Suspended fuel dispenser movement control method, device, suspended fuel dispenser and storage medium

Abstract

The present application provides a method and device for controlling the movement of a suspended refueling machine, a suspended refueling machine and a storage medium, and relates to the technical field of refueling machines. The method is applied to a suspended refueling machine, which includes a refueling machine body and a refueling pipe connected to the refueling machine body, an image acquisition device is provided on the outside of the refueling machine body, and the refueling pipe is located within the field of view of the image acquisition device. The method includes: performing image segmentation on the initial image acquired by the image acquisition device to obtain the refueling pipe image area in the initial image; performing straight line detection on the refueling pipe image area in the initial image to determine the first posture information of the refueling pipe, and the first posture information includes: a first direction and a first angle; and controlling the movement of the suspended refueling machine according to the first posture information. By applying the embodiments of the present application, the accuracy of the movement control of the suspended refueling machine can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of fuel dispensers, and in particular to a method and device for controlling movement of a suspended fuel dispenser, a suspended fuel dispenser, and a storage medium. Background Art

[0002] As the popularity of motor vehicles increases, people's demand for gas stations increases day by day. At the same time, as urban land area becomes increasingly scarce, the area occupied by gas stations becomes very limited. Therefore, in order to meet the growing demand for refueling, a hanging refueling machine is proposed.

[0003] However, although the current hanging refueling machine has improved the defect that the traditional fixed hanging refueling machine can only refuel the vehicle by moving the refueling pipe up and down, the current hanging refueling machine has poor mobility, which will reduce the accuracy of the movement control of the hanging refueling machine. Summary of the invention

[0004] The purpose of the present application is to provide a method and device for controlling the movement of a suspended fuel dispenser, a suspended fuel dispenser and a storage medium, in order to improve the accuracy of the movement control of the suspended fuel dispenser, in order to address the deficiencies in the above-mentioned prior art.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a method for controlling movement of a suspended fuel dispenser, the method being applied to a suspended fuel dispenser, the suspended fuel dispenser comprising a fuel dispenser body and a fueling pipe connected to the fuel dispenser body, an image acquisition device being arranged outside the fuel dispenser body, the fueling pipe being located within a field of view of the image acquisition device, the method comprising:

[0007] Performing image segmentation on the initial image acquired by the image acquisition device to obtain a fuel pipe image region in the initial image;

[0008] Performing straight line detection on the fuel filler pipe image region in the initial image to determine first posture information of the fuel filler pipe, wherein the first posture information includes: a first direction and a first angle;

[0009] The movement of the suspended refueling machine is controlled according to the first posture information.

[0010] Optionally, controlling the suspension tanker to move according to the first posture information includes:

[0011] Determining a first speed corresponding to the first angle according to the first angle and a corresponding relationship between an angle and a speed;

[0012] The movement of the suspended refueling machine is controlled according to the first direction and the first speed corresponding to the first angle.

[0013] Optionally, performing image segmentation on the initial image acquired by the image acquisition device to obtain a fuel filler pipe image region in the initial image includes:

[0014] Performing color space conversion on the initial image to obtain a converted initial image;

[0015] The converted initial image is segmented according to the color feature of the gas filling pipe and the color feature of each pixel in the converted initial image to obtain the gas filling pipe image area in the initial image.

[0016] Optionally, performing image segmentation on the converted initial image according to the color feature of the gas filling pipe and the color feature of each pixel in the converted initial image to obtain the gas filling pipe image region in the initial image includes:

[0017] Performing image segmentation on the converted initial image according to the color feature of the fuel filling pipe and the color feature of each pixel in the converted initial image to obtain a segmented initial image, wherein the segmented initial image includes a background area and a non-background area;

[0018] The segmented initial image is corroded to remove the non-gasoline image region in the non-background region, and the image after removing the non-gasoline image region is expanded to obtain the gasoline image region in the initial image.

[0019] Optionally, a plurality of light array sensors are further arranged on the outside of the fuel dispenser body, each of the light array sensors is relatively arranged along the moving direction of the suspended fuel dispenser, each of the light array sensors includes a plurality of light sensors, and the method further includes:

[0020] According to the brightness information detected by each of the light sensors, second posture information of the refueling pipe is determined, where the second posture information includes: a second direction and a second angle.

[0021] Optionally, controlling the suspension tanker to move according to the first posture information includes:

[0022] Fusing the second posture information with the first posture information to obtain fused posture information;

[0023] The movement of the suspended refueling machine is controlled according to the fused posture information.

