WO2021093413A1

WO2021093413A1 - Method for acquiring attitude adjustment parameters of transportation device, transportation device and storage medium

Info

Publication number: WO2021093413A1
Application number: PCT/CN2020/111762
Authority: WO
Inventors: 赵健章; 邹振华
Original assignee: 深圳创维数字技术有限公司
Priority date: 2019-11-12
Filing date: 2020-08-27
Publication date: 2021-05-20
Also published as: CN110796118A; CN110796118B

Abstract

The present application discloses a method for acquiring attitude adjustment parameters of a transportation device, a transportation device and a storage medium. The method comprises: acquiring the current ground image on the basis of a camera device mounted on a transportation device, and determining, according to the current ground image, relative position parameters between the transportation device and a preset identification line; reading a historical ground image acquired on the basis of the camera device, and determining displacement parameters of the transportation device according to the current ground image and the historical ground image; determining position adjustment parameters according to the relative position parameters, and using the position adjustment parameters and the displacement parameters as attitude adjustment parameters so as to adjust the attitude of the transportation device. In the present application, as the attitude adjustment parameters for realizing adjustment are generated according to the relative position parameters and the displacement parameters of the transportation device, the displacement change of the transportation device can be accurately characterized, realizing accurate adjustment of the attitude of the transportation device, facilitating precise transportation.

Description

Method for obtaining attitude adjustment parameters of transportation equipment, transportation equipment and storage medium

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on November 12, 2019, the application number is 201911103709.3, and the invention title is "Method for obtaining attitude adjustment parameters of transportation equipment, transportation equipment and storage medium", and its entire content Incorporated in the application by reference.

Technical field

This application relates to the field of intelligent driving technology, and in particular to a method for obtaining attitude adjustment parameters of a transportation device, a transportation device, and a storage medium.

Background technique

With the development of smart technology, the application of smart warehouses has become more and more extensive; smart warehouses use lidar navigation or visual navigation to guide vehicles to automatically drive according to a certain driving path to realize the transportation of goods. The driving path is usually narrow due to the area of the smart warehouse and the stacked goods, especially the cargo lanes between the stacked goods are narrower; the vehicle needs to avoid collisions with the surrounding goods during the automatic driving process of transporting goods. In the event of danger, on the other hand, it is necessary to determine the driving distance to the transportation destination for accurate transportation.

Currently, an infrared device is installed on the vehicle, and the infrared device emits infrared rays to detect the surrounding goods and transportation destinations, and then generate adjustment parameters to adjust the vehicle's transportation posture, avoid collisions and determine the driving distance. However, the adjustment parameters generated by infrared detection are not accurate enough, and it is easy to cause the vehicle with the adjusted transportation attitude to still collide with the surrounding stacked goods. At the same time, the judgment of the driving distance of the transportation destination is also prone to errors, and accurate transportation cannot be realized.

Technical solutions

The main purpose of this application is to provide a method for obtaining attitude adjustment parameters of transportation equipment, transportation equipment, and storage media, which are designed to solve the technical problems of inaccurate adjustment parameters generated in the prior art, and the risk of collisions between vehicles and the inability to achieve accurate transportation. .

In order to achieve the above objective, the present application provides a method for obtaining the attitude adjustment parameters of a transportation device. The method for obtaining the attitude adjustment parameters of a transportation device includes the steps:

Acquiring the current ground image based on the camera device installed on the transportation equipment, and determining the relative position parameter between the transportation equipment and the preset identification line according to the current ground image;

Reading the historical ground image acquired based on the camera device, and determining the displacement parameter of the transportation equipment according to the current ground image and the historical ground image;

The position adjustment parameter is determined according to the relative position parameter, and the position adjustment parameter and the displacement parameter are used as the attitude adjustment parameter to adjust the attitude of the transportation equipment.

In addition, in order to achieve the above-mentioned object, the present application also provides a transportation device that includes a memory, a processor, and a program that is stored on the memory and can be run on the processor to obtain the attitude adjustment parameters of the transportation device When the program for acquiring the attitude adjustment parameters of the transportation device is executed by the processor, the steps of the method for acquiring the attitude adjustment parameters of the transportation device as described above are implemented.

In addition, in order to achieve the above object, the present application also provides a storage medium, the storage medium stores a program for acquiring the attitude adjustment parameters of the transportation device, and the program for acquiring the attitude adjustment parameters of the transportation device is executed by the processor. The steps of the method for obtaining the attitude adjustment parameters of the transportation equipment.

