[go: up one dir, main page]

WO2021093413A1 - 获取运输设备的姿态调整参数方法、运输设备及存储介质 - Google Patents

获取运输设备的姿态调整参数方法、运输设备及存储介质 Download PDF

Info

Publication number
WO2021093413A1
WO2021093413A1 PCT/CN2020/111762 CN2020111762W WO2021093413A1 WO 2021093413 A1 WO2021093413 A1 WO 2021093413A1 CN 2020111762 W CN2020111762 W CN 2020111762W WO 2021093413 A1 WO2021093413 A1 WO 2021093413A1
Authority
WO
WIPO (PCT)
Prior art keywords
transportation equipment
parameter
displacement
transportation
ground image
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/111762
Other languages
English (en)
French (fr)
Inventor
赵健章
邹振华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Skyworth Digital Technology Co Ltd
Original Assignee
Shenzhen Skyworth Digital Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Skyworth Digital Technology Co Ltd filed Critical Shenzhen Skyworth Digital Technology Co Ltd
Publication of WO2021093413A1 publication Critical patent/WO2021093413A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/50—Information retrieval; Database structures therefor; File system structures therefor of still image data
    • G06F16/58—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually
    • G06F16/587—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using geographical or spatial information, e.g. location

Definitions

  • 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.
  • 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.
  • 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.
  • the judgment of the driving distance of the transportation destination is also prone to errors, and accurate transportation cannot be realized.
  • 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. .
  • 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:
  • 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.
  • 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
  • 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.
  • 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.
  • FIG. 1 is a schematic structural diagram of a hardware operating environment involved in a solution of an embodiment of the present application
  • 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
  • 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
  • FIG. 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
  • FIG. 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.
  • FIG. 1 is a schematic structural diagram of a hardware operating environment involved in a solution of an embodiment of the present application.
  • 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.
  • 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.
  • the memory 1005 may also be a storage device independent of the aforementioned processor 1001.
  • 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.
  • 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.
  • 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.
  • 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:
  • 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.
  • the step of determining the relative position parameter between the transportation equipment and a preset identification line according to the current ground image includes:
  • 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.
  • the step of determining the displacement parameter of the transportation equipment according to the current ground image and the historical ground image includes:
  • 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:
  • 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.
  • step of determining the displacement parameter of the transportation equipment according to the first center coordinates and the second center coordinates includes:
  • 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.
  • step of determining a position adjustment parameter according to the relative position parameter includes:
  • the difference between the included angle and the distance is determined as a position adjustment parameter.
  • step of using the position adjustment parameter and the displacement parameter as attitude adjustment parameters to adjust the attitude of the transportation equipment includes:
  • step of using the position adjustment parameter and the displacement parameter as attitude adjustment parameters to adjust the attitude of the transportation equipment includes:
  • the travel distance of the transportation equipment is calculated.
  • 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.
  • 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.
  • 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.
  • 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.
  • AGV Automated Guided Vehicle, automatic guided transport vehicle
  • 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.
  • the adjustment is based on the preset identification line.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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;
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • second center coordinate in the 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.
  • each second coordinate point 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.
  • the first coordinate point contains a1 (x1, y1), a2 (x2, y2), a3 (x3, y3), a4 (x4, y4)...an (xn, yn) N points
  • 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.
  • 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.
  • the displacement value and the displacement angle in the displacement parameter can be calculated.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • the aforementioned storage media may be read-only memory, magnetic disks, or optical disks.
  • 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 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.
  • a terminal device which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Library & Information Science (AREA)
  • Data Mining & Analysis (AREA)
  • Databases & Information Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Navigation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

本申请公开了一种获取运输设备的姿态调整参数方法、运输设备及存储介质，所述方法包括：基于运输设备上所安装的摄像装置获取当前地面图像，并根据所述当前地面图像，确定所述运输设备与预设标识线之间的相对位置参数；读取基于所述摄像装置获取的历史地面图像，并根据所述当前地面图像和历史地面图像，确定所述运输设备的位移参数；根据所述相对位置参数确定位置调整参数，并将所述位置调整参数和所述位移参数作为姿态调整参数，以对所述运输设备的姿态进行调整。本申请因用于实现调整的姿态调整参数依据运输设备的相对位置参数以及位移参数生成，可准确表征运输设备的位移变化，实现了运输设备姿态的准确调整，有利于精准运输。