[0024] Optionally, the performing straight line detection on the fuel filler pipe image area to determine first posture information corresponding to the fuel filler pipe includes:

[0025] Performing straight line detection on the fuel filler pipe image region to obtain a plurality of straight lines, each of the straight lines being associated with a plurality of coordinate information;

[0026] Determine the target straight line according to the coordinate information associated with each straight line;

[0027] Determining the first posture information according to the coordinate information on the target straight line;

[0028] In a second aspect, an embodiment of the present application further provides a mobile control device for a suspended fuel dispenser, the device being applied to a suspended fuel dispenser, the suspended fuel dispenser comprising a fuel dispenser body and a fueling pipe connected to the fuel dispenser body, an image acquisition device being arranged outside the fuel dispenser body, the fueling pipe being located within the field of view of the image acquisition device, the device comprising:

[0029] An image segmentation module, used to perform image segmentation on the initial image acquired by the image acquisition device to obtain a fuel pipe image region in the initial image;

[0030] A determination module, configured to perform straight line detection on the fuel filler pipe image region to determine first posture information of the fuel filler pipe, wherein the first posture information includes: a first direction and a first angle;

[0031] A control module is used to control the movement of the suspended refueling machine according to the first posture information.

[0032] Optionally, the control module is specifically used to determine a first speed corresponding to the first angle according to the first angle and the corresponding relationship between the angle and the speed; and control the movement of the suspended refueling machine according to the first direction and the first speed corresponding to the first angle.

[0033] Optionally, the image segmentation module is specifically used to perform color space conversion on the initial image to obtain a converted initial image; perform image segmentation on the converted initial image according to color features of the gas filler pipe and color features of each pixel in the converted initial image to obtain the gas filler pipe image area in the initial image.

[0034] Optionally, the image segmentation module is further specifically used to perform image segmentation on the converted initial image according to color features of the gas filler pipe and color features of each pixel in the converted initial image to obtain a segmented initial image, wherein the segmented initial image includes a background area and a non-background area; perform corrosion processing on the segmented initial image to eliminate non-gas filler pipe image areas in the non-background areas, and perform expansion processing on the image after eliminating the non-gas filler pipe image areas to obtain the gas filler pipe image area in the initial image.

[0035] Optionally, a plurality of light array sensors are further arranged on the outside of the fuel dispenser body, each of the light array sensors is relatively arranged along the moving direction of the suspended fuel dispenser, and each of the light array sensors includes a plurality of light sensors;

[0036] Correspondingly, the determination module is further used to determine second posture information of the refueling pipe according to the brightness information detected by each of the light sensors, where the second posture information includes: a second direction and a second angle.

[0037] Optionally, the control module is further specifically used to fuse the second posture information and the first posture information to obtain fused posture information; and control the movement of the suspended refueling machine according to the fused posture information.

[0038] Optionally, the determination module is further specifically used to perform straight line detection on the fuel filler pipe image area to obtain multiple straight lines, each of which is associated with multiple coordinate information; determine the target straight line based on the coordinate information associated with each straight line; and determine the first posture information based on the coordinate information on the target straight line.

[0039] In a third aspect, an embodiment of the present application provides a suspended refueling machine, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, and when the suspended refueling machine is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the suspended refueling machine movement control method of the first aspect mentioned above.

[0040] In a fourth aspect, an embodiment of the present application provides a storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method for controlling the movement of a suspended refueling machine according to the first aspect are executed.

[0041] The beneficial effects of this application are:

[0042] An embodiment of the present application provides a method and device for controlling movement of a suspended refueling machine, a suspended refueling machine and a storage medium. The method is applied to a suspended refueling machine, wherein the suspended refueling machine includes a refueling machine body and a refueling pipe connected to the refueling machine body, an image acquisition device is provided on the outside of the refueling machine body, and the refueling pipe is located within the field of view of the image acquisition device. The method includes: performing image segmentation on an initial image acquired by the image acquisition device to obtain a refueling pipe image area in the initial image; performing straight line detection on the refueling pipe image area in the initial image to determine first posture information of the refueling pipe, wherein the first posture information includes: a first direction and a first angle; and controlling movement of the suspended refueling machine according to the first posture information.

