Vehicle calibration method, device, system and electronic device

Abstract

The present application relates to a vehicle calibration method, equipment, system and electronic device, wherein the vehicle calibration method includes: obtaining multiple frames of images obtained by capturing corresponding identifiers by a first downward-looking camera and a first upward-looking camera when the first vehicle rotates at a preset position, and determining the position of the first downward-looking camera in the vehicle body coordinate system and the position of the first upward-looking camera in the vehicle body coordinate system based on the multiple frames of images; obtaining multiple frames of images obtained by capturing a set of downward-looking identifiers by the first downward-looking camera when the first vehicle moves along a preset route, and determining the angle between the first downward-looking camera and the forward direction of the first vehicle based on the multiple frames of images; obtaining images captured by the first downward-looking camera and the first upward-looking camera when the first vehicle stops at a preset position, and determining the angle between the first upward-looking camera and the forward direction of the first vehicle. Through this application, the problems of low calibration accuracy and low efficiency of AGVs equipped with upward-looking and downward-looking cameras are solved, and vehicle calibration accuracy and efficiency are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to vehicle calibration methods, equipment, systems and electronic devices. Background Art

[0002] Automated Guided Vehicles (AGVs) in logistics are facing increasingly stringent driving requirements, necessitating precise calibration of their sensors and actuators. AGV calibration primarily involves chassis calibration, such as wheelbase and mileage coefficient ratio, positioning sensor calibration, and observation sensor calibration.

[0003] Many of the current AGV vehicle calibration methods require human participation, such as measuring with a ruler, manually saving the calibration results, and manually copying the calibration results. In addition, the existing vehicle calibration methods have many steps and cannot be automated or intelligent. On the one hand, the existing calibration methods require many manual measurement parameters, which will lead to measurement errors; on the other hand, they are prone to incorrect operations, which will affect the accuracy of the entire vehicle. At the same time, too many operations will consume a lot of time, affect the efficiency of the factory, and are not conducive to large-scale factory testing. In addition, the existing calibration schemes often use a fixture method for the calibration of the upward-looking camera. Since each vehicle is directly measured according to the existing processing errors and mechanical errors, this method is difficult to ensure the consistency of multi-vehicle calibration.

[0004] There is currently no effective solution to the problem of low calibration accuracy and low efficiency of AGVs equipped with upward-looking cameras and downward-looking cameras in related technologies. Summary of the Invention

[0005] In this embodiment, a vehicle calibration method, apparatus, system, and electronic device are provided to solve the problems of low calibration accuracy and low efficiency of AGVs equipped with upward-looking cameras and downward-looking cameras in the related art.

[0006] In a first aspect, a vehicle calibration method is provided in this embodiment, characterized by comprising:

[0007] Acquire, when the first vehicle rotates at a preset position, multiple frames of first downward-looking images obtained based on the first downward-looking camera photographing the downward-looking marker, and multiple frames of first upward-looking images obtained based on the first upward-looking camera photographing the upward-looking marker, determine the position of the first downward-looking camera in a vehicle body coordinate system based on the multiple frames of first downward-looking images, and determine the position of the first upward-looking camera in the vehicle body coordinate system based on the multiple frames of first upward-looking images, wherein the first downward-looking camera is disposed at a lower portion of a main body of the first vehicle, the first upward-looking camera is disposed at an upper portion of a main body of the first vehicle, and the upward-looking marker and the downward-looking marker are disposed vertically relative to each other;

[0008] Acquire, when the first vehicle moves along a preset route, multiple frames of second downward-looking images obtained by capturing a set of downward-looking markers along the preset route by the first downward-looking camera, and determine, based on the multiple frames of second downward-looking images, an angle between the first downward-looking camera and the forward direction of the first vehicle, wherein the set of downward-looking markers includes a plurality of the downward-looking markers, and the plurality of the downward-looking markers are arranged along the preset route;

[0009] Obtain a third downward-view image obtained based on the first downward-view camera shooting the downward-looking mark when the first vehicle stops at the preset position, and a second upward-view image obtained based on the first upward-view camera shooting the upward-looking mark. Determine the positional relationship between the first downward-view camera and the downward-looking mark according to the third downward-view image, determine the positional relationship between the first upward-view camera and the upward-looking mark according to the second upward-view image, and determine the angle between the first upward-view camera and the forward direction of the first vehicle according to the positional relationship between the first downward-view camera and the downward-looking mark, the positional relationship between the first upward-view camera and the upward-looking mark, and the position of the first downward-view camera in the vehicle body coordinate system.

[0010] In some embodiments, the method further comprises:

[0011] According to the position of the first downward-looking camera in the vehicle body coordinate system, the position of the first upward-looking camera in the vehicle body coordinate system, the positional relationship between the first downward-looking camera and the downward-looking marker, and the positional relationship between the first upward-looking camera and the upward-looking marker, the positional relationship between the relatively arranged upward-looking marker and the downward-looking marker is determined.

[0012] In some embodiments, the method further comprises:

[0013] acquiring a plurality of fourth downward-looking images obtained by capturing the downward-looking marker by a second downward-looking camera when the second vehicle rotates at the preset position, and determining a position of the second downward-looking camera in a vehicle body coordinate system based on the plurality of fourth downward-looking images, wherein the second downward-looking camera is disposed at a lower portion of a main body of the second vehicle;

[0014] acquiring, when the second vehicle moves along the preset route, a plurality of frames of fifth downward-looking images obtained by photographing a plurality of downward-looking markers along the preset route by the second downward-looking camera, and determining, based on the plurality of frames of fifth downward-looking images, an angle between the second downward-looking camera and a moving direction of the second vehicle;

[0015] Obtain when the second vehicle stops at the preset position, based on the sixth downward-view image obtained by the second downward-view camera shooting the downward-looking mark, and the third upward-view image obtained by the second upward-view camera shooting the upward-looking mark, determine the positional relationship between the second downward-view camera and the downward-looking mark according to the sixth downward-view image, determine the positional relationship between the second upward-view camera and the upward-looking mark according to the third upward-view image, and based on the positional relationship between the second downward-looking camera and the downward-looking mark, the positional relationship between the second upward-view camera and the upward-looking mark, and the positional relationship between the upward-looking mark and the downward-looking mark, determine the position of the second upward-looking camera in the vehicle body coordinate system, and the angle between the second upward-looking camera and the forward direction of the second vehicle.

