Door assembly control method, control device, electronic device, and traveling apparatus

Abstract

The application discloses a door assembly control method, a control device, an electronic device and a running equipment, and relates to the technical field of running equipment control. The door assembly control method comprises the following steps: projecting an external environment picture of the running equipment onto a first preset plane of a first coordinate system to obtain a projection picture; obtaining first height information of the projection picture perpendicular to the first preset plane according to pixel feature information of the projection picture and a preset corresponding relationship; obtaining plane coordinate information of the projection picture parallel to the first preset plane; and determining the openable and closable degree of the door assembly according to the plane coordinate information, the first height information and door assembly movement information. The door assembly control method can determine the openable and closable degree of the door assembly according to the external environment picture of the running equipment, can reduce the installation of distance detection equipment such as a millimeter wave radar or reduce the use frequency of the distance detection equipment to prolong the service life, and is favorable for reducing the manufacturing and maintenance costs of the running equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of travel equipment control technology, in particular to a door assembly control method, a control device, an electronic device and a travel equipment. BACKGROUND

[0002] For electric vehicles, fuel vehicles, flying vehicles and other travel equipment, the door assembly for the driver and the passenger to enter and exit includes a rotating door that rotates to open, a sliding door that slides in the direction of travel to open, a wing door that opens to the side of the direction of travel, and the like. Some travel equipment is equipped with a millimeter wave radar to detect obstacles in the external environment near the door assembly to avoid collision with obstacles during the opening of the door assembly; however, the cost of the millimeter wave radar is high, which is not conducive to reducing the manufacturing and maintenance costs of the travel equipment. SUMMARY

[0003] The main purpose of the present application is to provide a door assembly control method to reduce the manufacturing and maintenance costs of the travel equipment.

[0004] To achieve the above purpose, the door assembly control method provided by the present application comprises the following steps:

[0005] Projecting an external environment picture of the travel equipment onto a first preset plane of a first coordinate system to obtain a projection picture, wherein the first coordinate system is set as a world coordinate system or a camera coordinate system;

[0006] According to the pixel feature information of the projection picture and a preset corresponding relationship, first height information of the projection picture perpendicular to the first preset plane is obtained;

[0007] Obtain the plane coordinate information of the projection picture parallel to the first preset plane;

[0008] According to the plane coordinate information, the first height information and the door assembly movement information, the openable and closable degree of the door assembly is determined.

[0009] Optionally, the step of determining the openable and closable degree of the door assembly according to the plane coordinate information, the first height information and the door assembly movement information comprises:

[0010] According to the plane coordinate information, the first height information and the door assembly movement information, the first shortest distance between the door assembly and the external environment is determined;

[0011] According to the first shortest distance, the openable and closable degree of the door assembly is determined.

[0012] Optionally, the step of determining the first shortest distance between the door assembly and the external environment according to the plane coordinate information, the first height information and the door assembly movement information comprises:

[0013] forming a three-dimensional model according to the planar coordinate information and the first height information;

[0014] determining the first shortest distance according to the three-dimensional model and the door assembly movement information.

[0015] Optionally, the step of determining the first shortest distance between the door assembly and the external environment according to the planar coordinate information, the first height information, and the door assembly movement information further comprises: forming a door assembly movement contour model according to the door assembly movement information.

[0016] The step of determining the first shortest distance according to the three-dimensional model and the door assembly movement information comprises: projecting the three-dimensional model and the door assembly movement contour model onto a second preset plane of the first coordinate system, and determining the first shortest distance on the second preset plane; the second preset plane is parallel to a chassis plane of the traveling device, or the second preset plane is perpendicular to the chassis plane of the traveling device and parallel to a traveling direction of the traveling device, or the second preset plane is parallel to a movement plane of the door assembly.

[0017] Optionally, the door assembly control method further comprises the following steps:

[0018] acquiring an external environment picture of the traveling device;

[0019] acquiring distance information between the traveling device and the external environment during the acquisition of the external environment picture of the traveling device;

[0020] determining a second shortest distance between the door assembly and the external environment according to the distance information and the door assembly movement information;

[0021] if the first shortest distance is less than or equal to the second shortest distance, determining the openable and closable degree of the door assembly according to the first shortest distance;

[0022] if the first shortest distance is greater than the second shortest distance, determining the openable and closable degree of the door assembly according to the second shortest distance; in addition, acquiring second height information of the distance information perpendicular to the first preset plane, and updating the preset corresponding relationship according to the pixel feature information of the projected picture and the second height information.