[0043] By adopting the mobile control method of the hanging fuel dispenser provided in the embodiment of the present application, an image acquisition device can be used to acquire an initial image containing a fuel pipe image area. After detecting the fuel pipe image area, the moving posture of the fuel pipe can be determined by a straight line detection method, and then the hanging fuel dispenser can be controlled to move based on the moving posture of the fuel pipe. In other words, the tendency of the fueling personnel to drag the fuel pipe to move can be accurately determined by image detection, and then the hanging fuel dispenser can be controlled to move based on the tendency of the fueling personnel to drag the fuel pipe to move, so that the hanging fuel dispenser can have good mobility and improve the accuracy of the mobile control of the hanging fuel dispenser. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 A schematic diagram of the structure of a suspended refueling machine provided in an embodiment of the present application;

[0046] Figure 2 A schematic cross-sectional structure diagram of a posture detection device provided in an embodiment of the present application;

[0047] Figure 3 A schematic diagram of the structure of a mobile control system for a suspended fuel dispenser provided in an embodiment of the present application;

[0048] Figure 4 A schematic diagram of a flow chart of a method for controlling movement of a suspended fuel dispenser provided in an embodiment of the present application;

[0049] Figure 5 A flow chart of another method for controlling the movement of a suspended fuel dispenser provided in an embodiment of the present application;

[0050] Figure 6 A flow chart of another method for controlling the movement of a suspended fuel dispenser provided in an embodiment of the present application;

[0051] Figure 7 A schematic flow chart of another method for controlling the movement of a suspended fuel dispenser provided in an embodiment of the present application;

[0052] Figure 8 A flow chart of another method for controlling the movement of a suspended fuel dispenser provided in an embodiment of the present application;

[0053] Fig. 9 A schematic diagram of the structure of a mobile control device for a suspended fuel dispenser provided in an embodiment of the present application;

[0054] Fig.10 A schematic diagram of the structure of another suspended refueling machine provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0056] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0057] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0058] Before explaining the embodiments of the present application in detail, the application scenario of the present application is first introduced, which can be a scenario of controlling a mobile system of a suspended fuel dispenser. Figure 1 A schematic diagram of the structure of a suspended refueling machine provided in an embodiment of the present application is shown in FIG. Figure 1As shown, the suspended fuel dispenser includes a fuel dispenser body 101 and a fueling pipe 102 connected to the fuel dispenser body 101. The suspended fuel dispenser also includes a posture detection device 103 arranged on the outside of the fuel dispenser body 101. Specifically, the posture detection device 103 can be fixedly arranged at the bottom of the fuel dispenser body 101. The posture detection device 103 includes an image acquisition device 103A. In a feasible example, the posture detection device 103 can also include a light array sensor 103B.

[0059] The image acquisition device 103A may be an optical camera, the field of view of the optical camera includes the refueling pipe 102, and the field of view of the optical camera is perpendicular to the moving direction of the hanging refueling machine. When the posture detection device 103 includes a light array sensor 103B, the number of the light array sensors 103B is at least two, and each light array sensor 103B is arranged along the moving direction of the hanging refueling machine and is arranged opposite to each other.

[0060] In order to clearly describe the positional relationship between the attitude detection device 103 and the refueling pipe 102, reference may be made to Figure 2 . Figure 2 A schematic cross-sectional structure diagram of a posture detection device provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the posture detection device 103 includes two light array sensors 103B, and the image acquisition device 103A can be located between the two light array sensors 103B. When the refueling pipe 102 is dragged by the refueling personnel within the field of view of the image acquisition device 103A and a movement trend is generated, the image acquired by the image acquisition device 103A can be processed in the manner of the following embodiment to obtain the first posture information of the refueling pipe 102, and the movement of the suspended refueling machine can be controlled based on the first posture information. At the same time, when the refueling pipe 102 is dragged by the refueling personnel and a movement trend is generated, the light sensors on the two light array sensors 103B can detect brightness information respectively, and the second posture information of the refueling pipe 102 can be obtained in the manner of the following embodiment, and the first posture information and the second posture information are fused, and the movement of the suspended refueling machine is controlled based on the fused posture information.

[0061] It should be noted that the image acquisition device 103A does not need to be arranged between the two light array sensors 103B, and may be arranged below the lowest light array sensor 103B, for example, and this application does not limit this.

[0062] Figure 3 A schematic diagram of a mobile control system for a suspended fuel dispenser provided in an embodiment of the present application is shown in FIG. Figure 3As shown, the system may include a controller 300, an image acquisition device 103A, and a drive device 301, wherein the controller 300 may be communicatively connected with the image acquisition device 103A and the drive device 301, respectively. The controller 300 may be arranged in the posture detection device 103, or in the tanker body 101, or outside the suspended tanker. It should be noted that this application does not limit it.

[0063] The image acquisition device 103A sends the acquired image containing the refueling pipe to the controller 300. After the controller 300 processes the image in the manner of the embodiment mentioned in the present application, the first posture information of the refueling pipe 102 can be obtained. The controller 300 can generate a control instruction based on the first posture information to control the driving device 301 to drive the suspended refueling machine to move.