Description

获取运输设备的姿态调整参数方法、运输设备及存储介质
本申请要求于2019年11月12日提交中国专利局、申请号为201911103709.3、发明名称为“获取运输设备的姿态调整参数方法、运输设备及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在申请中。
技术领域
本申请涉及智能驾驶技术领域，尤其涉及一种获取运输设备的姿态调整参数方法、运输设备及存储介质。
 背景技术
随着智能技术的发展，智能仓库的应用也越来越广泛；智能仓库通过激光雷达导航或者视觉导航来引导车辆按照一定的行驶路径自动行驶，实现货物的运输。行驶路径受智能仓库面积以及所堆放货物的限制通常较为狭窄，尤其是所堆放货物之间的货道更为狭窄；车辆在运输货物的自动行驶过程中一方面需要避免与周边堆放的货物碰撞而出现危险，另一方面需要确定与运输目的地之间的行驶距离，以精准运输。
目前，车辆上安装有红外装置，通过红外装置发射红外线来检测周边堆放的货物和运输目的地，进而生成调整参数以调整车辆的运输姿态，避免碰撞并确定行驶距离。但由红外线检测所生成的调整参数不够精确，容易出现经运输姿态调整的车辆仍然与周边堆放货物碰撞的情况，同时对运输目的地的行驶距离的判断也容易出现误差，不能实现精准运输。
 技术解决方案
本申请的主要目的在于提供一种获取运输设备的姿态调整参数方法、运输设备及存储介质，旨在解决现有中生成的调整参数不精确，车辆容易发生碰撞危险，不能实现精准运输的技术问题。
为实现上述目的，本申请提供一种获取运输设备的姿态调整参数方法，所述获取运输设备的姿态调整参数方法包括步骤：
基于运输设备上所安装的摄像装置获取当前地面图像，并根据所述当前地面图像，确定所述运输设备与预设标识线之间的相对位置参数；
读取基于所述摄像装置获取的历史地面图像，并根据所述当前地面图像和历史地面图像，确定所述运输设备的位移参数；
根据所述相对位置参数确定位置调整参数，并将所述位置调整参数和所述位移参数作为姿态调整参数，以对所述运输设备的姿态进行调整。
此外，为实现上述目的，本申请还提供一种运输设备，所述运输设备包括存储器、处理器和存储在所述存储器上并可在所述处理器上运行的获取运输设备的姿态调整参数程序，所述获取运输设备的姿态调整参数程序被所述处理器执行时实现如上所述的获取运输设备的姿态调整参数方法的步骤。
此外，为实现上述目的，本申请还提供一种存储介质，所述存储介质上存储有获取运输设备的姿态调整参数程序，所述获取运输设备的姿态调整参数程序被处理器执行时实现如上所述的获取运输设备的姿态调整参数方法的步骤。
本申请先通过运输设备上安装的摄像装置获取表征运输设备当前所在位置的当前地面图像，并依据当前地面图像确定运输设备与地面上预设标识线之间的相对位置参数；再对通过摄像装置获取的上一时刻的历史地面图像进行读取，根据当前地面图像和历史地面图像所表征的运输设备的移动位置，来确定运输设备的位移参数；此后，由相对位置参数确定用于调整运输设备与当前所在位置之间相对关系的位置调整参数，并将位置调整参数和位移参数作为姿态调整参数，以通过两者来实现运输设备的姿态调整。因用于实现调整的姿态调整参数依据运输设备的相对位置参数以及位移参数生成，可准确表征运输设备的位移变化，实现了运输设备姿态的准确调整，有利于精准运输。
 附图说明
图1是本申请实施例方案涉及的硬件运行环境的结构示意图；
图2是本申请获取运输设备的姿态调整参数方法第一实施例的流程示意图；
图3是本申请获取运输设备的姿态调整参数方法第二实施例的流程示意图；
图4是本申请获取运输设备的姿态调整参数方法中位移参数的形成示意图；
图5是本申请获取运输设备的姿态调整参数方法中第一中心坐标的形成示意图；
图6是本申请获取运输设备的姿态调整参数方法中位移参数的计算示意图。
本申请目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
 本发明的实施方式
应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
如图1所示，图1是本申请实施例方案涉及的硬件运行环境的结构示意图。
如图1所示，该运输设备可以包括：处理器1001，例如CPU，用户接口1003，网络接口1004，存储器1005，通信总线1002。其中，通信总线1002用于实现这些组件之间的连接通信。用户接口1003可以包括显示屏（Display）、输入单元比如键盘（Keyboard），可选用户接口1003还可以包括标准的有线接口、无线接口。网络接口1004可选的可以包括标准的有线接口、无线接口（如WI-FI接口）。存储器1005可以是高速RAM存储器，也可以是稳定的存储器（non-volatile memory），例如磁盘存储器。存储器1005可选的还可以是独立于前述处理器1001的存储装置。
本领域技术人员可以理解，图1中示出的运输设备结构并不构成对运输设备的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。
如图1所示，作为一种计算机存储介质的存储器1005中可以包括操作系统、网络通信模块、用户接口模块以及获取运输设备的姿态调整参数程序。其中，操作系统是管理和控制运输设备硬件和软件资源的程序，支持获取运输设备的姿态调整参数程序以及其它软件或程序的运行。
在图1所示的运输设备中，用户接口1003主要用于连接客户端（用户端），与客户端进行数据通信；网络接口1004主要用于连接后台服务器，与后台服务器进行数据通信；而处理器1001可以用于调用存储器1005中存储的获取运输设备的姿态调整参数程序，并执行以下操作：
基于运输设备上所安装的摄像装置获取当前地面图像，并根据所述当前地面图像，确定所述运输设备与预设标识线之间的相对位置参数；
读取基于所述摄像装置获取的历史地面图像，并根据所述当前地面图像和历史地面图像，确定所述运输设备的位移参数；