[0016] In some embodiments, the method further comprises:

[0017] controlling the second vehicle to rotate at the preset position, and when the second vehicle rotates through a preset angle, obtaining a seventh downward-view image based on the second downward-view camera photographing the downward-view mark, and obtaining a fourth upward-view image based on the second upward-view camera photographing the upward-view mark;

[0018] determining a positional relationship between the second downward-looking camera and the downward-looking marker based on the seventh downward-looking image, and determining a positional relationship between the second upward-looking camera and the upward-looking marker based on the fourth upward-looking image;

[0019] The positional relationship between the upward-looking marker and the downward-looking marker is verified based on the currently determined positional relationship between the second downward-looking camera and the downward-looking marker and the currently determined positional relationship between the second upward-looking camera and the upward-looking marker.

[0020] In some embodiments, the upward-view identification code includes a first upward-view identification code and a second upward-view identification code, and the first upward-view identification code and the second upward-view identification code are at different heights from the ground.

[0021] In some embodiments, after the first vehicle completes the rotation at the preset position, the method further includes:

[0022] A plurality of frames of first downward-looking images obtained by shooting the downward-looking marker by a first downward-looking camera are acquired, and the wheelbase of the first vehicle is determined based on the plurality of frames of first downward-looking images.

[0023] In some embodiments, the method further comprises:

[0024] When the first vehicle moves along the preset route, the mileage and the number of wheel rotations of the first vehicle along the preset route are obtained, and the wheel diameter of the first vehicle is calculated based on the mileage and the number of wheel rotations.

[0025] In a second aspect, a guiding device is provided in this embodiment, comprising: an AGV vehicle and a control unit, wherein the AGV vehicle and the control unit are connected;

[0026] The AGV vehicle includes an upward-looking camera and a downward-looking camera;

[0027] The control unit is used to execute any one of the vehicle calibration methods described in the first aspect above.

[0028] In a third aspect, a guidance system is provided in this embodiment, comprising a tooling device and the guidance device described in the second aspect, wherein the tooling device comprises an upward-viewing marker and a downward-viewing marker set;

[0029] The upward-viewing identification includes a first upward-viewing identification code and a second upward-viewing identification code, wherein the first upward-viewing identification code and the second upward-viewing identification code are at different heights from the ground;

[0030] The downward-looking identification set includes a plurality of downward-looking identification codes, and the plurality of downward-looking identification codes are arranged on the ground along a preset route.

[0031] In a third aspect, an electronic device is provided in this embodiment, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle calibration method described in the first aspect when executing the computer program.

[0032] Compared with the related art, the vehicle calibration method provided in this embodiment obtains multiple frames of first downward-view images obtained based on the first downward-view camera shooting the downward-view mark when the first vehicle rotates at a preset position, and multiple frames of first upward-view images obtained based on the first upward-view camera shooting the upward-view mark, and determines the position of the first downward-view camera in the vehicle body coordinate system according to the multiple frames of first downward-view images, and determines the position of the first upward-view camera in the vehicle body coordinate system according to the multiple frames of first upward-view images, wherein the first downward-view camera is arranged at the lower part of the main body of the first vehicle, the first upward-view camera is arranged at the upper part of the main body of the first vehicle, and the upward-view mark and the downward-view mark are arranged relative to each other up and down; obtains multiple frames of second downward-view images obtained based on the first downward-view camera shooting the set of downward-view marks along the preset route when the first vehicle moves along the preset route, and determines the first downward-view image according to the multiple frames of second downward-view images. The angle between a downward-looking camera and the forward direction of the first vehicle is determined, wherein the downward-looking marker set includes a plurality of downward-looking markers arranged along the preset route; a third downward-looking image obtained by the first downward-looking camera photographing the downward-looking marker when the first vehicle stops at the preset position, and a second upward-looking image obtained by the first upward-looking camera photographing the upward-looking marker, are obtained; the positional relationship between the first downward-looking camera and the downward-looking marker is determined based on the third downward-looking image; the positional relationship between the first upward-looking camera and the upward-looking marker is determined based on the second upward-looking image; and the angle between the first upward-looking camera and the forward direction of the first vehicle is determined based on the positional relationship between the first downward-looking camera and the downward-looking marker, the positional relationship between the first upward-looking camera and the upward-looking marker, and the position of the first downward-looking camera in the vehicle body coordinate system. This method solves the problem of low calibration accuracy and low efficiency for AGVs equipped with upward-looking and downward-looking cameras, thereby improving vehicle calibration accuracy and efficiency.

[0033] The details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0035] Figure 1 is a hardware structure block diagram of a terminal of a vehicle calibration method in an embodiment;

[0036] Figure 2 is a flow chart of a vehicle calibration method in an embodiment;

[0037] Figure 3 is a schematic diagram of a tooling design in a preferred embodiment;

[0038] Figure 4 It is a calibration fixture designed for the vehicle chassis and downward-looking camera in a preferred embodiment;

[0039] Figure 5 It is a tool designed for upward calibration at a single height in a preferred embodiment;

[0040] Figure 6 is a flow chart of a vehicle calibration method in a preferred embodiment;

[0041] Figure 7 is a pixel coordinate system in a preferred embodiment;

[0042] Figure 8 is a physical coordinate system in a preferred embodiment;

[0043] Figure 9 is a schematic diagram of the calibration result of the camera position in the vehicle body coordinate system in a preferred embodiment;

[0044] Figure 10 is a structural block diagram of a boot device in an embodiment. DETAILED DESCRIPTION

[0045] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0046] Unless otherwise defined, the technical terms or scientific terms involved in this application should have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "an", "a", "the", "these" and the like in this application do not indicate quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "plurality" involved in this application refers to two or more. "And / or" describes the relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, and B exists alone. Generally, the character " / " indicates that the related objects are in an "or" relationship. The terms "first," "second," "third," etc. used in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0047] The method embodiment provided in this embodiment can be executed in a terminal, a computer or a similar computing device. For example, running on a terminal, Figure 1 FIG. 1 is a block diagram of the hardware structure of a terminal of a vehicle calibration method according to an embodiment of the present application. Figure 1 As shown, the terminal may include one or more ( Figure 1 Only one is shown) a processor 102 and a memory 104 for storing data, wherein the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA. The above terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It will be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above terminal. Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown.

[0048] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the vehicle calibration method in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above-mentioned method. The memory 104 may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely located relative to the processor 102, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0049] The transmission device 106 is used to receive or send data via a network. The network may include a wireless network provided by the terminal's telecommunications provider. In one embodiment, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0050] In this embodiment, a vehicle calibration method is provided. Figure 2 is a flow chart of the vehicle calibration method of this embodiment, as shown in FIG. Figure 2 As shown, the process includes the following steps:

[0051] Step S201, obtaining multiple frames of first downward-looking images obtained by the first downward-looking camera shooting the downward-looking mark, and multiple frames of first upward-looking images obtained by the first upward-looking camera shooting the upward-looking mark when the first vehicle rotates at a preset position, determining the position of the first downward-looking camera in the vehicle body coordinate system according to the multiple frames of the first downward-looking images, and determining the position of the first upward-looking camera in the vehicle body coordinate system according to the multiple frames of the first upward-looking images, wherein the first downward-looking camera is arranged at the lower part of the main body of the first vehicle, the first upward-looking camera is arranged at the upper part of the main body of the first vehicle, and the upward-looking mark and the downward-looking mark are arranged relative to each other up and down.