[0064] The system may also include a light array sensor 103B (at least two), the controller 300 is communicatively connected with the light array sensor 103B, and obtains second posture information of the refueling pipe 102 based on the brightness information detected by the light array sensor 103B. The controller 300 may fuse the second posture information with the first posture information to obtain fused posture information, and generate a control instruction based on the fused posture information, and send the control instruction to the drive device 301. The drive device 301 drives the suspended refueling machine to move based on the control instruction.

[0065] The following is an example of the suspension tanker movement control method mentioned in the present application with reference to the accompanying drawings. Figure 4 The following is a flow chart of a method for controlling the movement of a suspended fuel dispenser provided in an embodiment of the present application. Figure 4 As shown, the method is applied to the above-mentioned hanging fuel dispenser, and can be specifically applied to the controller 300 in the hanging fuel dispenser. The method includes:

[0066] S401, performing image segmentation on an initial image acquired by an image acquisition device to obtain a fuel filler pipe image region in the initial image.

[0067] The image acquisition device may acquire an initial image including a gas pump image at a preset acquisition frequency. In addition to the gas pump image area, the initial image also includes some non-gas pump image areas. The initial image may be segmented according to an image segmentation technology to detect the area where the gas pump image exists from the initial image. The image segmentation technology may be an image threshold segmentation technology, a color tracking segmentation technology, etc., which is not limited in this application.

[0068] Here, the image threshold segmentation technology is taken as an example for explanation. A grayscale histogram corresponding to the initial image can be generated according to the pixel information in the initial image. The threshold for image segmentation can be determined according to the grayscale histogram. The pixel value of each pixel in the initial image is compared with the threshold, and the pixel value of the pixel less than the threshold is changed to 0 (black area), and the pixel value of the pixel greater than or equal to the threshold is changed to 255 (white area). That is, after the initial image is segmented, the white area included in it is the gas pump image area, and the black area can be called the background area.

[0069] S402: Perform straight line detection on the fuel filler pipe image region in the initial image to determine first posture information of the fuel filler pipe.

[0070] The first posture information includes: a first direction and a first angle. The first direction is used to indicate the direction of the fuel pipe moving area, and the first angle is used to indicate the speed of the fuel pipe moving.

[0071] In a feasible embodiment, Huffman line detection technology can be used to perform line detection on the fuel filler pipe image area. During the detection process, multiple straight lines can be obtained, and horizontal lines are eliminated. The first direction and the first angle of the fuel filler pipe are obtained according to the coordinates of at least two points on the straight line that is not a horizontal line.

[0072] In another feasible embodiment, after detecting the gas filler pipe image area existing in the initial image, the initial image is equivalent to a binary image, and edge detection can be first performed on the binary image, and then straight line detection can be performed on the image containing the gas filler pipe boundary, and the first direction and the first angle of the gas filler pipe can be obtained according to the coordinates of at least two points on the non-horizontal straight line.

[0073] S403. Control the movement of the suspended refueling machine according to the first posture information.

[0074] Among them, the controller can generate a direction control instruction based on the first direction in the first posture information, and the controller can control whether the driving device rotates forward or reverse according to the direction control instruction, thereby controlling the moving direction of the suspended refueling pump; the controller can generate a speed control instruction based on the first angle in the first posture information, and the controller can control the rotation speed of the driving device according to the speed control instruction, thereby controlling the moving direction of the suspended refueling pump.

[0075] In summary, in the mobile control method of the hanging fuel dispenser provided by the present application, an image acquisition device can be used to acquire an initial image containing a fuel pipe image area. After detecting the fuel pipe image area, the moving posture of the fuel pipe can be determined by a straight line detection method, and then the hanging fuel dispenser can be controlled to move based on the moving posture of the fuel pipe. In other words, the tendency of the fuel dispenser to drag the fuel pipe to move can be accurately determined by image detection, and then the hanging fuel dispenser can be controlled to move based on the tendency of the fuel dispenser to drag the fuel pipe to move, so that the hanging fuel dispenser can have good mobility and improve the accuracy of the mobile control of the hanging fuel dispenser.

[0076] Figure 5 A flow chart of another method for controlling the movement of a suspended fuel dispenser provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, optionally, the above-mentioned controlling the movement of the suspended fuel dispenser according to the first posture information includes:

[0077] S501: Determine a first speed corresponding to the first angle according to a first angle and a correspondence between the angle and the speed.

[0078] S502: Control the movement of the suspended refueling machine according to a first direction and a first speed corresponding to a first angle.