根据所述相对位置参数确定位置调整参数，并将所述位置调整参数和所述位移参数作为姿态调整参数，以对所述运输设备的姿态进行调整。
进一步地，所述根据所述当前地面图像，确定所述运输设备与预设标识线之间的相对位置参数的步骤包括：
获取与所述预设标识线对应的直线方程，并计算所述直线方程的斜率；
将所述运输设备的行驶方向作为参考方向，根据所述斜率，计算所述直线方程与所述参考方向之间的夹角；
根据所述直线方程，计算所述运输设备与所述预设标识线之间的距离，并将所述夹角和所述距离确定为所述相对位置参数。
进一步地，根据所述当前地面图像和历史地面图像，确定所述运输设备的位移参数的步骤包括：
识别所述当前地面图像中的第一数据点和所述历史地面图像中的第二数据点，并筛选出各所述第一数据点中的第一坐标点和各所述第二数据点中的第二坐标点；
分别确定各所述第一坐标点中的第一中心坐标和各所述第二坐标点中的第二中心坐标，并根据所述第一中心坐标和第二中心坐标，确定所述运输设备的位移参数。
进一步地，所述分别确定各所述第一坐标点中的第一中心坐标和各所述第二坐标点中的第二中心坐标的步骤包括：
根据各所述第二坐标点，确定与各所述第一坐标点对应的第一有效点，并对各所述第一有效点进行均值处理，确定所述第一中心坐标；
根据各所述第一坐标点，确定与各所述第二坐标点对应的第二有效点，并对各所述第二有效点进行均值处理，生成所述第二中心坐标。
进一步地，所述根据所述第一中心坐标和第二中心坐标，确定所述运输设备的位移参数的步骤包括：
根据所述第一中心坐标和所述第二中心坐标，计算由所述第一中心坐标和所述第二中心坐标所形成直线的斜率，以及计算所述运输设备的相对位移值；
根据所述直线的斜率计算所述运输设备的位移角，并将所述相对位移值和所述位移角确定为所述运输设备的位移参数。
进一步地，所述根据所述相对位置参数确定位置调整参数的步骤包括：
将所述相对位置参数中的夹角和预设夹角对比，得到夹角差值；
将所述相对位置参数中的距离和预设距离对比，得到距离差值；
将所述夹角差值和所述距离差值确定为位置调整参数。
进一步地，所述将所述位置调整参数和所述位移参数作为姿态调整参数，以对所述运输设备的姿态进行调整的步骤包括：
将所述位置调整参数和所述位移参数作为姿态调整参数发送到上位机，以供所述上位机基于所述调整参数中的角度差值和距离差值对所述运输设备的姿态进行调整，并基于所述位移参数计算所述运输设备的行驶距离。
进一步地，所述将所述位置调整参数和所述位移参数作为姿态调整参数，以对所述运输设备的姿态进行调整的步骤包括：
将所述位置调整参数和所述位移参数作为姿态调整参数，并根据所述位置调整参数中的角度差值和距离差值对所述运输设备的姿态进行调整；
根据所述位移参数，对所述运输设备的行驶距离进行计算。
基于上述的结构，提出获取运输设备的姿态调整参数方法的各个实施例。
参照图2，图2为本申请获取运输设备的姿态调整参数方法第一实施例的流程示意图。
本申请实施例提供了获取运输设备的姿态调整参数方法的实施例，需要说明的是，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。
具体地，获取运输设备的姿态调整参数方法包括：
步骤S10，基于运输设备上所安装的摄像装置获取当前地面图像，并根据所述当前地面图像，确定所述运输设备与预设标识线之间的相对位置参数；
本实施例的获取运输设备的姿态调整参数方法应用于智能自动驾驶过程中，对运输设备的姿态调整参数进行获取，以通过姿态调整参数调整运输设备在运输时的姿态，避免运输设备偏离设定的行驶路线；同时通过姿态调整参数确定运输设备与运输目的地之间的行驶距离，以控制运输设备的精准运输。其中智能自动驾驶可适用于封闭环境的仓库货运、也可适用于开放环境的道路运输，本实施例以仓库货运为例加以说明；与仓库货运对应的运输设备可以为叉车、也可以为抱车、还可以是AGV（Automated Guided Vehicle，自动引导运输车）小车等可实现货物运输的设备；仓库货运中堆放有货物，货物放置在托盘上，运输设备通过对托盘的运输来实现货物的运输。
可理解地，仓库地面上预先设置有预设标识线，两条相邻并平行的预设标识线之间形成了运输设备的行驶路线。运输设备的理想行驶状态为运输设备的中心线与行驶路线的中心线重合，此时运输设备到左右两侧所堆放货物之间的距离相等，可避免与左侧或右侧货物的碰撞。但是运输设备在行驶过程中不可避免的会出现跑偏的情况，需要及时对其进行姿态调整。调整以预设标识线为参照，若运输设备与预设标识线平行且到左右两侧的预设标识线的距离相等，则运输设备的行驶状态正确，不需要调整；若运输设备与预设标识线不平行或者到左右两侧的预设标识线的距离不相等，则运输设备的形式状态不正确，需要调整。
进一步地，为了确定运输设备与预设标识线之间的相对位置，运输设备上安装有摄像装置，该摄像装置优选为立体相机；运输设备在行驶过程中，立体相机实时对行驶方向的侧面地面进行拍摄成像，成像范围与相机视场范围相关，生成表征运输设备与预设标识线之间相对位置的当前地面图像。若运输设备的行驶路径出现偏差，则运输设备与预设标识线之间的相对位置也出现偏差，使得当前地面图像中的预设标识线出现偏差。
更进一步地，为了确定当前地面图像中的预设标识线是否出现偏差，以运输设备当前所在位置为基础建立三维空间坐标系，将立体相机所在位置作为坐标原点，以运输设备所在平面为XY平面，以与XY平面垂直的上部空间为Z轴正方向所在空间；其中对于XY平面，车辆行驶正前方为X轴正方向，车辆右侧与X轴方向垂直的方向为Y轴方向。
进一步地，依据预设标识线在当前地面图像中的位置，确定预设标识线在XY平面上的直线方程，进而确定运输设备相对于预设标识线之间的相对位置参数，该相对位置参数包括运输设备相对于预设标识线的角度和距离，以通过角度表征运输设备是否与预设标识线平行，并通过距离表征运输设备到左右两侧的预设标识线的距离是否相等。具体地，根据当前地面图像，确定运输设备与预设标识线之间的相对位置参数的步骤包括：