This application first obtains the current ground image that characterizes the current location of the transportation equipment through the camera device installed on the transportation equipment, and determines the relative position parameters between the transportation equipment and the preset marking line on the ground based on the current ground image; The historical ground image acquired at the last moment is read, and the displacement parameter of the transportation equipment is determined according to the movement position of the transportation equipment represented by the current ground image and the historical ground image; after that, the relative position parameter is used to adjust the transportation equipment. The position adjustment parameter relative to the current position, and the position adjustment parameter and the displacement parameter are used as the posture adjustment parameters to realize the posture adjustment of the transportation equipment through the two. Since the posture adjustment parameters used to realize the adjustment are generated according to the relative position parameters and displacement parameters of the transportation equipment, the displacement changes of the transportation equipment can be accurately characterized, and the accurate adjustment of the attitude of the transportation equipment is realized, which is beneficial to accurate transportation.

Description of the drawings

FIG. 1 is a schematic structural diagram of a hardware operating environment involved in a solution of an embodiment of the present application;

2 is a schematic flowchart of a first embodiment of a method for obtaining attitude adjustment parameters of a transportation device according to the present application;

FIG. 3 is a schematic flowchart of a second embodiment of a method for obtaining attitude adjustment parameters of a transportation device according to the present application;

4 is a schematic diagram of the formation of displacement parameters in the method for obtaining attitude adjustment parameters of transportation equipment according to the present application;

5 is a schematic diagram of the formation of the first center coordinate in the method for obtaining the attitude adjustment parameters of the transportation equipment according to the present application;

Fig. 6 is a schematic diagram of the calculation of the displacement parameter in the method for obtaining the attitude adjustment parameter of the transportation equipment according to the present application.

The realization, functional characteristics, and advantages of the purpose of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Embodiments of the present invention

It should be understood that the specific embodiments described here are only used to explain the application, and not used to limit the application.

As shown in FIG. 1, FIG. 1 is a schematic structural diagram of a hardware operating environment involved in a solution of an embodiment of the present application.

As shown in FIG. 1, the transportation device may include: a processor 1001, such as a CPU, a user interface 1003, a network interface 1004, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to implement connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a magnetic disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

Those skilled in the art can understand that the structure of the transportation device shown in FIG. 1 does not constitute a limitation on the transportation device, and may include more or fewer components than shown in the figure, or combine some components, or arrange different components.

As shown in FIG. 1, the memory 1005, which is a computer storage medium, may include an operating system, a network communication module, a user interface module, and a program for acquiring attitude adjustment parameters of a transportation device. Among them, the operating system is a program that manages and controls the hardware and software resources of the transportation equipment, supports the acquisition of the attitude adjustment parameter program of the transportation equipment and the operation of other software or programs.

In the transportation equipment shown in Figure 1, the user interface 1003 is mainly used to connect to the client (user side) and communicate with the client; the network interface 1004 is mainly used to connect to the back-end server and communicate with the back-end server; The device 1001 can be used to call the program for obtaining the attitude adjustment parameters of the transportation equipment stored in the memory 1005, and perform the following operations:

Further, the step of determining the relative position parameter between the transportation equipment and a preset identification line according to the current ground image includes:

Acquiring a straight line equation corresponding to the preset identification line, and calculating the slope of the straight line equation;

Taking the traveling direction of the transportation equipment as a reference direction, and calculating the angle between the linear equation and the reference direction according to the slope;

According to the linear equation, the distance between the transportation equipment and the preset identification line is calculated, and the included angle and the distance are determined as the relative position parameter.

Further, the step of determining the displacement parameter of the transportation equipment according to the current ground image and the historical ground image includes:

Identify the first data point in the current ground image and the second data point in the historical ground image, and filter out the first coordinate point in each of the first data points and each of the second data points The second coordinate point;

Determine the first center coordinates of each of the first coordinate points and the second center coordinates of each of the second coordinate points respectively, and determine the transport equipment's coordinates according to the first center coordinates and the second center coordinates Displacement parameters.

Further, the step of separately determining the first center coordinates in each of the first coordinate points and the second center coordinates in each of the second coordinate points includes:

Determine a first effective point corresponding to each of the first coordinate points according to each of the second coordinate points, and perform averaging processing on each of the first effective points to determine the first center coordinate;

According to each of the first coordinate points, a second effective point corresponding to each of the second coordinate points is determined, and average processing is performed on each of the second effective points to generate the second center coordinate.

Further, the step of determining the displacement parameter of the transportation equipment according to the first center coordinates and the second center coordinates includes:

According to the first center coordinates and the second center coordinates, calculating the slope of the straight line formed by the first center coordinates and the second center coordinates, and calculating the relative displacement value of the transportation equipment;

The displacement angle of the transportation device is calculated according to the slope of the straight line, and the relative displacement value and the displacement angle are determined as the displacement parameter of the transportation device.