[0079] After detecting a straight line that is not a horizontal line in the image area of ​​the refueling pipe, the first direction of the refueling pipe can be determined according to the coordinates of the two points on the straight line. Assuming that the upper left corner in the initial image is the origin of the coordinates, the direction along the movement of the suspended refueling machine is the positive direction of the X-axis, and the direction perpendicular to the movement of the suspended refueling machine and extending to the ground is the positive direction of the Y-axis. The horizontal coordinate of the point close to the top of the straight line is compared with the horizontal coordinate of another point. When the horizontal coordinate of the point close to the top is less than the horizontal coordinate of the other point, the first direction can be used as the positive direction, corresponding to the positive rotation of the driving device. Conversely, when the horizontal coordinate of the point close to the top is greater than the horizontal coordinate of the other point, the first direction can be used as the reverse direction, corresponding to the reverse rotation of the driving device. It should be noted that this application does not limit the relationship between the comparison result of the horizontal coordinates of the two points and the first direction as a positive or negative direction.

[0080] In an achievable embodiment, the two points on the straight line may form a right triangle, and the angle of the straight line relative to the Y axis of the coordinate system is calculated based on the coordinates corresponding to the two points, and the angle may be referred to as the first angle. Based on the correspondence between the angle and the speed, the first speed corresponding to the first angle may be determined, and the controller may control the rotation speed of the driving device based on the first speed, and control the direction of rotation of the driving device based on the first direction, so that the driving device drives the suspended fuel dispenser to move along the first direction and at the first speed.

[0081] Figure 6 A flow chart of another method for controlling the movement of a suspended fuel dispenser provided in an embodiment of the present application is shown as follows: Figure 6 As shown, optionally, the above-mentioned image segmentation is performed on the initial image acquired by the image acquisition device to obtain the fuel pipe image area in the initial image, including:

[0082] S601: Perform color space conversion on an initial image to obtain a converted initial image.

[0083] Among them, the initial image is an RGB image, and the initial image is subjected to color conversion, that is, the initial image in the RGB color space is converted into the initial image in the HSV color space. The pixel value of each pixel in the converted initial image is composed of three parts, namely H (Hue), S (Saturation) and V (Value).

[0084] Specifically, according to the color space conversion relationship between the RGB image and the HSV image, the pixel value of each pixel point represented by the RGB feature in the initial image can be converted into the pixel value of each pixel point represented by the HSV feature.

[0085] S602: Segment the converted initial image according to the color features of the gas filling pipe and the color features of each pixel in the converted initial image to obtain a gas filling pipe image region in the initial image.

[0086] The initial image segmentation threshold can be determined based on the correspondence between the color features of the gas pump and the hue H interval, saturation S interval, and hue V interval. It can be understood that the initial image segmentation threshold includes three intervals (hue H interval, saturation S interval, and hue V interval). Assuming that the gas pump is black, the image segmentation threshold is the threshold corresponding to the black feature. If the gas pump is yellow, the image segmentation threshold is the threshold corresponding to the yellow feature.

[0087] After the initial image segmentation threshold is determined, the gas station area can be selected by adjusting the initial image segmentation threshold. Specifically, the HSV features (color features) corresponding to each pixel in the converted initial image are compared with the three intervals included in the adjusted image segmentation threshold. If the HSV features corresponding to the pixel are within the intervals included in the adjusted image segmentation threshold, the pixel value of the pixel is changed to 255 (white area). On the contrary, if the HSV features corresponding to the pixel are not within the intervals included in the adjusted image segmentation threshold, the pixel value of the pixel is changed to 0 (black area). The white area is the gas station image area in the initial image.

[0088] Figure 7A flow chart of another method for controlling the movement of a suspended fuel dispenser provided in an embodiment of the present application is shown as follows: Figure 7 As shown, optionally, the image segmentation of the converted initial image is performed according to the color features of the gas filling pipe and the color features of each pixel in the converted initial image to obtain the gas filling pipe image area in the initial image, including:

[0089] S701, performing image segmentation on the converted initial image according to the color features of the fuel filling pipe and the color features of each pixel in the converted initial image to obtain a segmented initial image.

[0090] The segmented initial image includes a background area and a non-background area. According to the above description, the hue H interval, saturation S interval and tone V interval included in the image segmentation threshold can be determined according to the color characteristics of the gas pump, and then the pixel value of each pixel in the initial image can be changed to 0 or 255, that is, the segmented initial image is a binary image, the background area is a black area, and the non-background area is a white area.