步骤S11，获取与所述预设标识线对应的直线方程，并计算所述直线方程的斜率；
步骤S12，将所述运输设备的行驶方向作为参考方向，根据所述斜率，计算所述直线方程与所述参考方向之间的夹角；
步骤S13，根据所述直线方程，计算所述运输设备与所述预设标识线之间的距离，并将所述夹角和所述距离确定为所述相对位置参数。
可理解地，预设标识线实质是以黄黑间隔或者黑白间隔的菱块组成图案，在获取到当前地面图像之后，对其进行图像处理，提取出其中的黑色菱块，并确定各黑色菱块的质心位置；对质心位置进行拟合生成直线方程，该直线方程即为预设标识线所在的直线。此后对直线方程的斜率进行计算，若经拟合所得到的直线方程为Ax+By+C=0，A、B、C为直线方程的参数，则对其进行变形得到y=（-A/B）x+（-C/B），得到斜率k=-A/B。
进一步地，将运输设备的行驶方向作为参考方向，以斜率为基础，计算直线方程与参考方向之间的夹角。因三维空间坐标系中行驶负方向为x轴正方向，从而参考方向其实质为x轴方向，所计算的夹角为预设标识线相对于x轴的夹角，即运输设备行驶方向与预设标识线之间的夹角。同时依据直线方程的参数，对运输设备与预设标识线之间的距离进行计算；其中夹角△α通过公式△α=tan -1k进行计算，距离△L通过公式△L=│C│/（A 2+B 2） 1/2进行计算。此后，将经计算得到的夹角和距离确定为相对位置参数，以通过相对位置参数判定是否需要调整运输设备的姿态。
步骤S20，读取基于所述摄像装置获取的历史地面图像，并根据所述当前地面图像和历史地面图像，确定所述运输设备的位移参数；
更进一步地，对摄像装置上一时刻获取的历史地面图像进行读取，通过上一时刻的历史地面图像和当前地面图像的对比，来体现运输设备的相对位置变化，以此确定运输设备的位移参数。请参照图4，图中标号1.1为坐标原点；标号2.1-2.5为黑色菱块的质心位置；标号3.1为直线方程；标号3.2-3.3为预设标识线中同一元素前后时刻的位置变化；标号4.1为运输设备相对于预设标识线的角度；标号4.2为运输设备前后时刻的位移参数。
步骤S30，根据所述相对位置参数确定位置调整参数，并将所述位置调整参数和所述位移参数作为姿态调整参数，以对所述运输设备的姿态进行调整。
可理解地，为了判定运输设备是否与预设标识线平行，且到两边预设标识线之间的距离相等，预先设置有预设夹角和预设距离。将相对位置参数中的夹角和预设夹角对比，得到两者之间的夹角差值，通过夹角差值来表征运输设备的实际角度与理论角度的差异大小，差异越小表征运输设备与预设标识线之间的平行性越好；同时将相对位置参数中的距离和预设距离对比，得到两者之间的距离差值，通过距离差值来表征运输设备的实际距离与理论距离之间的差异大小，差异越小表征运输设备到两边预设标识之间距离相等的可能性越大。
将通过对比得到的夹角差值和距离差值确定为位置调整参数，并将位置调整参数和位移参数一并作为姿态调整参数，以对运输设备所在位置的角度，以及与两边预设标识线之间的距离进行姿态调整，并对运输设备前后时刻的位移进行计算；在避免与两边所堆放货物发生碰撞的同时，计算位移距离，确定与目的地之间的行驶距离。
进一步地，对运输设备进行姿态调整可通过运输设备的控制中心调整，也可以通过与运输设备通信连接的上位机进行调整。具体地，在通过上位机进行调整时，运输设备将作为姿态调整参数的位置调整参数和位移参数发送到上位机；由上位机依据角度差值表征的角度差异大小来对运输设备的行驶角度进行调整，并依据距离差值表征的距离差异大小对运输设备的左右侧位置进行调整，同时依据位移参数计算运输设备从上一时刻到当前时刻所运行的位移距离；由位移距离来更新运输设备的行驶距离，表征运输设备与目的地之间的距离。上位机将确定调整与否，以及调整的参数下发到运输设备，控制运输设备的行驶状态，实现运输设备的精准运输。
当由运输设备的控制中心对运输设备的姿态进行调整时，则由控制中心直接依据角度差值表征的角度差异大小来对运输设备的行驶角度进行调整，并依据距离差值表征的距离差异大小对运输设备的左右侧位置进行调整，同时依据位移参数计算运输设备从上一时刻到当前时刻所运行的位移距离，由位移距离来更新运输设备的行驶距离，表征运输设备与目的地之间的距离；以此，控制运输设备的行驶状态，实现运输设备的精准运输。
本实施例先通过运输设备上安装的摄像装置获取表征运输设备当前所在位置的当前地面图像，并依据当前地面图像确定运输设备与地面上预设标识线之间的相对位置参数；再对通过摄像装置获取的上一时刻的历史地面图像进行读取，根据当前地面图像和历史地面图像所表征的运输设备的移动位置，来确定运输设备的位移参数；此后，由相对位置参数确定用于调整运输设备与当前所在位置之间相对关系的位置调整参数，并将位置调整参数和位移参数作为姿态调整参数，以通过两者来实现运输设备的姿态调整。因用于实现调整的姿态调整参数依据运输设备的相对位置参数以及位移参数生成，可准确表征运输设备的位移变化，实现了运输设备姿态的准确调整，有利于精准运输。
进一步地，提出本申请获取运输设备的姿态调整参数方法第二实施例。
参照图3，图3为本申请获取运输设备的姿态调整参数方法第二实施例的流程示意图。
所述获取运输设备的姿态调整参数方法第二实施例与所述获取运输设备的姿态调整参数方法第一实施例的区别在于，根据所述当前地面图像和历史地面图像，确定所述运输设备的位移参数的步骤包括：
步骤S21，识别所述当前地面图像中的第一数据点和所述历史地面图像中的第二数据点，并筛选出各所述第一数据点中的第一坐标点和各所述第二数据点中的第二坐标点；
步骤S22，分别确定各所述第一坐标点中的第一中心坐标和各所述第二坐标点中的第二中心坐标，并根据所述第一中心坐标和第二中心坐标，确定所述运输设备的位移参数。