Further, the step of determining a position adjustment parameter according to the relative position parameter includes:

Compare the included angle in the relative position parameter with the preset included angle to obtain an included angle difference;

Comparing the distance in the relative position parameter with a preset distance to obtain a distance difference;

The difference between the included angle and the distance is determined as a position adjustment parameter.

Further, the step of using the position adjustment parameter and the displacement parameter as attitude adjustment parameters to adjust the attitude of the transportation equipment includes:

Sending the position adjustment parameter and the displacement parameter as attitude adjustment parameters to a host computer, so that the host computer can adjust the attitude of the transportation equipment based on the angle difference and the distance difference in the adjustment parameters, And calculate the travel distance of the transportation equipment based on the displacement parameter.

Use the position adjustment parameter and the displacement parameter as attitude adjustment parameters, and adjust the attitude of the transportation equipment according to the angle difference and the distance difference in the position adjustment parameter;

According to the displacement parameter, the travel distance of the transportation equipment is calculated.

Based on the above structure, various embodiments of the method for obtaining the attitude adjustment parameters of the transportation equipment are proposed.

Referring to FIG. 2, FIG. 2 is a schematic flowchart of a first embodiment of a method for obtaining attitude adjustment parameters of a transportation device according to the present application.

The embodiment of the application provides an embodiment of the method for obtaining the attitude adjustment parameters of the transportation equipment. It should be noted that although the logical sequence is shown in the flowchart, in some cases, it can be executed in a different order than here. Steps shown or described.

Specifically, the method for obtaining the attitude adjustment parameters of the transportation equipment includes:

Step S10, acquiring a current ground image based on the camera device installed on the transportation equipment, and determining the relative position parameter between the transportation equipment and a preset identification line according to the current ground image;

The method of obtaining the attitude adjustment parameters of the transportation equipment of this embodiment is applied to the process of intelligent automatic driving to obtain the attitude adjustment parameters of the transportation equipment, so as to adjust the attitude adjustment parameters of the transportation equipment during transportation to prevent the transportation equipment from deviating from the setting. At the same time, the driving distance between the transportation equipment and the transportation destination is determined through the attitude adjustment parameters to control the precise transportation of the transportation equipment. Among them, intelligent automatic driving can be applied to warehouse freight in a closed environment and road transportation in an open environment. This embodiment takes warehouse freight as an example to illustrate; the transportation equipment corresponding to warehouse freight can be a forklift or a truck , It can also be AGV (Automated Guided Vehicle, automatic guided transport vehicle) trolley and other equipment that can realize the transportation of goods; goods are stacked in warehouse freight, and the goods are placed on pallets, and the transportation equipment realizes the transportation of goods by transporting the pallets.

Understandably, preset identification lines are preset on the floor of the warehouse, and two adjacent and parallel preset identification lines form a driving route for the transportation equipment. The ideal driving state of the transportation equipment is that the center line of the transportation equipment coincides with the center line of the driving route. At this time, the distance between the transportation equipment and the stacked goods on the left and right sides is equal to avoid collision with the left or right goods. However, it is inevitable that the transportation equipment will deviate during the driving process, and its attitude needs to be adjusted in time. The adjustment is based on the preset identification line. If the transportation equipment is parallel to the preset identification line and the distance to the preset identification lines on the left and right sides is the same, the driving state of the transportation equipment is correct and does not need to be adjusted; If the identification lines are not parallel or the distances to the preset identification lines on the left and right sides are not equal, the form of the transportation equipment is incorrect and needs to be adjusted.

Further, in order to determine the relative position between the transportation equipment and the preset marking line, a camera device is installed on the transportation equipment, and the camera device is preferably a stereo camera; while the transportation equipment is traveling, the stereo camera faces the side ground in the driving direction in real time. Perform shooting and imaging, and the imaging range is related to the camera's field of view range to generate a current ground image that characterizes the relative position between the transportation equipment and the preset identification line. If the travel path of the transportation equipment is deviated, the relative position between the transportation equipment and the preset identification line will also deviate, so that the preset identification line in the current ground image will deviate.

Furthermore, in order to determine whether the preset identification line in the current ground image is deviated, a three-dimensional space coordinate system is established based on the current location of the transportation equipment, the position of the stereo camera is used as the coordinate origin, and the plane where the transportation equipment is located is the XY plane , The upper space perpendicular to the XY plane is the space where the positive direction of the Z axis is located; for the XY plane, the positive front of the vehicle is the positive direction of the X axis, and the direction on the right side of the vehicle perpendicular to the X axis is the direction of the Y axis.