[0091] S702, performing corrosion processing on the segmented initial image to remove the non-gasoline image region in the non-background region, and performing dilation processing on the image after removing the non-gasoline image region to obtain the gasoline image region in the initial image.

[0092] Among them, after the segmented initial image is corroded, the pixel value of each pixel on the non-gasoline image area in the non-background area can be changed to 0, that is, changed to black, which is equivalent to eliminating the non-gasoline image area in the non-background area. However, during the corrosion process, the pixel values ​​of some pixel points in the gas pump image area in the segmented initial image may also be changed to 0. Then, the gas pump image area in the initial image can be restored by dilation processing, that is, the pixel points with a pixel value of 0 in the gas pump image area are converted to a pixel value of 255, so that the gas pump image area in the initial image can be obtained.

[0093] Through the erosion process and the dilation process, the accuracy of determining the fuel filler pipe image area in the initial image can be improved.

[0094] Optionally, a plurality of light array sensors are also arranged on the outside of the fuel dispenser body, and each light array sensor is relatively arranged along the moving direction of the suspended fuel dispenser. Each light array sensor includes a plurality of light sensors. The method also includes determining the second posture information of the fuel dispenser pipe according to the brightness information detected by each light sensor, and the second posture information includes: a second direction and a second angle.

[0095] Among them, in the process of the refueling personnel dragging the refueling pipe, it can pass through the light sensors in each light array sensor, and the light sensors send the detected brightness information to the controller. It can be understood that when the refueling pipe is located in front of a certain light sensor, the brightness detected by the line sensor is smaller, and when the refueling pipe does not appear in front of a certain light sensor, the brightness detected by the line sensor is larger. Based on this, according to the brightness information detected by each light sensor, it can be determined that the refueling pipe appears in the position corresponding to the first light sensor in the first light array sensor and the position corresponding to the second light sensor in the second light array sensor. The first light array sensor and the second light array sensor are two relatively arranged light array sensors among the multiple light array sensors.

[0096] The second posture information of the refueling pipe can be determined according to the position corresponding to the first light sensor and the position corresponding to the second light sensor.

[0097] Optionally, controlling the movement of the suspended refueling machine according to the first posture information includes: fusing the second posture information and the first posture information to obtain fused posture information; and controlling the movement of the suspended refueling machine according to the fused posture information.

[0098] Among them, the first posture information includes the first angle, and the second posture information includes the second angle. The fused angle can be obtained according to the preset weight, the first angle and the second angle, that is, the fused posture information includes the fused angle. According to the correspondence between the fused angle and the speed, the target speed is determined. The controller can generate a target speed control instruction according to the target speed, and the drive unit can drive the suspended refueling machine to move at the target speed based on the target speed control instruction.

[0099] Figure 8 A flow chart of another method for controlling the movement of a suspended fuel dispenser provided in an embodiment of the present application is shown as follows: Figure 8 As shown, optionally, the above-mentioned performing straight line detection on the fuel filler pipe image area to determine the first posture information corresponding to the fuel filler pipe includes:

[0100] S801, performing straight line detection on the fuel filler pipe image area to obtain a plurality of straight lines, each of which is associated with a plurality of coordinate information.

[0101] In an achievable embodiment, when performing Huffman line detection on the fuel pipe image area, multiple non-horizontal lines can be detected, and each line is associated with coordinate information of at least two points. For example, assuming that two lines (line 1, line 2) are detected, line 1 includes two points (point A, point B), and point A and point B have corresponding coordinate information. Similarly, line 2 includes two points (point C, point D), and point C and point D have corresponding coordinate information. Point A on line 1 can be located on the same horizontal line as point C on line 2, and point B on line 1 can be located on the same horizontal line as point D on line 2.

[0102] S802: Determine the target straight line according to the coordinate information associated with each straight line.

[0103] S803: Determine first posture information according to coordinate information on the target straight line.

[0104] Continuing with the above example, the coordinates of point A on line 1 and point C on line 2 can be averaged to obtain a first coordinate, and the coordinates of point B on line 1 and point D on line 2 can be averaged to obtain a second coordinate. Then, a straight line can be determined based on the first coordinate and the second coordinate, and the straight line is called a target straight line.

[0105] After the target straight line is determined, a right triangle can be constructed based on the first coordinate and the second coordinate, and then the first angle in the first posture information can be obtained. If the first angle has a positive or negative sign, the first direction in the first posture information can be determined based on the first angle.

[0106] Of course, the abscissa in the first coordinate may be compared with the abscissa in the second coordinate, and the first direction may be determined according to the comparison result.