[0023] Optionally, the door assembly control method further comprises the following steps:

[0024] time-synchronizing the external environment picture and the distance information;

[0025] And / or, the step of acquiring the external environment picture of the traveling device comprises:

[0026] Different-orientation external environment pictures are acquired by at least two cameras on the traveling device, which are arranged in sequence along the traveling direction;

[0027] A first shortest distance in different orientations is acquired according to the different-orientation external environment pictures;

[0028] A use order of the cameras is determined according to a deviation degree of the first shortest distance and the second shortest distance in different orientations.

[0029] And / or, when the moving speed of the traveling device is less than or equal to a first preset speed, the acquisition of the external environment pictures of the traveling device and the distance information between the traveling device and the external environment is started;

[0030] When the moving speed of the traveling device is less than or equal to a second preset speed, the acquisition of the external environment pictures of the traveling device and the distance information between the traveling device and the external environment is stopped, and the second preset speed is less than the first preset speed.

[0031] And / or, the step of acquiring the external environment pictures of the traveling device comprises: acquiring the external environment pictures at preset series intervals along the traveling track;

[0032] The step of acquiring the distance information between the traveling device and the external environment in the process of acquiring the external environment pictures of the traveling device comprises: acquiring the distance information between the traveling device and the external environment at preset series intervals along the traveling track;

[0033] The door assembly control method further comprises the following steps: selecting external environment pictures within a preset distance on the traveling track from the stopping position of the traveling device, and the preset distance is greater than or equal to the maximum value of the preset series intervals.

[0034] Optionally, the door assembly movement information comprises door assembly contour information and door assembly track information, and the door assembly contour information comprises position information of at least one door assembly feature point.

[0035] And / or, the step of projecting the external environment pictures of the traveling device onto a first preset plane of a first coordinate system to obtain a projection picture comprises: projecting the external environment pictures onto the first preset plane of the first coordinate system according to a parameter matrix between a second coordinate system in which the external environment pictures are located and the first coordinate system;

[0036] The step of acquiring the plane coordinate information of the projection picture parallel to the first preset plane comprises: acquiring the plane coordinate information of the projection picture parallel to the first preset plane according to a parameter matrix between a second coordinate system corresponding to the external environment pictures and the first coordinate system; and the second coordinate system is set as a pixel coordinate system.

[0037] And / or, the door assembly control method further comprises the following steps:

[0038] Obtaining an external environment picture of the traveling device;

[0039] In the process of obtaining the external environment picture of the traveling device, distance information between the traveling device and the external environment is obtained;

[0040] Obtaining third height information of the distance information perpendicular to the first preset plane;

[0041] According to the pixel feature information of the projection picture, the third height information, the preset corresponding relationship is formed.

[0042] Optionally, the pixel feature information includes color channel information and / or gray value information; when the pixel feature information includes color channel information, the projection picture is set to an RGB color mode or a CMYK color mode, and the color channel information includes numerical information of each color channel.

[0043] The application further provides a door assembly control device, which comprises:

[0044] A projection module is configured to project an external environment picture of a traveling device onto a first preset plane of a first coordinate system to obtain a projection picture, wherein the first coordinate system is set as a world coordinate system or a camera coordinate system;

[0045] A first obtaining module is configured to obtain first height information of the projection picture perpendicular to the first preset plane according to pixel feature information of the projection picture and a preset corresponding relationship;

[0046] A second obtaining module is configured to obtain plane coordinate information of the projection picture parallel to the first preset plane;

[0047] A determination module is configured to determine the openable and closable degree of the door assembly according to the plane coordinate information, the first height information and door assembly movement information.

[0048] The application further provides an electronic device, which comprises a memory, a processor and a door assembly control program stored in the memory and executable on the processor, wherein the door assembly control program is configured to implement the steps of the above door assembly control method.

[0049] The application further provides a traveling device, which is configured to operate according to the above door assembly control method.

[0050] The application further provides a computer storage medium, wherein a door assembly control program is stored on the computer storage medium, and the door assembly control program is executed by a processor to implement the door assembly control method.