[0052] The body coordinate system of the first vehicle is a rectangular coordinate system constructed with the center of the first vehicle as the origin. The plane formed by the X-axis and Y-axis of the rectangular coordinate system is parallel to the ground, and the direction indicated by the X-axis or the Y-axis is the forward direction of the first vehicle.

[0053] The downward-looking identifier is an image containing coded information. After the first downward-looking camera captures the downward-looking identifier and obtains the first downward-looking image, it can obtain feature points in the first downward-looking image and their corresponding pixel coordinates and physical coordinates. Theoretically, the more feature points in the first downward-looking image, the higher the robustness. Optionally, the downward-looking identifier uses an image group consisting of nine QR codes, and the feature points in the first downward-looking image include the corner points and vertices in the nine QR codes.

[0054] According to the physical coordinates and pixel coordinates of the feature points, the isotropic matrix from the physical coordinates to the pixel coordinates is obtained. According to the isotropic matrix, the coordinates of the camera relative to the image in the current situation can be calculated.

[0055] When the first vehicle rotates at a preset position, the coordinate system of the downward-looking identifier, as well as the feature points and the isographic matrix of the multiple frames of the first downward-looking image obtained by the first downward-looking camera shooting the downward-looking identifier, are determined, and the coordinates of the first downward-looking camera in the downward-looking identifier coordinate system at different angles are calculated. During the rotation of the first vehicle, the vehicle's rotation center is fixed, and the first downward-looking camera will repeatedly shoot the first downward-looking image at the same angle. The coordinate calculation results of the first downward-looking camera in the downward-looking identifier coordinate system in this case are counted, and a large amount of statistical data is obtained. The position of the first downward-looking camera in the vehicle body coordinate system is calculated based on the statistical data. The above method can similarly calculate the position of the first upward-looking camera in the vehicle body coordinate system.

[0056] Step S202: When the first vehicle moves along a preset route, a plurality of frames of second downward-looking images are obtained based on a set of downward-looking markers shot by a first downward-looking camera along the preset route. Based on the plurality of frames of second downward-looking images, an angle between the first downward-looking camera and the forward direction of the first vehicle is determined, wherein the set of downward-looking markers includes a plurality of downward-looking markers, and the plurality of downward-looking markers are arranged along the preset route.

[0057] The downward-looking identifier set includes multiple images containing coded information. For example, the preset route is a straight line, and the downward-looking identifier set includes four downward-looking identifier codes, which are arranged at equal intervals along the preset route. A first vehicle travels back and forth along the preset route, with the travel direction and the arrangement angle of the four downward-looking identifier codes approximately zero. This ensures that the first downward-looking camera can capture each downward-looking identifier as the first vehicle moves along the preset route, thereby obtaining multiple frames of the second downward-looking image.

[0058] Obtain two second downward-looking images of the first vehicle under two adjacent downward-looking identification codes, and obtain the coordinates of the first downward-looking camera in the coordinate systems of the two downward-looking identification codes. Based on these two coordinates, determine the angle between the first downward-looking camera and the forward direction of the first vehicle during a single camera calibration. Repeat this calculation multiple times to obtain multiple values of the angle between the first downward-looking camera and the forward direction of the first vehicle. The average of these values is then used to calibrate the angle between the first downward-looking camera and the forward direction of the first vehicle.

[0059] Step S203: When the first vehicle stops at a preset position, a third downward-view image is obtained based on the first downward-view camera photographing the downward-view mark, and a second upward-view image is obtained based on the first upward-view camera photographing the upward-view mark. The positional relationship between the first downward-view camera and the downward-view mark is determined according to the third downward-view image, and the positional relationship between the first upward-view camera and the upward-view mark is determined according to the second upward-view image. The angle between the first upward-view camera and the forward direction of the first vehicle is determined according to the positional relationship between the first downward-view camera and the downward-view mark, the positional relationship between the first upward-view camera and the upward-view mark, and the position of the first downward-view camera in the vehicle body coordinate system.

[0060] The first vehicle remains stationary at a preset position and simultaneously obtains images captured by the first upward-looking camera and the first downward-looking camera. Based on the third downward-looking image obtained by the first downward-looking camera capturing the upward-looking marker, the positional relationship between the first downward-looking camera and the downward-looking marker is determined, including obtaining the coordinates of the first downward-looking camera in the coordinate system of the downward-looking marker; based on the second upward-looking image obtained by the first upward-looking camera capturing the upward-looking marker, the positional relationship between the first upward-looking camera and the upward-looking marker includes obtaining the coordinates of the first upward-looking camera in the coordinate system of the upward-looking marker.

[0061] Through the above steps S201 to S203, the upward-looking mark and the downward-looking mark are arranged, so that the AGV equipped with the upward-looking camera and the downward-looking camera rotates according to the set program and moves along the preset route. During the AGV's rotation and movement along the preset route, the first upward-looking camera and the first downward-looking camera in the AVG respectively capture the upward-looking mark and the downward-looking mark. Based on the captured downward-looking image and the captured upward-looking image, the position of the first downward-looking camera in the vehicle coordinate system, the angle between the first downward-looking camera and the forward direction of the first vehicle, the position of the first upward-looking camera in the vehicle coordinate system, and the angle between the first downward-looking camera and the forward direction of the first vehicle are calibrated to achieve automatic calibration of the AGV. By arranging unified upward-looking marks and downward-looking marks, a fully automatic calibration process for the AGV is achieved, avoiding human intervention and misoperation during the calibration process, reducing mechanical errors in calibration between different vehicles, and improving the calibration accuracy and efficiency of the AGV equipped with the upward-looking camera and the downward-looking camera.

[0062] In one embodiment, the positional relationship between the relatively set upward-looking marker and the downward-looking marker is determined based on the position of the first downward-looking camera in the vehicle body coordinate system, the position of the first upward-looking camera in the vehicle body coordinate system, the positional relationship between the first downward-looking camera and the downward-looking marker, and the positional relationship between the first upward-looking camera and the upward-looking marker.