[0107] Due to the curve of the fuel filler pipe structure, the detected non-horizontal straight lines are not completely parallel. In this case, the straight lines can be fused to improve the accuracy of determining the fuel filler pipe posture.

[0108] Optionally, a marker may be set on the gas pipe, such as a square or rectangular marker, which has a different color state from the gas pipe, and faces the image acquisition device and is within the field of view of the image acquisition device. When the gas pipe is dragged by the gas station personnel, the image acquisition device sends the acquired image to the controller, and the controller identifies the marker on the gas pipe image in the image and obtains the coordinates of each vertex of the marker. For example, if the marker is a rectangle, a right triangle can be constructed based on the coordinates of the two vertices, and then the third angle and the third direction in the third posture information of the gas pipe can be determined based on the length of the left side of the rectangle and the distance between the two vertices in the Y-axis direction.

[0109] In a feasible embodiment, the first posture information and the third posture information can be fused, or the first posture information, the second posture information and the third posture information can be fused to obtain the target posture information of the refueling pipe, and then the movement of the suspended refueling machine can be controlled according to the target state information.

[0110] Fig. 9 This is a schematic diagram of the structure of a mobile control device for a suspended fuel dispenser provided in an embodiment of the present application. Fig. 9 As shown, the device comprises:

[0111] An image segmentation module 901 is used to segment the initial image acquired by the image acquisition device to obtain a fuel pipe image region in the initial image;

[0112] A determination module 902, configured to perform straight line detection on the fuel filler pipe image region in the initial image to determine first posture information of the fuel filler pipe;

[0113] The control module 903 is used to control the movement of the suspended refueling machine according to the first posture information.

[0114] Optionally, the control module 903 is specifically used to determine a first speed corresponding to the first angle according to the first angle and the corresponding relationship between the angle and the speed; and control the movement of the suspended refueling machine according to the first direction and the first speed corresponding to the first angle.

[0115] Optionally, the image segmentation module 901 is specifically used to perform color space conversion on the initial image to obtain a converted initial image; perform image segmentation on the converted initial image according to color features of the gas pump and color features of each pixel in the converted initial image to obtain a gas pump image area in the initial image.

[0116] Optionally, the image segmentation module 901 is further specifically used to perform image segmentation on the converted initial image according to the color features of the gas filler pipe and the color features of each pixel in the converted initial image to obtain a segmented initial image, wherein the segmented initial image includes a background area and a non-background area; perform corrosion processing on the segmented initial image to eliminate non-gas filler pipe image areas in the non-background areas, and perform dilation processing on the image after eliminating the non-gas filler pipe image areas to obtain the gas filler pipe image area in the initial image.

[0117] Optionally, a plurality of light array sensors are further arranged on the outside of the fuel dispenser body, each light array sensor is arranged relatively along the moving direction of the suspended fuel dispenser, and each light array sensor includes a plurality of light sensors;

[0118] Correspondingly, the determination module 902 is further used to determine second posture information of the fuel filler pipe according to the brightness information detected by each light sensor, and the second posture information includes: a second direction and a second angle.

[0119] Optionally, the control module 903 is further specifically used to fuse the second posture information and the first posture information to obtain fused posture information; and control the movement of the suspended refueling machine according to the fused posture information.

[0120] Optionally, the determination module 902 is further specifically used to perform straight line detection on the fuel pipe image area to obtain multiple straight lines, each straight line is associated with multiple coordinate information; determine the target straight line according to the coordinate information associated with each straight line; determine the first posture information according to the coordinate information on the target straight line.

[0121] The above-mentioned device is used to execute the method provided by the aforementioned embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0122] The above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASIC), or one or more microprocessors (DSP), or one or more field programmable gate arrays (FPGA). For another example, when a module is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0123] Fig.10 A schematic diagram of the structure of another hanging fuel dispenser provided in an embodiment of the present application is shown in FIG. Fig.10 As shown, the hanging tanker may include: a processor 1001, a storage medium 1002 and a bus 1003, the storage medium 1002 stores machine-readable instructions executable by the processor 1001, when the hanging tanker is running, the processor 1001 communicates with the storage medium 1002 via the bus 1003, and the processor 1001 executes the machine-readable instructions to perform the steps of the above method embodiment. Among them, the processor 100 may include the controller 300 mentioned above. The specific implementation method and technical effect are similar and will not be repeated here.

[0124] Optionally, the present application further provides a storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the above method embodiment are executed.

[0125] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the indirect coupling or communication connection of the device or unit can be electrical, mechanical or other forms.

[0126] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0127] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0128] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to perform some steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (English: Read-Only Memory, abbreviated: ROM), random access memory (English: Random Access Memory, abbreviated: RAM), disk or optical disk and other media that can store program codes.