[0051] The technical scheme of the application comprises the following steps: projecting an external environment picture of a running device onto a first preset plane of a first coordinate system to obtain a projection picture, the first coordinate system being set as a world coordinate system or a camera coordinate system; obtaining first height information of the projection picture perpendicular to the first preset plane according to pixel feature information of the projection picture and a preset corresponding relationship; obtaining plane coordinate information of the projection picture parallel to the first preset plane; and determining an openable and closable degree of a door assembly according to the plane coordinate information, the first height information and door assembly movement information. The door assembly control method can determine the openable and closable degree of the door assembly according to the external environment picture of the running device, can reduce installation of a millimeter wave radar distance detection device or reduce the use frequency of the distance detection device to prolong the service life, and is beneficial to reducing the manufacturing and maintenance costs of the running device. BRIEF DESCRIPTION OF DRAWINGS

[0052] In order to more clearly illustrate the technical scheme in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute some embodiments of the application, and for those skilled in the art, other drawings can also be obtained according to the structures shown in the drawings without creative labor.

[0053] Figure 1 The schematic diagram of a hardware running environment related to an embodiment of the door assembly control device of the application.

[0054] Figure 2 The step schematic diagram of an embodiment of the door assembly control method of the application.

[0055] Figure 3 The flow schematic diagram of another embodiment of the door assembly control method of the application.

[0056] Figure 4 The flow state diagram of an embodiment of the door assembly control method of the application.

[0057] Figure 5 The state schematic diagram of obtaining distance information in another embodiment of the application.

[0058] Figure 6 The structure schematic diagram of an embodiment of the door assembly control device of the application.

[0059] The implementation, functional features and advantages of the application will be further described with reference to the embodiments and the drawings. DETAILED DESCRIPTION

[0060] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0061] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0062] In addition, if the embodiments of the present application involve descriptions of “first”, “second”, etc., the descriptions of “first”, “second”, etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by “first”, “second” can explicitly or implicitly include at least one of the features. In addition, “and / or” or “and / or” appearing throughout the text means that the three parallel schemes include A scheme, or B scheme, or A and B schemes are satisfied at the same time. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize it, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is also not within the protection scope of the present application.

[0063] Referring to Figure 1 , Figure 1 A schematic diagram of a hardware operating environment involved in an embodiment of a door assembly control device.

[0064] As Figure 1As shown, the hardware running environment of the door assembly control device can include a processor 1001, for example, a central processing unit (CPU). The hardware running environment of the door assembly control device can also include a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to realize the connection and communication between the components. The user interface 1003 can include a display screen, an input unit such as a keyboard, and optionally, a standard wired interface and a wireless interface. The network interface 1004 can optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wi-Fi interface). The memory 1005 can be a high-speed random access memory (RAM memory) or a stable non-volatile memory (NVM) such as a disk memory. The memory 1005 can also be a storage device independent of the aforementioned processor 1001.

[0065] Those skilled in the art can understand that Figure 1 The structure shown in the figure does not constitute a limitation on the hardware running environment of the door assembly control device. The hardware running environment of the door assembly control device can include more or fewer components than the figure, or combine certain components, or different component arrangements.

[0066] As Figure 1 As shown, the memory 1005 as a storage medium can include an operating system, a network communication module, a user interface module, and corresponding data storage modules.

[0067] When in use, the driving device such as an electric vehicle, a fuel vehicle, and a flying vehicle needs to open the door assembly to allow the driver or passenger to get off. The opening mode of the door assembly includes rotating opening (including the case that the rotating axis is entirely vertical, the rotating axis is entirely parallel to the driving direction, and the rotating axis is inclined), entirely pushing and pulling opening along the driving direction (also including displacement to the side of the driving direction), and translating opening to the side of the driving direction. At this time, the door assembly may collide with the obstacles in the external environment during the opening process. In addition, the driving device may move to a new external environment in the state of opening the door assembly, or the objects in the external environment may move (such as the approach of other driving devices). At this time, the door assembly may also collide with the obstacles in the external environment during the closing process. That is, the door assembly may collide with the obstacles in the external environment during the opening and closing process.

[0068] Therefore, the present application provides a door assembly control method. Referring toFigure 2 The door assembly control method comprises the following steps:

[0069] In step S100, an external environment picture of the driving device is projected onto a first preset plane of a first coordinate system to obtain a projection picture, the first coordinate system being set as a world coordinate system or a camera coordinate system; the external environment picture can be projected onto the first preset plane of the first coordinate system according to a parameter matrix between a second coordinate system (a pixel coordinate system or a picture coordinate system) in which the external environment picture is located and the first coordinate system. The first preset plane can be set as parallel to a chassis plane, or can be set as perpendicular to the chassis plane or inclined to the chassis plane, which is not limited in the embodiment.