Further, according to the position of the preset identification line in the current ground image, the linear equation of the preset identification line on the XY plane is determined, and the relative position parameter of the transportation equipment relative to the preset identification line is determined. Including the angle and distance of the transportation equipment relative to the preset identification line, to indicate whether the transportation equipment is parallel to the preset identification line through the angle, and to indicate whether the distance from the transportation equipment to the preset identification line on the left and right sides is equal through the distance. Specifically, the step of determining the relative position parameter between the transportation equipment and the preset identification line according to the current ground image includes:

Step S11, obtaining a straight line equation corresponding to the preset identification line, and calculating the slope of the straight line equation;

Step S12, using the traveling direction of the transportation equipment as a reference direction, and calculating the angle between the linear equation and the reference direction according to the slope;

Step S13: Calculate the distance between the transportation equipment and the preset identification line according to the linear equation, and determine the included angle and the distance as the relative position parameter.

Understandably, the preset identification line is essentially a pattern composed of diamonds with yellow and black intervals or black and white intervals. After the current ground image is acquired, image processing is performed on it, and the black diamonds are extracted, and the black diamonds are determined. The position of the center of mass of the block; fitting the position of the center of mass to generate a straight line equation, which is the straight line where the preset identification line is located. After that, the slope of the linear equation is calculated. If the linear equation obtained by fitting is Ax+By+C=0, and A, B, and C are the parameters of the linear equation, then deform it to get y=(-A/ B) x+(-C/B), get the slope k=-A/B.

Further, the travel direction of the transportation equipment is taken as the reference direction, and the angle between the linear equation and the reference direction is calculated based on the slope. Since the negative direction of travel in the three-dimensional space coordinate system is the positive direction of the x-axis, the reference direction is essentially the direction of the x-axis, and the calculated included angle is the included angle between the preset marking line and the x-axis, that is, the travel direction of the transportation equipment and the predicted Set the angle between the marking lines. At the same time, the distance between the transportation equipment and the preset marking line is calculated according to the parameters of the linear equation; the included angle △α is calculated by the formula △α=tan ^-1 k, and the distance △L is calculated by the formula △L=│C│ /(A ² +B ² ) ^1/2 for calculation. Thereafter, the calculated included angle and distance are determined as relative position parameters to determine whether the posture of the transportation equipment needs to be adjusted through the relative position parameters.

Step S20, reading the historical ground image acquired based on the camera device, and determining the displacement parameter of the transportation equipment according to the current ground image and the historical ground image;

Furthermore, the historical ground image acquired by the camera device at the previous moment is read, and the relative position change of the transportation equipment is reflected by the comparison between the historical ground image at the previous time and the current ground image, so as to determine the displacement of the transportation equipment parameter. Please refer to Figure 4, where 1.1 is the origin of the coordinates; 2.1-2.5 are the centroid positions of the black diamond; 3.1 is the equation of a straight line; 3.2-3.3 are the position changes of the same element in the preset marking line before and after; 4.1 is the angle of the transportation equipment relative to the preset marking line; the reference number 4.2 is the displacement parameter of the transportation equipment at the time before and after.

Step S30: Determine position adjustment parameters according to the relative position parameters, and use the position adjustment parameters and the displacement parameters as attitude adjustment parameters to adjust the attitude of the transportation equipment.

Understandably, in order to determine whether the transportation equipment is parallel to the preset identification line and the distance to the preset identification lines on both sides is equal, a preset included angle and a preset distance are preset. Compare the included angle in the relative position parameter with the preset included angle to get the angle difference between the two, and use the included angle difference to characterize the difference between the actual angle of the transportation equipment and the theoretical angle. The smaller the difference, the transportation The parallel between the equipment and the preset marking line is better; at the same time, the distance in the relative position parameter is compared with the preset distance to obtain the distance difference between the two, and the actual distance between the transportation equipment and the The size of the difference between the theoretical distances, the smaller the difference, the greater the possibility that the distance between the transportation equipment and the preset marks on both sides is equal.

The angle difference and distance difference obtained through the comparison are determined as the position adjustment parameters, and the position adjustment parameters and the displacement parameters are used as the attitude adjustment parameters to determine the angle of the transportation equipment location and the preset identification on both sides Adjust the posture of the distance between the lines, and calculate the displacement of the transportation equipment at the front and back. While avoiding collision with the goods stacked on both sides, the displacement distance is calculated and the driving distance to the destination is determined.