[0129] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" 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 includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0130] The above description is only the preferred embodiment of the present application, and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. The above description is only the preferred embodiment of the present application, and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling the movement of a suspended fuel dispenser, characterized in that: The method is applied to a hanging fuel dispenser, the hanging fuel dispenser includes a fuel dispenser body and a fueling pipe connected to the fuel dispenser body, a posture detection device is arranged outside the fuel dispenser body, the posture detection device includes an image acquisition device, the fueling pipe is located within the field of view of the image acquisition device, and the method includes: Performing image segmentation on the initial image acquired by the image acquisition device to obtain a fuel pipe image region in the initial image; Performing straight line detection on the fuel filler pipe image region in the initial image to determine first posture information of the fuel filler pipe, the first posture information including: a first direction and a first angle; performing edge detection on the image, and then performing straight line detection on the image including the fuel filler pipe boundary, and obtaining the first direction and the first angle of the fuel filler pipe according to the coordinates of at least two points on the straight line that is not a horizontal line; Controlling the movement of the suspended refueling machine according to the first posture information; The step of controlling the suspension tanker to move according to the first posture information includes: Determining a first speed corresponding to the first angle according to the first angle and a corresponding relationship between an angle and a speed; Controlling the movement of the suspended refueling machine according to the first direction and the first speed corresponding to the first angle; A plurality of light array sensors are also arranged outside the fuel dispenser body, and each of the light array sensors is arranged relatively along the moving direction of the suspended fuel dispenser, and each of the light array sensors includes a plurality of light sensors. Also includes: Determining second posture information of the refueling pipe according to the brightness information detected by each of the light sensors, wherein the second posture information includes: a second direction and a second angle; The step of controlling the suspension tanker to move according to the first posture information includes: The second posture information and the first posture information are fused to obtain fused posture information; the movement of the hanging refueling machine is controlled according to the fused posture information; including obtaining a fused angle according to a preset weight, a first angle and a second angle, determining a target speed according to a correspondence between the fused angle and the speed, a controller generating a target speed control instruction according to the target speed, and a driving unit driving the hanging refueling machine to move at the target speed based on the target speed control instruction.

2. The method according to claim 1, characterized in that The performing image segmentation on the initial image acquired by the image acquisition device to obtain the fuel pipe image area in the initial image includes: Performing color space conversion on the initial image to obtain a converted initial image; The converted initial image is segmented according to the color feature of the gas filling pipe and the color feature of each pixel in the converted initial image to obtain the gas filling pipe image area in the initial image.

3. The method according to claim 2, characterized in that The performing image segmentation on the converted initial image according to the color feature of the refueling pipe and the color feature of each pixel in the converted initial image to obtain the refueling pipe image region in the initial image includes: Performing image segmentation on the converted initial image according to the color feature of the fuel filling pipe and the color feature of each pixel in the converted initial image to obtain a segmented initial image, wherein the segmented initial image includes a background area and a non-background area; The segmented initial image is corroded to remove the non-gasoline image region in the non-background region, and the image after removing the non-gasoline image region is expanded to obtain the gasoline image region in the initial image.

4. The method according to claim 3, characterized in that The performing straight line detection on the fuel filler pipe image area to determine first posture information corresponding to the fuel filler pipe includes: Performing straight line detection on the fuel filler pipe image region to obtain a plurality of straight lines, each of the straight lines being associated with a plurality of coordinate information; Determine the target straight line according to the coordinate information associated with each straight line; The first posture information is determined according to the coordinate information on the target straight line.

5. A control device using the method for controlling the movement of a suspended fuel dispenser according to any one of claims 1 to 4, characterized in that: The device is applied to a hanging fuel dispenser, the hanging fuel dispenser includes a fuel dispenser body and a fueling pipe connected to the fuel dispenser body, an image acquisition device is arranged outside the fuel dispenser body, the fueling pipe is located within the field of view of the image acquisition device, and the device includes: An image segmentation module, used to perform image segmentation on the initial image acquired by the image acquisition device to obtain a fuel pipe image region in the initial image; A determination module, configured to perform straight line detection on the fuel filler pipe image region to determine first posture information of the fuel filler pipe, wherein the first posture information includes: a first direction and a first angle; A control module is used to control the movement of the suspended refueling machine according to the first posture information.

6. A suspended refueling machine, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the suspended refueling machine is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the suspended refueling machine movement control method as described in any one of claims 1 to 4.

7. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for controlling the movement of a suspended refueling machine as described in any one of claims 1 to 4 are executed.

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