[0070] In step S200, first height information of the projection picture perpendicular to the first preset plane is obtained according to pixel feature information of the projection picture and a preset corresponding relationship; the pixel feature information comprises color channel information and / or gray value information; when the pixel feature information comprises the color channel information, the projection picture can be set as an RGB color mode or a CMYK color mode, and the color channel information can comprise numerical information of each color channel. When the projection picture is set as the RGB color mode, numerical information of three channels R, G and B in a pixel point can form different combinations, thereby representing different height information.

[0071] In step S300, plane coordinate information of the projection picture parallel to the first preset plane is obtained; the plane coordinate information of the projection picture parallel to the first preset plane can be obtained according to a parameter matrix between the second coordinate system corresponding to the external environment picture and the first coordinate system.

[0072] In step S400, the openable and closable degree of the door assembly is determined according to the plane coordinate information, the first height information and door assembly movement information; the openable and closable degree of the door assembly can be determined by a point-by-point comparison or by the following first shortest distance method, which is not limited in the embodiment.

[0073] For opening and closing of the door assembly, if it is determined that the door assembly has possibly collided with an obstacle in the external environment in a closed state, the openable and closable degree of the door assembly is zero (i.e. not recommended to be opened); or if it is determined that the door assembly will not collide with an obstacle in the external environment in the whole movement process, the openable and closable degree of the door assembly is maximum (i.e. freely opened and closed); or if it is determined that the door assembly will collide with an obstacle in the external environment at a middle point of an opening path or a closing path, the openable and closable degree of the door assembly is between zero and maximum (i.e. partially opened or partially closed).

[0074] The door assembly movement information can include preset door assembly contour information and door assembly trajectory information in the travel device; the door assembly contour information includes position information of at least one door assembly feature point, such as a feature point farthest from the door assembly and a corresponding movement trajectory of the feature point, or the door assembly contour information can include more feature points to form a three-dimensional model.

[0075] At this time, the plane coordinate information in combination with the first height information can represent the three-dimensional position information obtained from the external environment picture, so that the door assembly control method can determine the openable and closable degree of the door assembly according to the external environment picture of the travel device, can reduce the installation of the millimeter wave radar and other distance detection devices, or reduce the use frequency of the distance detection device to improve the service life, and is conducive to reducing the manufacturing and maintenance cost of the travel device.

[0076] For the formation method (i.e. initialization method) of the above-mentioned preset corresponding relationship, refer to Figure 3 The door assembly control method further includes the following steps:

[0077] Obtain the external environment picture of the travel device, such as an AVM lens (Around View Monitor, commonly known as a fisheye lens) or other camera device, when the travel device is set as an electric vehicle, at this time, the parameter matrix (external and / or internal parameters) between the second coordinate system (pixel coordinate system) where the external environment picture is located and the first coordinate system (world coordinate system or camera coordinate system) is obtained, which includes vehicle position: X-axis coordinate, Y-axis coordinate, Z-axis coordinate, roll axis information (roll angle), pitch axis information (pitch angle), and yaw axis information (yaw angle);

[0078] In the process of obtaining the external environment picture of the travel device, the distance information between the travel device and the external environment is obtained, which can be obtained by a laser radar arranged on the travel device, and the distance information can be embodied in the form of a laser point cloud;

[0079] Obtain third height information perpendicular to the first preset plane according to the distance information;

[0080] According to the pixel feature information of the projection picture and the third height information, the above-mentioned preset corresponding relationship is formed, so as to complete the initialization of the preset corresponding relationship.

[0081] Further, as an optional implementation, the first preset plane can be arranged parallel to the chassis plane, i.e., the first preset plane is arranged as a horizontal plane, and the projection picture obtained in this way can be referred to as a bird's eye view. The external environment picture can be obtained by using a fisheye camera or other camera device, and such an external environment picture can contain more information that is less relevant to the collision risk of the door assembly. When the first preset plane is parallel to the chassis plane, compared with the first preset plane in other orientations (e.g., a vertical plane or an inclined plane), the door assembly control method can eliminate more information that is less relevant when projecting the external environment picture onto the first preset plane, which is conducive to improving the execution efficiency.