Further, the posture adjustment of the transportation equipment can be adjusted through the control center of the transportation equipment, or can be adjusted through the upper computer that is in communication with the transportation equipment. Specifically, when the upper computer is used for adjustment, the transportation equipment sends the position adjustment parameters and displacement parameters as the attitude adjustment parameters to the upper computer; the upper computer determines the driving angle of the transportation equipment according to the angle difference represented by the angle difference. Adjust, and adjust the left and right positions of the transportation equipment according to the distance difference represented by the distance difference. At the same time, calculate the displacement distance of the transportation equipment from the previous moment to the current time according to the displacement parameter; update the transportation equipment's distance from the displacement distance Driving distance, which characterizes the distance between the transportation equipment and the destination. The upper computer will determine whether to adjust or not, and send the adjusted parameters to the transportation equipment, control the driving status of the transportation equipment, and realize the accurate transportation of the transportation equipment.

When the control center of the transportation equipment adjusts the attitude of the transportation equipment, the control center directly adjusts the driving angle of the transportation equipment according to the angle difference represented by the angle difference, and according to the distance difference represented by the distance difference The left and right positions of the transportation equipment are adjusted, and the displacement distance of the transportation equipment from the last moment to the current time is calculated according to the displacement parameters. The displacement distance is used to update the travel distance of the transportation equipment, which represents the distance between the transportation equipment and the destination. Distance; In this way, the driving state of the transportation equipment is controlled, and the accurate transportation of the transportation equipment is realized.

In this embodiment, the current ground image representing the current location of the transportation equipment is acquired through the camera device installed on the transportation equipment, and the relative position parameters between the transportation equipment and the preset marking line on the ground are determined according to the current ground image; The historical ground image acquired by the device at the last moment is read, and the displacement parameter of the transportation equipment is determined according to the movement position of the transportation equipment represented by the current ground image and the historical ground image; after that, the relative position parameter is used to adjust the transportation. The position adjustment parameter of the relative relationship between the equipment and the current position, and the position adjustment parameter and the displacement parameter are used as the attitude adjustment parameters to realize the attitude adjustment of the transportation equipment through the two. Since the posture adjustment parameters used to realize the adjustment are generated according to the relative position parameters and displacement parameters of the transportation equipment, the displacement changes of the transportation equipment can be accurately characterized, and the accurate adjustment of the attitude of the transportation equipment is realized, which is beneficial to accurate transportation.

Further, a second embodiment of the method for obtaining the attitude adjustment parameters of the transportation equipment according to the present application is proposed.

Referring to Fig. 3, Fig. 3 is a schematic flowchart of a second embodiment of a method for obtaining attitude adjustment parameters of a transportation device according to the present application.

The difference between the second embodiment of the method for acquiring attitude adjustment parameters of a transportation device and the first embodiment of the method for acquiring attitude adjustment parameters of a transportation device is that the current ground image and historical ground images determine the attitude of the transportation device The steps of displacement parameters include:

Step S21: Identify the first data point in the current ground image and the second data point in the historical ground image, and filter out the first coordinate point in each of the first data points and each of the second data points. The second coordinate point in the data point;

Step S22: Determine the first center coordinates in each of the first coordinate points and the second center coordinates in each of the second coordinate points respectively, and determine the first center coordinates and the second center coordinates according to the first center coordinates and the second center coordinates. Displacement parameters of transportation equipment.

Further, the displacement parameters used to calculate the displacement distance include a displacement value and a displacement angle, where the displacement value is the distance value between the position of the transportation equipment at the previous time and the position at the current time, and the displacement angle is the distance between the transportation equipment and the current position. The driving direction, that is, the angle between the x-axis direction. In this embodiment, when determining the displacement parameter, first extract the black diamond blocks of the preset identification line in the current ground image, identify the centroid of each black diamond block, and determine each centroid as the first data point in the current ground image; At the same time, extract the black diamond blocks of the preset marking line in the historical ground image, identify the centroid of each black diamond block, and determine each centroid as the second data point in the historical ground image. Thereafter, for the first data point, filter according to the straight line equation of the preset identification line in the current ground image, and determine the point belonging to the straight line equation as the first coordinate point; at the same time, for the second data point, according to the preset identification The linear equation of the line in the historical ground image is screened, and the point belonging to the linear equation is determined as the second coordinate point. It should be noted that the slopes of the two linear equations are within the preset range. If they exceed the preset range, it means that the transportation equipment has a large displacement before and after, and an abnormal situation has occurred. At this time, the displacement of the transportation equipment is monitored on the one hand, On the other hand, regenerate the linear equation to ensure the correctness of the calculation.