[0063] In the process of arranging the upward-view sign and the downward-view sign, it is difficult to achieve complete alignment of the upward-view sign and the downward-view sign. Therefore, it is necessary to use the first vehicle to reversely calibrate the upward-view sign and the downward-view sign, that is, to calibrate the relative position relationship between the upward-view sign and the downward-view sign.

[0064] Furthermore, in one embodiment, after calibrating the first vehicle, the method further includes: acquiring multiple frames of fourth downward-looking images obtained based on the second downward-looking camera photographing downward-looking markers when the second vehicle rotates at a preset position, and determining a position of the second downward-looking camera in a vehicle body coordinate system based on the multiple frames of the fourth downward-looking images, wherein the second downward-looking camera is disposed at a lower portion of a main body of the second vehicle; acquiring multiple frames of fifth downward-looking images obtained based on the second downward-looking camera photographing multiple downward-looking markers along the preset route when the second vehicle moves along a preset route, and determining an angle between the second downward-looking camera and a moving direction of the second vehicle based on the multiple frames of the fifth downward-looking images;

[0065] When the second vehicle stops at a preset position, a sixth downward-view image is obtained based on the downward-view mark photographed by the second downward-view camera, and a third upward-view image is obtained based on the upward-view mark photographed by the second upward-view camera. The positional relationship between the second downward-view camera and the downward-view mark is determined according to the sixth downward-view image, and the positional relationship between the second upward-view camera and the upward-view mark is determined according to the third upward-view image. According to the positional relationship between the second downward-view camera and the downward-view mark, the positional relationship between the second upward-view camera and the upward-view mark, and the positional relationship between the upward-view mark and the downward-view mark, the position of the second upward-view camera in the vehicle body coordinate system and the angle between the second upward-view camera and the forward direction of the second vehicle are determined.

[0066] After the first vehicle is calibrated to obtain the relative position relationship between the upward-looking marker and the downward-looking marker, since the relative position between the upward-looking marker and the downward-looking marker does not change during the calibration process, the second vehicle can use the calibration result of the relative position of the upward-looking marker and the downward-looking marker in the first vehicle to calculate the position of the second upward-looking camera in the vehicle body coordinate system, as well as the angle between the second upward-looking camera and the forward direction of the second vehicle.

[0067] When calibrating the second upward-looking camera relative to the vehicle, the second vehicle does not need to rotate during the calibration process; it can simply remain stationary at a preset position. This reduces calibration time, avoids calibration errors caused by vehicle rotation, and improves calibration accuracy. Furthermore, the second vehicle uses the relative position relationship between the upward-looking and downward-looking markers determined by the first vehicle to ensure consistency across multiple vehicles.

[0068] In one embodiment, the second vehicle is controlled to rotate at a preset position. When the second vehicle rotates through a preset angle, a seventh downward-view image is obtained based on the second downward-view camera photographing the downward-view marker, and a fourth upward-view image is obtained based on the second upward-view camera photographing the upward-view marker; the positional relationship between the second downward-view camera and the downward-view marker is determined based on the seventh downward-view image, and the positional relationship between the second upward-view camera and the upward-view marker is determined based on the fourth upward-view image; and the positional relationship between the upward-view marker and the downward-view marker is verified based on the currently determined positional relationship between the second downward-view camera and the downward-view marker, and the positional relationship between the second upward-view camera and the upward-view marker.

[0069] After the second vehicle completes calibration of the position of the second upward-looking camera in the vehicle coordinate system and the angle between the second upward-looking camera and the second vehicle's forward direction, the vehicle rotates at a preset position. After rotating through a preset angle, the positional relationship between the upward-looking marker and the downward-looking marker is recalculated. This positional relationship is compared with the positional relationship between the upward-looking marker and the downward-looking marker calibrated by the first vehicle.

[0070] In one embodiment, the upward-viewing identification includes a first upward-viewing identification code and a second upward-viewing identification code, and the first upward-viewing identification code and the second upward-viewing identification code are at different heights from the ground.

[0071] In actual applications, AGVs generally need to complete the picking action at a low height and the placing action at a high height. Because the single-image matrix calculated by the camera shooting the mark is only for a single height plane, in order to meet the needs of AGV picking up and placing goods in actual applications, two toolings at different heights are designed to place the first upper view code and the second upper view code respectively.

[0072] In one embodiment, after the first vehicle completes rotation at a preset position, multiple frames of first downward-looking images are obtained by capturing the downward-looking mark with a first downward-looking camera, and the wheelbase of the first vehicle is determined based on the multiple frames of the first downward-looking images.

[0073] At the start and end of the first vehicle's rotation, the coordinates of the first downward-looking camera in the downward-looking identifier coordinate system are calculated at the start and end times, respectively. The rotational odometer value of the first vehicle during the rotation is obtained. The wheelbase of the first vehicle is determined based on the coordinates of the first downward-looking camera in the downward-looking identifier coordinate system at the start and end times, as well as the rotational odometer value of the first vehicle during the rotation.

[0074] In one embodiment, when the first vehicle moves along a preset route, the mileage and wheel rotation number of the first vehicle along the preset route are obtained, and the wheel diameter of the first vehicle is calculated based on the mileage and wheel rotation number.

[0075] The wheel diameters of the left and right wheels of the first vehicle are calibrated. In practical applications, the real-time position of the first vehicle can be calculated based on the calibration results of the wheel diameters.

[0076] The present embodiment is described and illustrated below through preferred embodiments.

[0077] Figure 3 : This is a schematic diagram of the tooling design of the preferred embodiment. The tooling site includes two tools of different heights, two upward-viewing identification codes, and four downward-viewing identification codes, wherein the upward-viewing identification codes and the downward-viewing identification codes are images with coded information.

[0078] Two markers placed on the tooling at two different heights are upward-viewing identifiers, used for upward-viewing camera calibration. The images containing the coded information face downward, ensuring that the upward-viewing cameras mounted on the AGV can see the image content. The heights of the two upward-viewing identifiers from the ground correspond to the actual pickup and delivery heights of logistics AGVs. The four markers placed on the ground are downward-viewing identifiers, primarily used for calibration of the AGV chassis and downward-viewing cameras.

[0079] Among them, the positions of the two upward-looking identification codes correspond to the positions of the two downward-looking identification codes arranged on the ground, that is, the angles of the corresponding upward-looking identification codes and downward-looking identification codes are consistent, ensuring that the upward-looking camera and the downward-looking camera can simultaneously capture the upward-looking identification code and the downward-looking identification code when the AGV vehicle is stationary.

[0080] Figure 4 This is a calibration tool designed for the vehicle chassis and downward-looking camera in this preferred embodiment. Figure 4 As shown, it includes four downward-viewing identification codes, each of which includes an image group composed of multiple two-dimensional codes and having encoded information.

