate information of the single two-dimensional code in a plane according to the position information and the size information of the single two-dimensional code;
Determining a projection model from an image plane to a three-dimensional space according to the mapping relation between the two-dimensional code plane matrix in the three-dimensional space and the image plane in the image scanning device;
and determining the relative pose information of the image scanning device and the single two-dimensional code according to the coordinate information of the single two-dimensional code in the plane and the projection model of the image plane to the three-dimensional space.
8. A transfer platform interfacing apparatus based on plane two-dimensional code array for realizing the transfer platform interfacing method based on plane two-dimensional code array of any one of claims 1 to 7, characterized in that, transfer platform interfacing apparatus based on plane two-dimensional code array includes:
The device comprises an acquisition module, a transfer platform and a transfer platform, wherein the acquisition module is used for acquiring image scanning information of a planar two-dimensional code array, a planar two-dimensional code array formed by a plurality of two-dimensional code positioning labels is arranged on a transfer platform track plane, each two-dimensional code positioning label at least carries position information and size information, and an image scanning device is arranged on the transfer platform;
the detection and decoding module is used for detecting and decoding the image scanning information to obtain the position information and the size information of the single two-dimensional code;
The first determining module is used for determining relative pose information of the image scanning device and the single two-dimensional code according to the position information and the size information of the single two-dimensional code;
The second determining module is used for determining the spatial position information of the image scanning device relative to the planar two-dimensional code array according to the relative pose information of the image scanning device and the single two-dimensional code;
And the control module is used for controlling the alignment of the transfer platform and the ground track according to the space position information of the image scanning device relative to the plane two-dimensional code array.
9. Transfer platform docking system based on plane two-dimensional code array, its characterized in that includes: the image scanning device, the transfer platform driving control device and the transfer platform butting device based on the planar two-dimensional code array as claimed in claim 8 are both in communication connection with the transfer platform butting device based on the planar two-dimensional code array,
The image scanning device is arranged on the transfer platform, can scan a plurality of two-dimensional code positioning labels on the track plane of the transfer platform in real time, and obtains image scanning information;
the transfer platform docking device based on the planar two-dimensional code array is used for processing the image scanning information to obtain the spatial position information of the image scanning device relative to the planar two-dimensional code array;
The transfer platform control device is used for driving and controlling alignment of the transfer platform and the ground track according to the space position information of the image scanning device relative to the plane two-dimensional code array.
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Effective date of registration: 20240628 Address after: 6th, 7th, and 8th floors, Building D1, No. 999 Gaolang East Road, Wuxi Economic Development Zone, Jiangsu Province, 214000 Patentee after: Wuxi Institute of intelligent control, Hunan University Country or region after: China Patentee after: Jiangsu Jicui Qinglian Intelligent Control Technology Co.,Ltd. Address before: 6th, 7th, and 8th floors, Building D1, No. 999 Gaolang East Road, Wuxi Economic Development Zone, Jiangsu Province, 214000 Patentee before: Wuxi Institute of intelligent control, Hunan University Country or region before: China |