更进一步地，用于计算位移距离的位移参数包括位移值和位移角，其中位移值为运输设备在上一时刻所在位置点到当前时刻所在位置点之间的距离值，位移角为运输设备与行驶方向，即x轴方向的夹角。本实施例在确定位移参数时，先对当前地面图像中预设标识线的黑色菱块进行提取，识别各黑色菱块的质心，并将各质心确定为当前地面图像中的第一数据点；同时对历史地面图像中预设标识线的黑色菱块进行提取，识别各黑色菱块的质心，并将各质心确定为历史地面图像中的第二数据点。此后，针对第一数据点，依据预设标识线在当前地面图像中的直线方程进行筛选，将其中属于直线方程上的点确定为第一坐标点；同时针对第二数据点，依据预设标识线在历史地面图像中的直线方程进行筛选，将其中属于直线方程上的点确定为第二坐标点。需要说明的是，两个直线方程的斜率在预设范围内，若超出预设范围，则说明运输设备前后时刻的位移较大，出现异常情况；此时一方面对运输设备的位移进行监测，另一方面重新生成直线方程，以确保计算的正确性。
进一步地，对第一坐标点和第二坐标点进行筛选，确定其中同时属于历史地面图像和当前地面图像中的有效点，由各自的有效点来分别确定第一坐标点中的第一中心坐标以及第二坐标点中的第二中心坐标。具体地，分别确定各第一坐标点中的第一中心坐标和各第二坐标点中的第二中心坐标的步骤包括：
步骤S221，根据各所述第二坐标点，确定与各所述第一坐标点对应的第一有效点，并对各所述第一有效点进行均值处理，确定所述第一中心坐标；
步骤S222，根据各所述第一坐标点，确定与各所述第二坐标点对应的第二有效点，并对各所述第二有效点进行均值处理，生成所述第二中心坐标。
在确定各第一坐标点中的第一中心坐标时，以各个第二坐标点为依据，从各个第二坐标点中筛选出与各第一坐标点距离最近的点；此后将各个距离最近的点作为第一有效点进行坐标值的均值处理，得到平均值即为与各第一坐标点对应的第一中心坐标。请参照图5，若第一坐标点包含a1（x1，y1）、a2（x2，y2）、a3（x3，y3）、a4（x4，y4）···an（xn，yn）N个点，经查找确定第二坐标点中与a1距离最近的点为b1，与a2距离最近的点为b2，与a3距离最近的点为b3，与a4距离最近的点为b4，与an距离最近的点为bn；对b1、b2、b3、b4···bn的坐标值进行均值处理，得到坐标值的平均值（x，y），该平均值（x，y）即为各第一坐标点中的第一中心坐标。
同样地，在确定各第二坐标点中的第二中心坐标时，以各个第一坐标点为依据，从各个第一坐标点中筛选出与各第二坐标点距离最近的点；此后将各个距离最近的点作为第二有效点进行坐标值的均值处理，得到平均值即为与各第二坐标点对应的第二中心坐标。
进一步地，依据第一中心坐标和第二中心坐标，即可对位移参数中的位移值和位移角进行计算。具体地，根据第一中心坐标和第二中心坐标，确定运输设备的位移参数的步骤包括：
步骤S223，根据所述第一中心坐标和所述第二中心坐标，计算由所述第一中心坐标和所述第二中心坐标所形成直线的斜率，以及计算所述运输设备的相对位移值；
步骤S224，根据所述直线的斜率计算所述运输设备的位移角，并将所述相对位移值和所述位移角确定为所述运输设备的位移参数。
更进一步地，请参照图6，图中7（x1、y1）为第一中心坐标，（x0、y0）为第二中心坐标，第一中心坐标和第二中心坐标之间形成直线，通过第一中心坐标和第二中心坐标对所形成直线的斜率进行计算，由斜率对应的角度来反映运输设备在前后两个时刻相对于预设标识线所发生的角度变化。同时第一中心坐标和第二中心坐标还反映了运输设备在前后两个时刻的位移，从而可通过第一中心坐标和第二中心坐标对运输设备的相对位移值进行计算。其中斜率k的计算公式为：k=（y1-y2）/（x1-x0），相对位移值△S的计算公式为：△S=（（x1-x0） 2+（y1-y0） 2） 1/2。
进一步地，通过斜率k对运输设备的位移角进行计算，该位移角即为运输设备在前后两个时刻相对于预设标识线所发生的角度变化；位移角ℬ的的计算公式为：ℬ = Tan -1k。将计算得到的相对位移值和位移角确定为运输设备的位移参数，以便于依据位移参数计算运输设备在前后两个时刻所行驶的位移距离。通过位移参数中的相对位移值和位移角度，计算相对位移值在x轴方向上的投影，投影的数值即为运输设备沿着行驶方向所行驶的位移距离；进而通过位移距离对运输设备与目的地之间的行驶距离进行更新，实现准确运输。
本实施例通过运输设备在前后时刻获取的当前地面图像和历史地面图像，来确定运输设备的位移距离；因当前地面图像和历史地面图像准确的反映了运输设备的实际位置变化情况，提高了所确定的位移距离的准确性，进而对运输设备与目的地之间行驶距离的更新更为准确，有利于实现精准运输。
需要说明的是，本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成，也可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，上述提到的存储介质可以是只读存储器，磁盘或光盘等。
此外，本申请实施例还提出一种存储介质，所述存储介质上存储有获取运输设备的姿态调整参数程序，所述获取运输设备的姿态调整参数程序被处理器执行时实现如上所述的获取运输设备的姿态调整参数方法的步骤。
本申请存储介质具体实施方式与上述获取运输设备的姿态调整参数方法各实施例基本相同，在此不再赘述。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。
上述本申请实施例序号仅仅为了描述，不代表实施例的优劣。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质（如ROM/RAM、磁碟、光盘）中，包括若干指令用以使得一台终端设备（可以是手机，计算机，服务器，空调器，或者网络设备等）执行本申请各个实施例所述的方法。
以上仅为本申请的优选实施例，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (15)