[0081] Normally, a very high accuracy can be achieved by calibrating a downward-looking identification code consisting of four QR codes. In this preferred embodiment, for greater robustness, each downward-looking identification code contains 9 QR codes, so that enough feature points can be obtained from the upward-looking image taken by the downward-looking camera for calculation. Among them, the coding information contained in each of the four downward-looking identification codes is different, and the distance between adjacent downward-looking identification codes remains consistent. In addition, the four downward-looking identification codes are designed on the same piece of paper and on the same straight line, so that the arrangement of the four downward-looking identification codes can ensure good angular accuracy and positional accuracy.

[0082] Figure 5 This is a tool designed for upward calibration of a single height in this preferred embodiment, such as Figure 5 As shown in the figure, the upward identification code and the downward identification code can use the same image, so that the upward and downward cameras can use the same calculation program in the recognition and calculation process. Because this AGV needs two heights when in use, one is generally used for picking up goods at a low height, and the other is generally used for placing goods at a high height. The single-image algorithm used in the process of calculating the coordinates of the camera relative to the identification is only for a single height plane, so two different heights are designed. Figure 5 work clothes.

[0083] After completing the setup of the vehicle calibration site, you can begin the calibration process. Figure 6 4 is a flow chart of the vehicle calibration method of this preferred embodiment.

[0084] Step S601: remotely control the vehicle to a first downward-looking identification code.

[0085] Ensure that the vehicle is stationary at its location, and when the upward and downward cameras are turned on at the same time, the downward and upward cameras can see the upward and downward identification codes.

[0086] Step S602: calibrate the downward-looking monoreflection property.

[0087] The downward-looking camera acquires a downward-looking image, detects the corners and vertices of the QR code in the downward-looking image as feature points, and obtains the physical coordinates and pixel coordinates of these feature points. Using the open source library of OpenCV, the isometric matrix H is obtained to determine the downward-looking isometric property.

[0088] in, Figure 7 is the pixel coordinate system of this embodiment. The downward-view identification code is composed of a two-dimensional code. The pixel coordinate system is a rectangular coordinate system uv established with the upper left corner of the downward-view identification code as the origin, with pixels as the unit. The horizontal coordinate u0 of the pixel point (u0, v0) is the column number of the point from left to right in the downward-view identification code, and the vertical coordinate v0 is the row number of the point from top to bottom in the downward-view identification code;

[0089] Figure 8It is the physical coordinate system of this embodiment. Among the four square downward-looking identification codes of the same size and equal spacing, according to the direction of vehicle travel, the center point of the first downward-looking identification code captured by the downward-looking camera is taken as the coordinate origin, and the direction of vehicle travel is taken as the extension direction of the positive semi-axis of the x-axis. The physical coordinate system xy can be established according to the right-hand coordinate system. The physical coordinates can be calculated based on the size of each downward-looking identification code and the spacing between the downward-looking identification codes. For example, a feature point of the downward-looking identification code is selected to obtain its physical coordinates (x0, y0), x0 = 1.5*code_size + y_gap, y0 = 1.5*code_size + x_gap, code_size is the side length of the downward-looking identification code, x_gap, y_gap are the x-direction spacing and y-direction spacing between the downward-looking identification codes, respectively.

[0090] Step S603: calibrate the position of the downward-looking camera in the vehicle coordinate system and the vehicle wheelbase.

[0091] Multiple frames of first downward-looking images are obtained by shooting the downward-looking marker while the vehicle rotates. The coordinates of the downward-looking camera in the downward-looking marker coordinate system are obtained based on the isographic matrix H obtained in the previous step S602 and the pixel coordinates of the feature points in the image.

[0092] Using the isometric matrix H, the position relationship between the camera and the marker can be calculated using the isometric algorithm. The specific method is as follows:

[0093] The logo captured by the camera is detected, and the corner points and vertices of each QR code in the image are obtained as feature points, and the pixel coordinates and physical coordinates of multiple feature points are obtained.

[0094] Get the isotropic matrix H from physical coordinates to pixel coordinates, and calculate the coordinates of the marker relative to the camera coordinate system based on the mapping relationship and the pixel points of the feature points. The formula is as follows:

[0095]

[0096] Among them, u and v represent the pixel coordinate system of the feature point; x′ / z′ and y′ / z′ are the physical coordinates of this feature point in the camera coordinate system; H is the single-mapping matrix, which represents the mapping relationship between the camera pixel coordinate system and the vehicle body coordinate system.

[0097] Based on the coordinates of multiple feature points in the camera coordinate system and the positional relationship between the feature points, an overdetermined equation is formed, and the physical coordinates of the camera relative to the marker can be calculated using the least squares algorithm.

[0098] For example, suppose p is a point in a piece of identification code, and its coordinates in the camera coordinate system are Its coordinates in the identification coordinate system are The pose of the identification coordinate system in the camera coordinate system is Then there is

[0099]

[0100] The above formula can be written as

[0101]

[0102] Let x1 = dx, x2 = dy, x3 = cosdθ, x4 = sindθ, then we have

[0103]

[0104] When there are many feature points detected, x1, x2, x3, and x4 can be calculated using the linear least squares method. After calculation, since x3 2 +x4 2 =cos 2 dθ+sin 2 dθ=1, so x3 and x4 need to be normalized. The normalization equation is:

[0105]

[0106]

[0107] After normalization, dθ is calculated according to the inverse trigonometric method.

[0108] Got That is, the coordinates of the marker in the camera coordinate system are obtained, and after inversion, the coordinates of the camera relative to the marker can be obtained.

[0109] Based on the multiple frames of first downward-looking images obtained by the first downward-looking camera shooting the downward-looking marker, the coordinates of the downward-looking camera at various angles in the downward-looking marker coordinate system during the rotation process are obtained, and the deviation xy between the camera and the rotation center of the vehicle (the center of the vehicle body coordinate system) is calculated, that is, the position of the downward-looking camera in the vehicle body coordinate system.

[0110] Figure 8 FIG is a schematic diagram of the calibration result of the camera position in the vehicle coordinate system of this preferred embodiment. Figure 8 As shown in the figure, XYO is the global coordinate system, xyo is the vehicle coordinate system, and xc yc oc is the camera coordinate system.

[0111] (x1, y1, θ) are the coordinates of the camera in the global coordinate system XYO, (x4, y4) are the coordinates of the center of the vehicle in the global coordinate system XYO, and (dx, dy, dθ) are the coordinates and angles of the camera positioning coordinate system in the vehicle coordinate system.