Further, the first coordinate point and the second coordinate point are screened to determine the valid points belonging to the historical ground image and the current ground image at the same time, and the respective valid points are used to determine the first center coordinates of the first coordinate points. And the second center coordinate in the second coordinate point. Specifically, the step of separately determining the first center coordinates in each first coordinate point and the second center coordinates in each second coordinate point includes:

Step S221: Determine a first effective point corresponding to each of the first coordinate points according to each of the second coordinate points, and perform averaging processing on each of the first effective points to determine the first center coordinate;

Step S222: Determine a second effective point corresponding to each of the second coordinate points according to each of the first coordinate points, and perform averaging processing on each of the second effective points to generate the second center coordinates.

When determining the first center coordinates of each first coordinate point, use each second coordinate point as a basis to filter out the point with the closest distance to each first coordinate point from each second coordinate point; after that, the closest distance to each first coordinate point is selected. The point is used as the first effective point to perform the average value processing of the coordinate values, and the average value obtained is the first center coordinate corresponding to each first coordinate point. Please refer to Figure 5, if the first coordinate point contains a1 (x1, y1), a2 (x2, y2), a3 (x3, y3), a4 (x4, y4)...an (xn, yn) N points After searching, it is determined that the point closest to a1 in the second coordinate point is b1, the point closest to a2 is b2, the point closest to a3 is b3, the point closest to a4 is b4, and the point closest to an is b4. The point is bn; the coordinate values of b1, b2, b3, b4···bn are averaged to obtain the average value (x, y) of the coordinate value, and the average value (x, y) is the first coordinate point The first center coordinate in.

Similarly, when determining the second center coordinates of each second coordinate point, use each first coordinate point as a basis to filter out the point with the closest distance to each second coordinate point from each first coordinate point; The closest point is used as the second effective point to perform the average value processing of the coordinate values, and the average value obtained is the second center coordinate corresponding to each second coordinate point.

Further, according to the first center coordinate and the second center coordinate, the displacement value and the displacement angle in the displacement parameter can be calculated. Specifically, the step of determining the displacement parameters of the transportation equipment according to the first center coordinates and the second center coordinates includes:

Step S223: According to the first center coordinates and the second center coordinates, calculate the slope of the straight line formed by the first center coordinates and the second center coordinates, and calculate the relative displacement value of the transportation equipment;

Step S224: Calculate the displacement angle of the transportation equipment according to the slope of the straight line, and determine the relative displacement value and the displacement angle as the displacement parameters of the transportation equipment.

Further, please refer to Figure 6, where 7 (x1, y1) is the first center coordinate, (x0, y0) is the second center coordinate, a straight line is formed between the first center coordinate and the second center coordinate, passing through the first center coordinate A center coordinate and a second center coordinate calculate the slope of the straight line formed, and the angle corresponding to the slope reflects the angle change of the transportation equipment relative to the preset marking line at two moments before and after. At the same time, the first center coordinate and the second center coordinate also reflect the displacement of the transportation equipment at two moments before and after, so that the relative displacement value of the transportation equipment can be calculated through the first center coordinate and the second center coordinate. The formula for calculating the slope k is: k=(y1-y2)/(x1-x0), and the formula for calculating the relative displacement value △S is: △S=((x1-x0) ² +(y1-y0) ² ) ^1/2 .

Further, the displacement angle of the transportation equipment is calculated by the slope k, which is the angle change of the transportation equipment relative to the preset marking line at two moments before and after; the calculation formula for the displacement angle ℬ is: ℬ = Tan ^-1 k. The calculated relative displacement value and displacement angle are determined as the displacement parameters of the transportation equipment, so as to calculate the displacement distance traveled by the transportation equipment at the front and back two moments according to the displacement parameters. Calculate the projection of the relative displacement value in the x-axis direction through the relative displacement value and displacement angle in the displacement parameter. The projected value is the displacement distance traveled by the transportation equipment along the direction of travel; and the displacement distance is used to compare the transportation equipment and the purpose. The driving distance between places is updated to achieve accurate transportation.

In this embodiment, the current ground image and historical ground image acquired by the transportation equipment at the front and back moments are used to determine the displacement distance of the transportation equipment; because the current ground image and the historical ground image accurately reflect the actual position change of the transportation equipment, the overall situation is improved. The accuracy of the determined displacement distance is more accurate in updating the driving distance between the transportation equipment and the destination, which is conducive to the realization of accurate transportation.

It should be noted that those of ordinary skill in the art can understand that all or part of the steps in the above-mentioned embodiments can be completed by hardware, or by a program to instruct related hardware, and the program can be stored in a computer readable Among the storage media, the aforementioned storage media may be read-only memory, magnetic disks, or optical disks.