  1. 一种获取运输设备的姿态调整参数方法，其中，所述获取运输设备的姿态调整参数方法包括以下步骤：
    基于运输设备上所安装的摄像装置获取当前地面图像，并根据所述当前地面图像，确定所述运输设备与预设标识线之间的相对位置参数；
    读取基于所述摄像装置获取的历史地面图像，并根据所述当前地面图像和历史地面图像，确定所述运输设备的位移参数；
    根据所述相对位置参数确定位置调整参数，并将所述位置调整参数和所述位移参数作为姿态调整参数，以对所述运输设备的姿态进行调整。
  2. 如权利要求1所述获取运输设备的姿态调整参数方法，其中，所述根据所述当前地面图像，确定所述运输设备与预设标识线之间的相对位置参数的步骤包括：
    获取与所述预设标识线对应的直线方程，并计算所述直线方程的斜率；
    将所述运输设备的行驶方向作为参考方向，根据所述斜率，计算所述直线方程与所述参考方向之间的夹角；
    根据所述直线方程，计算所述运输设备与所述预设标识线之间的距离，并将所述夹角和所述距离确定为所述相对位置参数。
  3. 如权利要求1所述获取运输设备的姿态调整参数方法，其中，根据所述当前地面图像和历史地面图像，确定所述运输设备的位移参数的步骤包括：
    识别所述当前地面图像中的第一数据点和所述历史地面图像中的第二数据点，并筛选出各所述第一数据点中的第一坐标点和各所述第二数据点中的第二坐标点；
    分别确定各所述第一坐标点中的第一中心坐标和各所述第二坐标点中的第二中心坐标，并根据所述第一中心坐标和第二中心坐标，确定所述运输设备的位移参数。
  4. 如权利要求3所述获取运输设备的姿态调整参数方法，其中，所述分别确定各所述第一坐标点中的第一中心坐标和各所述第二坐标点中的第二中心坐标的步骤包括：
    根据各所述第二坐标点，确定与各所述第一坐标点对应的第一有效点，并对各所述第一有效点进行均值处理，确定所述第一中心坐标；
    根据各所述第一坐标点，确定与各所述第二坐标点对应的第二有效点，并对各所述第二有效点进行均值处理，生成所述第二中心坐标。
  5. 如权利要求3所述获取运输设备的姿态调整参数方法，其中，所述根据所述第一中心坐标和第二中心坐标，确定所述运输设备的位移参数的步骤包括：
    根据所述第一中心坐标和所述第二中心坐标，计算由所述第一中心坐标和所述第二中心坐标所形成直线的斜率，以及计算所述运输设备的相对位移值；
    根据所述直线的斜率计算所述运输设备的位移角，并将所述相对位移值和所述位移角确定为所述运输设备的位移参数。
  6. 如权利要求1所述获取运输设备的姿态调整参数方法，其中，所述根据所述相对位置参数确定位置调整参数的步骤包括：
    将所述相对位置参数中的夹角和预设夹角对比，得到夹角差值；
    将所述相对位置参数中的距离和预设距离对比，得到距离差值；
    将所述夹角差值和所述距离差值确定为位置调整参数。
  7. 如权利要求6所述获取运输设备的姿态调整参数方法，其中，所述将所述位置调整参数和所述位移参数作为姿态调整参数，以对所述运输设备的姿态进行调整的步骤包括：
    将所述位置调整参数和所述位移参数作为姿态调整参数发送到上位机，以供所述上位机基于所述调整参数中的角度差值和距离差值对所述运输设备的姿态进行调整，并基于所述位移参数计算所述运输设备的行驶距离。
  8. 如权利要求6所述获取运输设备的姿态调整参数方法，其中，所述将所述位置调整参数和所述位移参数作为姿态调整参数，以对所述运输设备的姿态进行调整的步骤包括：
    将所述位置调整参数和所述位移参数作为姿态调整参数，并根据所述位置调整参数中的角度差值和距离差值对所述运输设备的姿态进行调整；
    根据所述位移参数，对所述运输设备的行驶距离进行计算。
  9. 一种运输设备，其中，所述运输设备包括存储器、处理器和存储在所述存储器上并可在所述处理器上运行的获取运输设备的姿态调整参数程序，所述获取运输设备的姿态调整参数程序被所述处理器执行时实现以下步骤：