[0112] So:

[0113] x4=-(d x cos(d θ )+d y sin(d θ ))*cos(θ)-(d x sin(d θ )-d y cos(d θ ))*sin(θ)

[0114] +x1

[0115] y4=-(d x cos(d θ )+d y sin(d θ ))*sin(θ)+(d x sin(d θ )-d y cos(d θ ))*cos(θ)

[0116] +y1

[0117] Theoretically, dθ is very small, so the above formula is approximately:

[0118] x4=-d x *cos(θ)+d y *sin(θ)+x1

[0119] y4=-d x *sin(θ)-d y *cos(θ)+y1

[0120] In the case of self-rotation, assume that the center of rotation of the car is fixed in place. During the rotation process, the coordinates when the QR code is scanned twice at the same angle are marked as: Pi(xi, yi, θi) and Pj(xj, yj, θj).

[0121] Then we have:

[0122] x i -x j =d x (cos(θ i )-cos(θ j ))+d y (sin(θ j )-sin(θ i ))

[0123] y i -y j =d x (sin(θ i )-sin(θj ))+d y (cos(θ i )-cos(θ j ))

[0124] Through a large amount of statistical data, the least squares method is used Then we can find dx and dy.

[0125] At the same time, the vehicle wheelbase is calculated using the following methods:

[0126] At the start and end of the vehicle's rotation, the corresponding two downward-facing images are captured and the camera's coordinates in the image coordinate system are calculated. The mileage angles at the start and end of the rotation are also obtained. The actual rotation angle θf can be calculated from these two downward-facing images. The theoretical angle θc can then be calculated from these start and end mileage angles. The actual wheelbase can then be calculated as = initial wheelbase * θc / θf.

[0127] Step S604: calibrate the angle between the downward-looking camera and the vehicle's forward direction and the vehicle's wheel diameter.

[0128] The vehicle is controlled to repeatedly travel forward and backward in a straight line across four downward-looking identification codes along a preset route. While traveling along the preset route, multiple frames of second downward-looking images are captured by the downward-looking camera, capturing the set of downward-looking identification codes. To ensure that all four codes can be scanned while the vehicle is traveling forward and backward, the angle between the vehicle's forward direction and the direction in which the downward-looking identification codes are arranged is approximately zero.

[0129] Let (xi, yi, θi) be the coordinates of the downward-looking camera relative to the downward-looking image calculated based on the corresponding downward-looking image when the downward-looking camera captures the i-th downward-looking identification code, i=1, 2, 3, 4.

[0130] The angular deviation of a single camera calibration is: The angle deviation of the camera calibration is obtained by multiple calculations, and the average is taken to calibrate the angle between the downward-looking camera and the vehicle's forward direction.

[0131] At the same time, when the vehicle travels along the preset route, the number of revolutions of the left and right wheels is obtained. Let (xd0, yd0, θd0) and (xde, yde, θde) represent the mileage values of the first and last downward-looking identification codes scanned, respectively. The vehicle wheel diameter is obtained by calibration.

[0132] Step S605 , automatically controlling the vehicle to adjust its front and rear positions and angles according to the coordinates of the downward-looking camera relative to the downward-looking identification code.

[0133] Step S606: Determine whether the current vehicle is the first vehicle to be calibrated. If it is determined that the current vehicle is the first vehicle to be calibrated, execute step S606; if it is determined that the current vehicle is not the first vehicle to be calibrated, execute step S611.

[0134] Step S607 : At a low altitude, the first vehicle calibrates the upward-looking low-altitude single-image property corresponding to the first upward-looking camera and the upward-looking identification code.

[0135] The first upward-looking camera acquires a first upward-looking image, acquires a isometric matrix corresponding to the first upward-looking image, and determines the upward-looking low-altitude isometric property, in the same manner as step S602.

[0136] Step S608: At a low altitude, the first vehicle calibrates the first upward-looking camera to determine the upward-looking low altitude xy.

[0137] Upward-looking low height xy is the coordinate position of the first upward-looking camera in the vehicle coordinate system. The first vehicle rotates twice at the first preset position, i.e., the corresponding downward-looking calibration code under the low-height tooling. Multiple frames of first upward-looking images are obtained based on the low-height upward-looking identification code captured by the first upward-looking camera during the rotation. The position of the first upward-looking camera in the vehicle coordinate system is determined based on these multiple frames of first upward-looking images. This calibration method is the same as the method used to calibrate the position of the downward-looking camera in the vehicle coordinate system in step S603.

[0138] Step S608: At a low altitude, the first vehicle calibrates the upward low altitude deg.

[0139] The first vehicle remains stationary at a first preset position, that is, on the corresponding downward calibration code under the low-height tooling, and at the same time obtains data from the first upward-looking camera and the first downward-looking camera to calibrate the upward-looking low height deg, that is, the angle between the first upward-looking camera and the forward direction of the first vehicle.

[0140] Let p u is the coordinate of the first upward-looking camera in the upward-looking identification code coordinate system, p d dp is the coordinate of the first downward-looking camera in the downward-looking identification code coordinate system, d is the coordinate of the first downward-looking camera in the vehicle body coordinate system, that is, the calibration result obtained in step S603.

[0141] When the tooling is arranged, the upper view identification code and the lower view identification code are arranged relative to each other, and the angle between the upper view identification code and the lower view identification code is basically 0. Assume that the coordinates p of the upper view identification code relative to the lower view identification code c ={0, 0, 0}, then the coordinates of the first upward camera in the vehicle coordinate system are p = [p d *(d pd ) -1 ]-1 *(p c *p u ), because the position of the upward-looking identification code is unreliable, the angle deg of the first upward-looking camera in the vehicle coordinate system is the angle of the first upward-looking camera in the vehicle coordinate system p.

[0142] Step S610: At a low altitude, the first vehicle calibrates the positional relationship between the relatively set upward-view identification code and the downward-view identification code.

[0143] Because the angle between the upward-view identification code and the downward-view identification code cannot be precisely arranged to 0 when the tooling is arranged, it is necessary to calibrate the positional relationship between the relatively set upward-view identification code and the downward-view identification code.

[0144] Let p u is the coordinate of the first upward-looking camera in the upward-looking identification code coordinate system, p d dp is the coordinate of the first downward-looking camera in the downward-looking identification code coordinate system, d is the coordinate of the first downward-looking camera in the vehicle coordinate system, i.e., the calibration result obtained in step S603, dp u is the coordinates of the first upward-looking camera and the first downward-looking camera at the current height in the vehicle coordinate system. At this time, the coordinates of the first upward-looking camera in the vehicle coordinate system are the calibration results obtained in step S606. The calculated positional relationship between the relatively set upward-looking identification code and the downward-looking identification code is p=[p d *(d pd ) -1 ]*[p u *(d pu ) -1 ] -1 .