[0082] Further, as an optional implementation, the step of determining the openable / closable degree of the door assembly according to the plane coordinate information, the first height information, and the door assembly movement information includes:

[0083] determining a first shortest distance between the door assembly and the external environment according to the plane coordinate information, the first height information, and the door assembly movement information; at this time, the plane coordinate information and the first height information form a three-dimensional data set of the external environment picture, and the first shortest distance between the door assembly and the external environment is determined by using the three-dimensional data set and the door assembly movement information. For example, a movement curve of the door assembly can be formed according to the door assembly movement information, and the first shortest distance is calculated according to the three-dimensional data set and the movement curve. Then, the openable / closable degree of the door assembly is determined according to the first shortest distance.

[0084] Further, as an optional implementation, with reference to Figure 3 , Figure 4 the step of determining the first shortest distance between the door assembly and the external environment according to the plane coordinate information, the first height information, and the door assembly movement information includes:

[0085] forming a three-dimensional model according to the plane coordinate information and the first height information; wherein the plane coordinate information can be obtained according to the extrinsic parameters and intrinsic parameters of the camera. Figure 4 A process of forming a three-dimensional model from a plane picture is shown. First, the external environment picture is projected onto a first preset plane to obtain a projection picture (e.g., a bird's eye view obtained by projecting onto a horizontal plane). Then, first height information of the projection picture perpendicular to the first preset plane is obtained according to the pixel feature information (numerical information of the color channel in the RGB color mode or the CMYK color mode, or gray value information) of the projection picture and a preset corresponding relationship. Finally, a three-dimensional model is formed according to the obtained plane coordinate information and first height information.

[0086] The first shortest distance is determined according to the three-dimensional model and the door assembly movement information.

[0087] Since the three-dimensional information represented by the plane coordinate information and the first height information is actually a collection of discrete points, when the three-dimensional model is formed according to the plane coordinate information and the first height information, fitting, interpolation or other methods can be used to provide a judgment basis for the positions between the discrete points (corresponding to discrete pixel points) and a judgment basis for the collision risk of the door assembly at the positions between the discrete points.

[0088] Further, as an optional implementation, the step of determining the first shortest distance between the door assembly and the external environment according to the plane coordinate information, the first height information, and the door assembly movement information further includes: forming a door assembly movement contour model according to the door assembly movement information.

[0089] At this time, the step of determining the first shortest distance according to the three-dimensional model and the door assembly movement information includes: projecting the three-dimensional model and the door assembly movement contour model onto a second preset plane of the first coordinate system, and determining the first shortest distance on the second preset plane.

[0090] The door assembly control method can provide a judgment basis for the positions between the discrete points in the door assembly movement path by forming the door assembly movement contour model and projecting the three-dimensional model and the door assembly movement contour model onto the second preset plane, and can provide a more intuitive judgment basis through the continuous three-dimensional model, which is conducive to improving the visualization degree.

[0091] The second preset plane can be set to be parallel to the chassis plane of the traveling device, so that the door assembly control method can judge the collision risk of the movement component of the door assembly to the side of the traveling direction; or the second preset plane is perpendicular to the chassis plane of the traveling device and parallel to the traveling direction of the traveling device, so that the door assembly control method can judge the collision risk of the movement component of the door assembly perpendicular to the chassis plane; or the second preset plane is parallel to the movement plane of the door assembly, so that the door assembly control method can judge the collision risk of the three-dimensional movement of the door assembly (such as the translation of the door assembly in a direction inclined to the chassis plane).

[0092] When the traveling device enters a newer external environment (i.e., when the external environment changes greatly), the applicability of the above-mentioned preset correspondence relationship may be poor, and the preset correspondence relationship may need to be updated. At this time, referring to Figure 3 The door assembly control method further includes the following steps:

[0093] Obtaining an external environment picture of the traveling device;

[0094] In the process of obtaining the external environment picture of the traveling device, distance information between the traveling device and the external environment is obtained (the execution state of this step can refer to Figure 5wherein the distance information can be displayed in the form of a laser point cloud as shown in the figure); at this time, the external environment picture and the distance information can be time-synchronized to reduce the judgment error;