In addition, an embodiment of the present application also proposes a storage medium, the storage medium stores a program for acquiring the attitude adjustment parameters of a transportation device, and the program for acquiring the attitude adjustment parameters of the transportation device is executed by a processor to achieve the acquisition as described above. The steps of the method for adjusting the parameters of the attitude of the transportation equipment.

The specific implementation of the storage medium of the present application is basically the same as the foregoing embodiments of the method for obtaining the attitude adjustment parameters of the transportation device, and will not be repeated here.

It should be noted that in this article, the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, It also includes other elements not explicitly listed, or elements inherent to the process, method, article, or device. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or device that includes the element.

The serial numbers of the foregoing embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

Through the description of the above implementation manners, those skilled in the art can clearly understand that the above-mentioned embodiment method can be implemented by means of software plus the necessary general hardware platform, of course, it can also be implemented by hardware, but in many cases the former is better.的实施方式。 Based on this understanding, the technical solution of this application essentially or the part that contributes to the existing technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM/RAM, magnetic disk, The optical disc) includes several instructions to enable a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the method described in each embodiment of the present application.

The above are only the preferred embodiments of the application, and do not limit the scope of the patent for this application. Any equivalent structure or equivalent process transformation made using the content of the description and drawings of the application, or directly or indirectly applied to other related technical fields , The same reason is included in the scope of patent protection of this application.

Claims

A method for obtaining attitude adjustment parameters of a transportation equipment, wherein the method for obtaining attitude adjustment parameters of a transportation equipment includes the following steps:

Acquiring the current ground image based on the camera device installed on the transportation equipment, and determining the relative position parameter between the transportation equipment and the preset identification line according to the current ground image;

Reading the historical ground image acquired based on the camera device, and determining the displacement parameter of the transportation equipment according to the current ground image and the historical ground image;

The position adjustment parameter is determined according to the relative position parameter, and the position adjustment parameter and the displacement parameter are used as the attitude adjustment parameter to adjust the attitude of the transportation equipment.
2. The method for acquiring the posture adjustment parameters of the transportation equipment according to claim 1, wherein the step of determining the relative position parameters between the transportation equipment and a preset identification line according to the current ground image comprises:

Acquiring a straight line equation corresponding to the preset identification line, and calculating the slope of the straight line equation;

Taking the traveling direction of the transportation equipment as a reference direction, and calculating the angle between the linear equation and the reference direction according to the slope;

According to the linear equation, the distance between the transportation equipment and the preset identification line is calculated, and the included angle and the distance are determined as the relative position parameter.
2. The method for obtaining the attitude adjustment parameters of the transportation equipment according to claim 1, wherein the step of determining the displacement parameters of the transportation equipment according to the current ground image and the historical ground image comprises:

Identify the first data point in the current ground image and the second data point in the historical ground image, and filter out the first coordinate point in each of the first data points and each of the second data points The second coordinate point;

Determine the first center coordinates of each of the first coordinate points and the second center coordinates of each of the second coordinate points respectively, and determine the transport equipment's coordinates according to the first center coordinates and the second center coordinates Displacement parameters.
The method for obtaining the posture adjustment parameters of the transportation equipment according to claim 3, wherein the step of determining the first center coordinates of each of the first coordinate points and the second center coordinates of each of the second coordinate points respectively include:

Determine a first effective point corresponding to each of the first coordinate points according to each of the second coordinate points, and perform averaging processing on each of the first effective points to determine the first center coordinate;

According to each of the first coordinate points, a second effective point corresponding to each of the second coordinate points is determined, and average processing is performed on each of the second effective points to generate the second center coordinate.
3. The method for obtaining the posture adjustment parameters of the transportation equipment according to claim 3, wherein the step of determining the displacement parameters of the transportation equipment according to the first center coordinates and the second center coordinates comprises:

According to the first center coordinates and the second center coordinates, calculating the slope of the straight line formed by the first center coordinates and the second center coordinates, and calculating the relative displacement value of the transportation equipment;

The displacement angle of the transportation device is calculated according to the slope of the straight line, and the relative displacement value and the displacement angle are determined as the displacement parameter of the transportation device.
2. The method for acquiring the attitude adjustment parameters of the transportation equipment according to claim 1, wherein the step of determining the position adjustment parameters according to the relative position parameters comprises:

Compare the included angle in the relative position parameter with the preset included angle to obtain an included angle difference;

Comparing the distance in the relative position parameter with a preset distance to obtain a distance difference;