[0145] In step S611, the first vehicle moves to a second preset position, that is, to a downward-looking calibration code corresponding to the high-altitude tooling.

[0146] In step S612, at high altitude, the first vehicle calibrates the first upward-looking camera to obtain the upward-looking height monoreflection, the upward-looking height xy, the upward-looking height deg, and the positional relationship between the relatively set upward-looking identification code and the downward-looking identification code. The calibration method is the same as steps S606 to S609.

[0147] Step S613: calibrate the upward viewing monoreflection of the second vehicle at a low altitude.

[0148] The second upward-viewing camera obtains the third upward-viewing image obtained by the first upward-viewing camera, and the isographic matrix corresponding to the third upward-viewing image is determined. The obtaining method is the same as step S602.

[0149] Step S614 , at a low altitude, calibrate the position of the second upward-looking camera of the second vehicle in the vehicle body coordinate system and the angle between the second upward-looking camera and the forward direction of the second vehicle to obtain the upward-looking low altitude xydeg.

[0150] Obtaining the downward-looking identification code corresponding to the second vehicle stopped at the first preset position, i.e., the low-height tooling, based on a sixth downward-looking image obtained by photographing the downward-looking identification code with the second downward-looking camera, and a third upward-looking image obtained by photographing the upward-looking identification code with the second upward-looking camera, determining the positional relationship between the second downward-looking camera and the downward-looking identification code based on the sixth downward-looking image, determining the positional relationship between the second upward-looking camera and the upward-looking identification code based on the third upward-looking image, determining the position xy of the second upward-looking camera in the vehicle body coordinate system and the angle deg between the second upward-looking camera and the forward direction of the second vehicle based on the positional relationship between the second downward-looking camera and the downward-looking identification code, the positional relationship between the second upward-looking camera and the upward-looking identification code, and the positional relationship between the upward-looking identification code and the downward-looking identification code, wherein xydeg of the second upward-looking camera at the low height is equal to [p d *(d pd ) -1 ] -1 *(p c *p u ).

[0151] Step S615: Verify the calibration result of looking up at low altitude at low altitude

[0152] The second vehicle stops at the first preset position, that is, at the corresponding downward-looking calibration code under the low-height tooling. After the vehicle rotates 90 degrees, the coordinates of the second downward-looking camera and the second upward-looking camera in the coordinate system of the downward-looking identifier and the upward-looking identifier code are obtained respectively. Then, the position p of the upward-looking code relative to the downward-looking code is calculated according to the algorithm in step S609. 90 =[p d *(d pd ) -1 ]*[p u *(d pu ) -1 ] -1 , compared with p 90 It can be verified by comparing it with the calibration result p in "Calibrate low (high) height upper and lower code positions".

[0153] Step S616: The second vehicle moves to a second preset position, ie, the downward-looking identification code corresponding to the high-altitude tooling.

[0154] Step S617: At high altitude, calibrate the upward-looking height of the second vehicle. Calibrate the position of the second upward-looking camera in the vehicle coordinate system and the angle between the second upward-looking camera and the second vehicle's forward direction to obtain the upward-looking height xydeg. Verify the calibration results. The calibration and verification methods are the same as those for steps S612 to S616.

[0155] It should be noted that the steps shown in the above process or the flowcharts in the accompanying drawings can be executed in a computer system, such as a set of computer-executable instructions. Moreover, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in a different order than shown. For example, the determination of whether the current vehicle is the first vehicle to be calibrated can be advanced in step 605.

[0156] This embodiment also provides a boot device for implementing the above-mentioned embodiments and preferred embodiments. Details already described will not be repeated. The terms "module," "unit," "subunit," etc. used below may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0157] Figure 10 is a structural block diagram of the boot device of this embodiment, such as Figure 10 As shown, the device includes: an AGV vehicle and a control unit, wherein the AGV vehicle is connected to the control unit; the AGV vehicle includes an upward-looking camera and a downward-looking camera; and the control unit is used to execute the vehicle calibration method in the above embodiment.

[0158] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0159] In this embodiment, a guidance system is also provided, including a tooling equipment and a guiding device of the guiding device, wherein the tooling equipment includes an upward-looking identification and a downward-looking identification set; the upward-looking identification includes a first upward-looking identification code and a second upward-looking identification code, wherein the first upward-looking identification code and the second upward-looking identification code are at different heights from the ground; the downward-looking identification set includes multiple downward-looking identification codes, and the multiple downward-looking identification codes are arranged on the ground along a preset route.

[0160] This embodiment further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0161] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0162] Optionally, in this embodiment, the processor may be configured to execute the following steps through a computer program:

[0163] S201, obtaining multiple frames of first downward-looking images obtained by capturing the downward-looking mark based on the first downward-looking camera, and multiple frames of first upward-looking images obtained by capturing the upward-looking mark based on the first upward-looking camera when the first vehicle rotates at a preset position, determining the position of the first downward-looking camera in the vehicle body coordinate system based on the multiple frames of the first downward-looking images, and determining the position of the first upward-looking camera in the vehicle body coordinate system based on the multiple frames of the first upward-looking images, wherein the first downward-looking camera is arranged at the lower part of the main body of the first vehicle, the first upward-looking camera is arranged at the upper part of the main body of the first vehicle, and the upward-looking mark and the downward-looking mark are arranged relative to each other up and down.

[0164] S202, when the first vehicle moves along a preset route, obtain multiple frames of second downward-looking images obtained by shooting a set of downward-looking markers along the preset route based on the first downward-looking camera, and determine the angle between the first downward-looking camera and the forward direction of the first vehicle based on the multiple frames of the second downward-looking images, wherein the set of downward-looking markers includes multiple downward-looking markers, and the multiple downward-looking markers are arranged along the preset route.

[0165] S203, when the first vehicle stops at a preset position, obtain a third downward-looking image obtained based on the first downward-looking camera shooting the downward-looking mark, and a second upward-looking image obtained based on the first upward-looking camera shooting the upward-looking mark, determine the positional relationship between the first downward-looking camera and the downward-looking mark according to the third downward-looking image, determine the positional relationship between the first upward-looking camera and the upward-looking mark according to the second upward-looking image, and determine the angle between the first upward-looking camera and the forward direction of the first vehicle according to the positional relationship between the first downward-looking camera and the downward-looking mark, the positional relationship between the first upward-looking camera and the upward-looking mark, and the position of the first downward-looking camera in the vehicle body coordinate system.