    基于运输设备上所安装的摄像装置获取当前地面图像，并根据所述当前地面图像，确定所述运输设备与预设标识线之间的相对位置参数；
    读取基于所述摄像装置获取的历史地面图像，并根据所述当前地面图像和历史地面图像，确定所述运输设备的位移参数；
    根据所述相对位置参数确定位置调整参数，并将所述位置调整参数和所述位移参数作为姿态调整参数，以对所述运输设备的姿态进行调整。
  10. 如权利要求9所述的运输设备，其中，所述根据所述当前地面图像，确定所述运输设备与预设标识线之间的相对位置参数的步骤包括：
    获取与所述预设标识线对应的直线方程，并计算所述直线方程的斜率；
    将所述运输设备的行驶方向作为参考方向，根据所述斜率，计算所述直线方程与所述参考方向之间的夹角；
    根据所述直线方程，计算所述运输设备与所述预设标识线之间的距离，并将所述夹角和所述距离确定为所述相对位置参数。
  11. 如权利要求9所述的运输设备，其中，所述根据所述当前地面图像和历史地面图像，确定所述运输设备的位移参数的步骤包括：
    识别所述当前地面图像中的第一数据点和所述历史地面图像中的第二数据点，并筛选出各所述第一数据点中的第一坐标点和各所述第二数据点中的第二坐标点；
    分别确定各所述第一坐标点中的第一中心坐标和各所述第二坐标点中的第二中心坐标，并根据所述第一中心坐标和第二中心坐标，确定所述运输设备的位移参数。
  12. 如权利要求11所述的运输设备，其中，所述分别确定各所述第一坐标点中的第一中心坐标和各所述第二坐标点中的第二中心坐标的步骤包括：
    根据各所述第二坐标点，确定与各所述第一坐标点对应的第一有效点，并对各所述第一有效点进行均值处理，确定所述第一中心坐标；
    根据各所述第一坐标点，确定与各所述第二坐标点对应的第二有效点，并对各所述第二有效点进行均值处理，生成所述第二中心坐标。
  13. 如权利要求11所述的运输设备，其中，所述根据所述第一中心坐标和第二中心坐标，确定所述运输设备的位移参数的步骤包括：
    根据所述第一中心坐标和所述第二中心坐标，计算由所述第一中心坐标和所述第二中心坐标所形成直线的斜率，以及计算所述运输设备的相对位移值；
    根据所述直线的斜率计算所述运输设备的位移角，并将所述相对位移值和所述位移角确定为所述运输设备的位移参数。
  14. 如权利要求9所述的运输设备，其中，所述根据所述相对位置参数确定位置调整参数的步骤包括：
    将所述相对位置参数中的夹角和预设夹角对比，得到夹角差值；
    将所述相对位置参数中的距离和预设距离对比，得到距离差值；
    将所述夹角差值和所述距离差值确定为位置调整参数。
  15. 一种存储介质，其中，所述存储介质上存储有获取运输设备的姿态调整参数程序，所述获取运输设备的姿态调整参数程序被处理器执行时实现以下步骤：
    基于运输设备上所安装的摄像装置获取当前地面图像，并根据所述当前地面图像，确定所述运输设备与预设标识线之间的相对位置参数；
    读取基于所述摄像装置获取的历史地面图像，并根据所述当前地面图像和历史地面图像，确定所述运输设备的位移参数；
    根据所述相对位置参数确定位置调整参数，并将所述位置调整参数和所述位移参数作为姿态调整参数，以对所述运输设备的姿态进行调整。
PCT/CN2020/111762 2019-11-12 2020-08-27 获取运输设备的姿态调整参数方法、运输设备及存储介质 Ceased WO2021093413A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201911103709.3 2019-11-12
CN201911103709.3A CN110796118B (zh) 2019-11-12 2019-11-12 获取运输设备的姿态调整参数方法、运输设备及存储介质