The difference between the included angle and the distance is determined as a position adjustment parameter.
7. The method for obtaining the attitude adjustment parameters of the transportation equipment according to claim 6, wherein the step of using the position adjustment parameters and the displacement parameters as attitude adjustment parameters to adjust the attitude of the transportation equipment comprises:

Sending the position adjustment parameter and the displacement parameter as attitude adjustment parameters to a host computer, so that the host computer can adjust the attitude of the transportation equipment based on the angle difference and the distance difference in the adjustment parameters, And calculate the travel distance of the transportation equipment based on the displacement parameter.
7. The method for obtaining the attitude adjustment parameters of the transportation equipment according to claim 6, wherein the step of using the position adjustment parameters and the displacement parameters as attitude adjustment parameters to adjust the attitude of the transportation equipment comprises:

Use the position adjustment parameter and the displacement parameter as attitude adjustment parameters, and adjust the attitude of the transportation equipment according to the angle difference and the distance difference in the position adjustment parameter;

According to the displacement parameter, the travel distance of the transportation equipment is calculated.
A transportation device, wherein the transportation device includes a memory, a processor, and a program that is stored on the memory and can be run on the processor for acquiring the attitude adjustment parameter of the transportation device, and the acquiring the attitude adjustment of the transportation device When the parameter program is executed by the processor, the following steps are implemented:

Acquiring the current ground image based on the camera device installed on the transportation equipment, and determining the relative position parameter between the transportation equipment and the preset identification line according to the current ground image;

Reading the historical ground image acquired based on the camera device, and determining the displacement parameter of the transportation equipment according to the current ground image and the historical ground image;

The position adjustment parameter is determined according to the relative position parameter, and the position adjustment parameter and the displacement parameter are used as the attitude adjustment parameter to adjust the attitude of the transportation equipment.
9. The transportation device according to claim 9, wherein the step of determining the relative position parameter between the transportation device and a preset identification line according to the current ground image comprises:

Acquiring a straight line equation corresponding to the preset identification line, and calculating the slope of the straight line equation;

Taking the traveling direction of the transportation equipment as a reference direction, and calculating the angle between the linear equation and the reference direction according to the slope;

According to the linear equation, the distance between the transportation equipment and the preset identification line is calculated, and the included angle and the distance are determined as the relative position parameter.
9. The transportation device according to claim 9, wherein the step of determining the displacement parameter of the transportation device according to the current ground image and the historical ground image comprises:

Identify the first data point in the current ground image and the second data point in the historical ground image, and filter out the first coordinate point in each of the first data points and each of the second data points The second coordinate point;

Determine the first center coordinates of each of the first coordinate points and the second center coordinates of each of the second coordinate points respectively, and determine the transport equipment's coordinates according to the first center coordinates and the second center coordinates Displacement parameters.
11. The transportation equipment according to claim 11, wherein the step of separately determining the first center coordinates in each of the first coordinate points and the second center coordinates in each of the second coordinate points comprises:

Determine a first effective point corresponding to each of the first coordinate points according to each of the second coordinate points, and perform averaging processing on each of the first effective points to determine the first center coordinate;

According to each of the first coordinate points, a second effective point corresponding to each of the second coordinate points is determined, and average processing is performed on each of the second effective points to generate the second center coordinate.
The transportation device according to claim 11, wherein the step of determining the displacement parameter of the transportation device according to the first center coordinate and the second center coordinate comprises:

According to the first center coordinates and the second center coordinates, calculating the slope of the straight line formed by the first center coordinates and the second center coordinates, and calculating the relative displacement value of the transportation equipment;

The displacement angle of the transportation device is calculated according to the slope of the straight line, and the relative displacement value and the displacement angle are determined as the displacement parameter of the transportation device.
9. The transportation equipment according to claim 9, wherein the step of determining a position adjustment parameter according to the relative position parameter comprises:

Compare the included angle in the relative position parameter with the preset included angle to obtain an included angle difference;

Comparing the distance in the relative position parameter with a preset distance to obtain a distance difference;

The difference between the included angle and the distance is determined as a position adjustment parameter.
A storage medium, wherein a program for acquiring attitude adjustment parameters of a transportation device is stored on the storage medium, and the following steps are implemented when the program for acquiring attitude adjustment parameters of a transportation device is executed by a processor:

Acquiring the current ground image based on the camera device installed on the transportation equipment, and determining the relative position parameter between the transportation equipment and the preset identification line according to the current ground image;

Reading the historical ground image acquired based on the camera device, and determining the displacement parameter of the transportation equipment according to the current ground image and the historical ground image;

The position adjustment parameter is determined according to the relative position parameter, and the position adjustment parameter and the displacement parameter are used as the attitude adjustment parameter to adjust the attitude of the transportation equipment.