[0166] It should be noted that, for specific examples in this embodiment, reference may be made to the examples described in the above embodiments and optional implementation modes, and will not be repeated in this embodiment.

[0167] It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0168] Obviously, the accompanying drawings are merely examples or embodiments of the present application. A person skilled in the art can also apply the present application to other similar situations based on these drawings without inventive effort. Furthermore, it is understandable that, although the work involved in this development process may be complex and lengthy, certain design, manufacturing, or production changes based on the technical content disclosed in this application are merely routine technical means for a person skilled in the art and should not be considered to constitute a deficiency in the disclosure of the present application.

[0169] The term "embodiment" as used in this application refers to specific features, structures, or characteristics described in conjunction with the embodiment that can be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily mean that the embodiment is the same, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. It is understood, either explicitly or implicitly, by those skilled in the art that the embodiments described in this application can be combined with other embodiments when there is no conflict.

[0170] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A vehicle calibration method, characterized in that: include: Acquire multiple frames of first downward-looking images obtained based on the first downward-looking camera photographing the downward-looking mark, and multiple frames of first upward-looking images obtained based on the first upward-looking camera photographing the upward-looking mark when the first vehicle rotates at a preset position, determine the position of the first downward-looking camera in the vehicle body coordinate system based on the multiple frames of first downward-looking images, and determine the position of the first upward-looking camera in the vehicle body coordinate system based on the multiple frames of first upward-looking images, wherein the first downward-looking camera is arranged at the lower part of the main body of the first vehicle, the first upward-looking camera is arranged at the upper part of the main body of the first vehicle, and the upward-looking mark and the downward-looking mark are arranged relative to each other in upper and lower directions; acquire multiple frames of first downward-looking images obtained by the first downward-looking camera photographing the downward-looking mark, and determine the wheelbase of the first vehicle based on the multiple frames of first downward-looking images; Acquire, when the first vehicle moves along a preset route, a plurality of frames of second downward-looking images obtained by capturing a set of downward-looking markers along the preset route by the first downward-looking camera, and determine, based on the plurality of frames of second downward-looking images, an angle between the first downward-looking camera and the forward direction of the first vehicle, wherein the set of downward-looking markers includes a plurality of downward-looking markers arranged along the preset route; acquire, when the first vehicle moves along the preset route, a mileage and a number of wheel rotations of the first vehicle along the preset route, and calculate the wheel diameter of the first vehicle based on the mileage and the number of wheel rotations; Obtain a third downward-view image based on the first downward-view camera shooting the downward-view mark, and a second upward-view image based on the first upward-view camera shooting the upward-view mark when the first vehicle stops at the preset position. Determine the positional relationship between the first downward-view camera and the downward-view mark according to the third downward-view image, determine the positional relationship between the first upward-view camera and the upward-view mark according to the second upward-view image, determine the angle between the first upward-view camera and the forward direction of the first vehicle according to the positional relationship between the first downward-view camera and the downward-view mark, the positional relationship between the first upward-view camera and the upward-view mark, and the position of the first downward-view camera in the vehicle body coordinate system; determine the positional relationship between the relatively arranged upward-view mark and the downward-view mark according to the position of the first downward-view camera in the vehicle body coordinate system, the position of the first upward-view camera in the vehicle body coordinate system, the positional relationship between the first downward-view camera and the downward-view mark, and the positional relationship between the first upward-view camera and the upward-view mark.

2. The vehicle calibration method according to claim 1, characterized in that: After calibrating the first vehicle, the method further includes: acquiring a plurality of fourth downward-looking images obtained by capturing the downward-looking marker by a second downward-looking camera when the second vehicle rotates at the preset position, and determining a position of the second downward-looking camera in a vehicle body coordinate system based on the plurality of fourth downward-looking images, wherein the second downward-looking camera is disposed at a lower portion of a main body of the second vehicle; acquiring, when the second vehicle moves along the preset route, a plurality of frames of fifth downward-looking images obtained by photographing a plurality of downward-looking markers along the preset route by the second downward-looking camera, and determining, based on the plurality of frames of fifth downward-looking images, an angle between the second downward-looking camera and a moving direction of the second vehicle; Obtain when the second vehicle stops at the preset position, based on the sixth downward-view image obtained by the second downward-view camera shooting the downward-looking mark, and the third upward-view image obtained by the second upward-view camera shooting the upward-looking mark, determine the positional relationship between the second downward-view camera and the downward-looking mark according to the sixth downward-view image, determine the positional relationship between the second upward-view camera and the upward-looking mark according to the third upward-view image, and based on the positional relationship between the second downward-looking camera and the downward-looking mark, the positional relationship between the second upward-view camera and the upward-looking mark, and the positional relationship between the upward-looking mark and the downward-looking mark, determine the position of the second upward-looking camera in the vehicle body coordinate system, and the angle between the second upward-looking camera and the forward direction of the second vehicle.

3. The vehicle calibration method according to claim 2, characterized in that: The method further comprises: controlling the second vehicle to rotate at the preset position, and when the second vehicle rotates through a preset angle, obtaining a seventh downward-view image based on the second downward-view camera photographing the downward-view mark, and obtaining a fourth upward-view image based on the second upward-view camera photographing the upward-view mark; determining a positional relationship between the second downward-looking camera and the downward-looking marker based on the seventh downward-looking image, and determining a positional relationship between the second upward-looking camera and the upward-looking marker based on the fourth upward-looking image; The positional relationship between the upward-looking marker and the downward-looking marker is verified based on the currently determined positional relationship between the second downward-looking camera and the downward-looking marker and the currently determined positional relationship between the second upward-looking camera and the upward-looking marker.

4. The vehicle calibration method according to any one of claims 1 to 3, characterized in that: The upward-view identification includes a first upward-view identification code and a second upward-view identification code, and the first upward-view identification code and the second upward-view identification code are at different heights from the ground.

5. A guiding device, characterized in that: include: An AGV vehicle and a control unit, wherein the AGV vehicle and the control unit are connected; The AGV vehicle includes an upward-looking camera and a downward-looking camera; The control unit is configured to execute the vehicle calibration method according to any one of claims 1 to 4.

6. A guidance system, characterized in that: comprising a tooling device and the guiding device according to claim 5, wherein the tooling device comprises a set of upward-looking markers and downward-looking markers; The upward-viewing identification includes a first upward-viewing identification code and a second upward-viewing identification code, wherein the first upward-viewing identification code and the second upward-viewing identification code are at different heights from the ground; The downward-looking identification set includes a plurality of downward-looking identification codes, and the plurality of downward-looking identification codes are arranged on the ground along a preset route.

7. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to perform the vehicle calibration method according to any one of claims 1 to 4.

Images