[0095] According to the distance information and the door assembly movement information, a second shortest distance between the door assembly and the external environment is determined (for example, the second shortest distance is determined according to the extraction of the nearest point from the laser radar data, and the execution state of this step can refer to Figure 5 );

[0096] If the first shortest distance is less than or equal to the second shortest distance (that is, the applicability of the above-mentioned preset correspondence is still good), the openable and closable degree of the door assembly is determined according to the first shortest distance, and it can be judged that the preset correspondence does not need to be updated;

[0097] If the first shortest distance is greater than the second shortest distance (that is, the applicability of the above-mentioned preset correspondence is poor), the openable and closable degree of the door assembly is determined according to the second shortest distance, that is, the openable and closable degree of the door assembly is determined by referring to the second shortest distance at this time; in addition, the second height information of the distance information perpendicular to the first preset plane is obtained, and the preset correspondence is updated according to the pixel feature information of the projection picture and the second height information.

[0098] Therefore, the door assembly control method can not only complete the judgment of the collision risk at this time through the obtained distance information, but also update the preset correspondence, thereby improving the applicability of the door assembly control method to different external environments.

[0099] Further, as an optional embodiment, the step of obtaining the external environment picture of the traveling device comprises:

[0100] Different-orientation external environment pictures are obtained through at least two cameras (which can include the AVM lens described above) on the traveling device, and the cameras are arranged in sequence along the traveling direction (for example, the first camera is arranged on the left front side and the right front side, the left rear side and the right rear side of the traveling direction, and the AVM lens is arranged between the front and rear sides of the traveling direction);

[0101] The first shortest distance in different orientations is obtained according to the different-orientation external environment pictures;

[0102] According to the deviation degree of the first shortest distance and the second shortest distance in different orientations, the use order of the cameras is determined.

[0103] At this time, the door assembly control method can determine the accuracy of the external environment picture obtained by each camera at each position for collision risk judgment through the deviation degree of the first shortest distance and the second shortest distance, so as to orderly call each camera according to the accuracy requirement of the collision risk judgment and whether each camera is malfunctioning, thereby improving the flexibility of the door assembly control method.

[0104] Further, as an optional implementation, when the moving speed of the traveling device is less than or equal to a first preset speed (for example, the first preset speed is set as 20 km / h, 10 km / h, and thus the traveling device is determined to be ready to stop by being less than the first preset speed), the external environment picture of the traveling device and the distance information between the traveling device and the external environment are started to be acquired, i.e., the external environment picture of the traveling device and the distance information between the traveling device and the external environment are started to be acquired in the process of stopping.

[0105] When the moving speed of the traveling device is less than or equal to a second preset speed (for example, the second preset speed is set as 0.5 km / h, 0.1 km / h, or 0 km / h corresponding to complete stop), the acquisition of the external environment picture of the traveling device and the distance information between the traveling device and the external environment is stopped, and the second preset speed is less than the first preset speed, i.e., the acquisition of the external environment picture of the traveling device and the distance information between the traveling device and the external environment is stopped when the traveling device is stopped.

[0106] Further, as an optional implementation, the step of acquiring the external environment picture of the traveling device includes: acquiring the external environment picture at a preset series interval along the travel trajectory, which is beneficial to reduce the data processing amount and improve the execution efficiency. In the process of acquiring the external environment picture of the traveling device, the step of acquiring the distance information between the traveling device and the external environment includes: acquiring the distance information between the traveling device and the external environment at a preset series interval along the travel trajectory, which is also beneficial to reduce the data processing amount and improve the execution efficiency.

[0107] The preset series interval includes at least two preset intervals, and the preset intervals can be set to be equal (for example, all set to 3 cm or 5 cm or 8 cm, which is not limited in the embodiment). Alternatively, the preset intervals gradually decrease in the direction towards the stopping position of the traveling device, for example, the preset series interval is set as (15 cm, 10 cm, 5 cm). At a point far from the stopping position, the door assembly has a small probability of opening and closing, and thus the data processing amount can be further reduced and the execution efficiency can be improved.

[0108] The door assembly control method further includes the following steps: selecting the external environment picture within a preset distance on the travel trajectory from the stopping position of the traveling device, and the preset distance is greater than or equal to the maximum value of the preset series interval, for example, the preset distance is set as 5 m or 10 m or 20 m, and the preset interval is set as 3 cm or 5 cm or 8 cm, so as to further reduce the data processing amount and improve the execution efficiency.