Publications (1)

Publication Number Publication Date
WO2021093413A1 true WO2021093413A1 (zh) 2021-05-20

Family

ID=69444146

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/111762 Ceased WO2021093413A1 (zh) 2019-11-12 2020-08-27 获取运输设备的姿态调整参数方法、运输设备及存储介质

Country Status (2)

Country Link
CN (1) CN110796118B (zh)
WO (1) WO2021093413A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113837332A (zh) * 2021-09-23 2021-12-24 北京京东乾石科技有限公司 货架角度调整方法、装置、电子设备和计算机可读介质
CN118012121A (zh) * 2024-04-08 2024-05-10 北京翼动科技有限公司 一种无人机姿态控制系统

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110796118B (zh) * 2019-11-12 2022-06-10 深圳创维数字技术有限公司 获取运输设备的姿态调整参数方法、运输设备及存储介质
CN113200039B (zh) * 2021-06-09 2024-02-02 广州小鹏智慧充电科技有限公司 基于泊车的道路生成方法、装置、车辆及可读介质
CN117163590B (zh) * 2023-08-16 2025-08-22 深圳市研测科技有限公司 上下料测试方法、装置、设备及存储介质

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002108453A (ja) * 2000-09-27 2002-04-10 Komatsu Forklift Co Ltd 無人搬送車
CN104407615A (zh) * 2014-11-03 2015-03-11 上海电器科学研究所（集团）有限公司 一种agv机器人导引偏差校正方法
WO2017018729A1 (ko) * 2015-07-24 2017-02-02 엘지전자 주식회사 차량용 레이더, 및 이를 구비하는 차량
CN106950972A (zh) * 2017-05-15 2017-07-14 上海音锋机器人股份有限公司 一种无人搬运车agv及其路线纠偏方法
CN109947089A (zh) * 2017-12-20 2019-06-28 北京京东尚科信息技术有限公司 自动引导车姿态控制方法和装置、自动引导车
JP6587172B2 (ja) * 2015-03-16 2019-10-09 国立研究開発法人農業・食品産業技術総合研究機構 操舵制御装置および旋回状態推定方法
CN110361011A (zh) * 2019-08-27 2019-10-22 国以贤智能科技（上海）有限公司 视觉导航的方法、装置、设备及存储介质
CN110796118A (zh) * 2019-11-12 2020-02-14 深圳创维数字技术有限公司 获取运输设备的姿态调整参数方法、运输设备及存储介质

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102997910B (zh) * 2012-10-31 2016-04-13 上海交通大学 一种基于地面路标的定位导引系统及方法
CN106940183B (zh) * 2016-12-13 2019-08-09 北京卫星制造厂 一种基于psd测距的agv精确定位方法
CN109263637B (zh) * 2018-10-12 2020-11-10 北京双髻鲨科技有限公司 一种碰撞预测的方法及装置
CN109556596A (zh) * 2018-10-19 2019-04-02 北京极智嘉科技有限公司 基于地面纹理图像的导航方法、装置、设备及存储介质
CN109739237B (zh) * 2019-01-09 2020-08-18 华南理工大学 一种基于新型编码标志的agv视觉导航及定位方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002108453A (ja) * 2000-09-27 2002-04-10 Komatsu Forklift Co Ltd 無人搬送車
CN104407615A (zh) * 2014-11-03 2015-03-11 上海电器科学研究所（集团）有限公司 一种agv机器人导引偏差校正方法
JP6587172B2 (ja) * 2015-03-16 2019-10-09 国立研究開発法人農業・食品産業技術総合研究機構 操舵制御装置および旋回状態推定方法
WO2017018729A1 (ko) * 2015-07-24 2017-02-02 엘지전자 주식회사 차량용 레이더, 및 이를 구비하는 차량
CN106950972A (zh) * 2017-05-15 2017-07-14 上海音锋机器人股份有限公司 一种无人搬运车agv及其路线纠偏方法
CN109947089A (zh) * 2017-12-20 2019-06-28 北京京东尚科信息技术有限公司 自动引导车姿态控制方法和装置、自动引导车
CN110361011A (zh) * 2019-08-27 2019-10-22 国以贤智能科技（上海）有限公司 视觉导航的方法、装置、设备及存储介质
CN110796118A (zh) * 2019-11-12 2020-02-14 深圳创维数字技术有限公司 获取运输设备的姿态调整参数方法、运输设备及存储介质

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113837332A (zh) * 2021-09-23 2021-12-24 北京京东乾石科技有限公司 货架角度调整方法、装置、电子设备和计算机可读介质
CN118012121A (zh) * 2024-04-08 2024-05-10 北京翼动科技有限公司 一种无人机姿态控制系统

Also Published As

Publication number Publication date
CN110796118A (zh) 2020-02-14
CN110796118B (zh) 2022-06-10

Similar Documents

Publication Publication Date Title
WO2021093413A1 (zh) 获取运输设备的姿态调整参数方法、运输设备及存储介质
CN110837814B (zh) 车辆导航方法、装置及计算机可读存储介质
CN112363158B (zh) 机器人的位姿估计方法、机器人和计算机存储介质
CN114236564B (zh) 动态环境下机器人定位的方法、机器人、装置及存储介质
US9950587B2 (en) Inclination detection method, inclination detection apparatus, and equipment for detecting inclination
US20200103915A1 (en) Determining Changes in Marker Setups for Robot Localization
US12181876B2 (en) System and method for collaborative sensor calibration
JPWO2018235239A1 (ja) 車両用情報記憶方法、車両の走行制御方法、及び車両用情報記憶装置
US11852730B2 (en) System and method for collaborative calibration via landmark
CN106044645A (zh) 一种基于二维码定位的货物托盘存取系统、及其存取方法
JP2022504728A (ja) ポジショニング方法、経路決定方法、装置、ロボットおよび記憶媒体
US20210271246A1 (en) Arithmetic device, movement control system, control device, moving object, calculation method, and computer-readable storage medium
US11875682B2 (en) System and method for coordinating collaborative sensor calibration
WO2021093410A1 (zh) 车辆的控制方法、装置及计算机可读存储介质
WO2014129064A1 (ja) 障害物検出装置および障害物検出方法
KR20230018656A (ko) 실내환경의 비전과 라이다를 융합한 slam 시스템 및 방법
WO2025167749A1 (zh) 车辆碰撞检测方法、装置、电子设备及存储介质
JP2019079171A (ja) 移動体
JP2023165189A (ja) 搬送システム、制御装置、移動体、制御方法、プログラム、及び記憶媒体
EP4318165B1 (en) Industrial truck autonomous or assisted driving using a plurality of cameras
CN117519164A (zh) 可移动机器人的导航方法及可移动机器人
CN116086447B (zh) 一种无人车的融合导航方法和装置
US10186154B2 (en) Device and method for detecting surrounding vehicles
CN119987352A (zh) 一种无人叉车及其处理单元
CN116152756A (zh) 车辆状态确定方法、装置、电子设备及可读存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20886650

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20886650

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205 DATED 04.11.2022)

122 Ep: pct application non-entry in european phase

Ref document number: 20886650

Country of ref document: EP

Kind code of ref document: A1