[0109] The application further provides a door assembly control device, which refers to Figure 6 The door assembly control device includes:

[0110] The projection module 10 is configured to project an external environment picture of the driving device onto a first preset plane of a first coordinate system to obtain a projection picture, and the first coordinate system is set as a world coordinate system or a camera coordinate system.

[0111] The first acquisition module 20 is configured to acquire first height information of the projection picture perpendicular to the first preset plane according to pixel feature information of the projection picture and a preset corresponding relationship.

[0112] The second acquisition module 30 is configured to acquire plane coordinate information of the projection picture parallel to the first preset plane.

[0113] The determination module 40 is configured to determine the openable and closable degree of the door assembly according to the plane coordinate information, the first height information and door assembly movement information.

[0114] The present application further provides an electronic device, which comprises a memory, a processor and a door assembly control program stored in the memory and executable on the processor, and the door assembly control program is configured to implement the steps of the door assembly control method.

[0115] The present application further provides a driving device configured to operate according to the door assembly control method.

[0116] The present application further provides a computer storage medium, which stores a door assembly control program, and the door assembly control program is executable on a processor to implement the door assembly control method.

[0117] The door assembly control device, the electronic device, the driving device and the computer storage medium of the present application correspond to all the technical solutions of the above-mentioned embodiments of the door assembly control method one by one, and therefore at least have all the beneficial effects of the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0118] The above-mentioned only is the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structural transformation made according to the content of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A door assembly control method characterized by, The door assembly control method comprises the following steps: Projecting an external environment picture of the running equipment onto a first preset plane of a first coordinate system to obtain a projection picture, wherein the first coordinate system is set as a world coordinate system or a camera coordinate system; Obtaining first height information of the projection picture perpendicular to the first preset plane according to pixel feature information of the projection picture and a preset corresponding relationship; Obtaining plane coordinate information of the projection picture parallel to the first preset plane; Determining the openable and closable degree of the door assembly according to the plane coordinate information, the first height information and door assembly movement information; The step of determining the openable and closable degree of the door assembly according to the plane coordinate information, the first height information and door assembly movement information comprises: Determining a first shortest distance between the door assembly and the external environment according to the plane coordinate information, the first height information and door assembly movement information; Determining the openable and closable degree of the door assembly according to the first shortest distance; The plane coordinate information and the first height information form a three-dimensional data set of the external environment picture; the step of determining the first shortest distance between the door assembly and the external environment according to the plane coordinate information, the first height information and door assembly movement information comprises: Forming a movement curve of the door assembly through the door assembly movement information, and calculating the first shortest distance according to the three-dimensional data set and the movement curve.

2. The door assembly control method of claim 1, wherein, The step of determining the first shortest distance between the door assembly and the external environment according to the plane coordinate information, the first height information and door assembly movement information comprises: Forming a three-dimensional model according to the plane coordinate information and the first height information; Determining the first shortest distance according to the three-dimensional model and the door assembly movement information.

3. The door assembly control method of claim 2, wherein, The step of determining the first shortest distance between the door assembly and the external environment according to the plane coordinate information, the first height information and door assembly movement information further comprises forming a door assembly movement contour model according to the door assembly movement information; The step of determining the first shortest distance according to the three-dimensional model and the door assembly movement information comprises: projecting the three-dimensional model and the door assembly movement contour model onto a second preset plane of the first coordinate system, and determining the first shortest distance on the second preset plane; The second preset plane is parallel to a chassis plane of the running equipment, or the second preset plane is perpendicular to the chassis plane of the running equipment and parallel to a running direction of the running equipment, or the second preset plane is parallel to a movement plane of the door assembly.

4. The door assembly control method of claim 2, wherein, The door assembly control method further comprises the following steps: Obtaining an external environment picture of the running equipment; Obtaining distance information between the running equipment and the external environment in the process of obtaining the external environment picture of the running equipment; Determining a second shortest distance between the door assembly and the external environment according to the distance information and the door assembly movement information; If the first shortest distance is less than or equal to the second shortest distance, the opening degree of the door assembly is determined according to the first shortest distance; If the first shortest distance is greater than the second shortest distance, the opening degree of the door assembly is determined according to the second shortest distance; in addition, second height information perpendicular to the first preset plane is obtained according to the distance information, and the preset corresponding relationship is updated according to the pixel feature information of the projection picture and the second height information.

5. The door assembly control method of claim 4, wherein, The door assembly control method further comprises the following steps: Time synchronization is performed between the external environment picture of the driving device and the distance information; And / or, the step of obtaining the external environment picture of the driving device comprises: Different-orientation external environment pictures are obtained by at least two cameras on the driving device, which are arranged in sequence along the driving direction; The first shortest distance in different orientations is obtained according to the different-orientation external environment pictures; The use order of the cameras is determined according to the deviation degree of the first shortest distance and the second shortest distance in different orientations; And / or, when the moving speed of the driving device is less than or equal to a first preset speed, the external environment picture of the driving device and the distance information between the driving device and the external environment are obtained; When the moving speed of the driving device is less than or equal to a second preset speed, the external environment picture of the driving device and the distance information between the driving device and the external environment are stopped to be obtained, and the second preset speed is less than the first preset speed; And / or, the step of obtaining the external environment picture of the driving device comprises: obtaining the external environment picture at a preset series interval along the driving track; The step of obtaining the distance information between the driving device and the external environment during the process of obtaining the external environment picture of the driving device comprises: obtaining the distance information between the driving device and the external environment at a preset series interval along the driving track; The door assembly control method further comprises the following steps: selecting the external environment picture and the distance information between the driving device and the external environment within a preset distance on the driving track, starting from the stopping position of the driving device, and the preset distance is greater than or equal to the maximum value of the preset series interval.

6. The door assembly control method of claim 1, wherein, The door assembly movement information comprises door assembly contour information and door assembly track information, and the door assembly contour information comprises position information of at least one door assembly feature point; And / or, the step of projecting the external environment picture of the driving device onto the first preset plane of the first coordinate system to obtain a projection picture comprises: projecting the external environment picture onto the first preset plane of the first coordinate system according to the parameter matrix between the second coordinate system in which the external environment picture is located and the first coordinate system; The step of obtaining the plane coordinate information of the projection picture parallel to the first preset plane comprises: obtaining the plane coordinate information of the projection picture parallel to the first preset plane according to the parameter matrix between the second coordinate system corresponding to the external environment picture and the first coordinate system; and the second coordinate system is set as a pixel coordinate system; And / or, the door assembly control method further comprises the following steps: An external environment picture of the driving device is obtained; In the process of acquiring the external environment picture of the running device, distance information between the running device and the external environment is acquired; Third height information of the distance information perpendicular to the first preset plane is acquired; The preset corresponding relationship is formed according to the pixel feature information of the projection picture and the third height information.

7. The door assembly control method of claim 1, wherein, The pixel feature information includes color channel information and / or gray value information; when the pixel feature information includes color channel information, the projection picture is set as an RGB color mode or a CMYK color mode, and the color channel information includes numerical information of each color channel.

8. A door assembly control device characterized by, The door assembly control device of the door assembly of the running device is applied, and the rotation axis of the door assembly is obliquely arranged. A projection module is configured to project an external environment picture of a running device onto a first preset plane of a first coordinate system to obtain a projection picture, and the first coordinate system is set as a world coordinate system or a camera coordinate system. A first acquisition module is configured to acquire first height information of the projection picture perpendicular to the first preset plane according to pixel feature information of the projection picture and a preset corresponding relationship. A second acquisition module is configured to acquire plane coordinate information of the projection picture parallel to the first preset plane. A determination module is configured to determine an openable and closable degree of the door assembly according to the plane coordinate information, the first height information, and door assembly movement information. The plane coordinate information and the first height information form a three-dimensional data set of the external environment picture, and the door assembly control device is further configured to: form a movement curve of the door assembly through the door assembly movement information; calculate a first shortest distance according to the three-dimensional data set and the movement curve; and determine the openable and closable degree of the door assembly according to the first shortest distance.

9. An electronic device, comprising: The electronic device includes a memory, a processor, and a door assembly control program stored on the memory and executable on the processor, and the door assembly control program is configured to implement the steps of the door assembly control method according to any one of claims 1 to 7.

10. A traveling apparatus characterized by comprising: The running device is used to operate according to the door assembly control method according to any one of claims 1 to 7.

11. A computer storage medium, characterized in that, The computer storage medium stores a door assembly control program, and the door assembly control program is executed by the processor to implement the door assembly control method according to any one of claims 1 to 7.

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