Automatic loading device, method, computer-readable storage medium, and electronic device

Abstract

The present disclosure relates to an automatic loading device, method, computer-readable storage medium and electronic device, wherein the device includes: a visual detection device for acquiring an image of the feed port of an ash tanker, and determining the imaging coordinates of the feed port of the ash tanker based on the image of the feed port of the ash tanker, and determining the corrected coordinates of the feed port of the ash tanker based on the imaging coordinates and a preset coordinate correction model; a robotic arm device connected to a discharge pipe of an ash bin, and used to move the discharge pipe; a robotic arm control device connected to the visual detection device and the robotic arm device, and used to control the robotic arm device to move the discharge pipe to the corrected coordinates. The purpose of the present disclosure is to provide an automatic loading device, method, computer-readable storage medium and electronic device, which automatically align the position of the discharge pipe with the feed port of the ash tanker, thereby improving the loading efficiency of the ash tanker.

Description

Technical Field

[0001] The present disclosure relates to the technical field of power plant ash transfer, and in particular to an automatic charging device, method, computer-readable storage medium, and electronic device. Background Art

[0002] Thermal power plants generate large amounts of ash during operation. Related technologies use ash tankers to transport and transfer the ash. First, a worker directs the tanker to position itself directly below the ash bin outlet, aligning the outlet with the tanker's feed port. Finally, a worker opens the outlet valve to transfer the ash from the bin to the tanker. Once loading is complete, the worker closes the outlet valve.

[0003] This method of ash transfer requires repeated adjustment of the position of the ash tanker so that the feed port of the ash tanker is roughly located directly below the ash outlet of the ash bin, which results in a slow filling speed. Summary of the Invention

[0004] To overcome the problems existing in the related art, the present disclosure provides an automatic loading device, method, computer-readable storage medium and electronic device.

[0005] According to a first aspect of an embodiment of the present disclosure, there is provided an automatic loading device, comprising:

[0006] A visual inspection device, configured to acquire an image of the feed port of the ash tanker, determine the imaging coordinates of the feed port of the ash tanker based on the image of the feed port of the ash tanker, and determine the corrected coordinates of the feed port of the ash tanker based on the imaging coordinates and a preset coordinate correction model;

[0007] a robotic arm device connected to a discharge pipe of the ash bin and used to move the discharge pipe;

[0008] A robotic arm control device is connected to the visual detection device and the robotic arm device, and is used to control the robotic arm device to move the discharge pipe to the corrected coordinates.

[0009] Optionally, the visual detection device includes:

[0010] a pixel coordinate determining unit, configured to determine the pixel coordinates of the ash tanker feed port in a world coordinate system based on the ash tanker feed port image;

[0011] A camera coordinate determination unit, configured to determine the camera coordinates of the feed port of the ash tanker in a camera coordinate system according to the pixel coordinates and a preset first coordinate conversion strategy;

[0012] An imaging coordinate determining unit is used to determine the imaging coordinates of the feed port of the ash tanker in the focal plane coordinate system according to the camera coordinates and a preset second coordinate conversion strategy.

[0013] Optionally, the coordinate correction model is expressed as:

[0014]

[0015]

[0016] Among them, x u and y u Indicates the corrected coordinates, x d and y d represents the imaging coordinates, e x Represents the lens distortion coefficient in the x direction, e y represents the lens distortion coefficient in the y direction, and k1, k2, p1, and p2 represent correction coefficients.

[0017] Optionally, the lens distortion coefficient e x and the lens distortion coefficient e y for:

[0018]

[0019]

[0020] Among them, e x Represents the lens distortion coefficient in the x direction, e y Indicates the lens distortion coefficient in the y direction, x d and y d represents the imaging coordinates, and p1 and p2 represent the correction coefficients.

[0021] Optionally, the robotic arm device includes a support, a first articulated arm, and a second articulated arm;

[0022] One end of the first articulated arm is movably connected to the support, the other end of the first articulated arm is movably connected to one end of the second articulated arm, and the other end of the second articulated arm is fixedly connected to the discharge pipe.

[0023] According to a second aspect of an embodiment of the present disclosure, there is provided an automatic loading method, which is applied to the automatic loading device described in any one of the first aspects of the present disclosure, the method comprising the following steps:

[0024] Acquire an image of the feed port of the ash tanker, and determine the imaging coordinates of the feed port of the ash tanker according to the image of the feed port of the ash tanker;

[0025] Determining the corrected coordinates of the feed port of the ash tanker according to the imaging coordinates and a preset coordinate correction model;

[0026] Control the robotic arm device to move the discharge pipe to the corrected coordinates.

[0027] Optionally, determining the imaging coordinates of the ash tanker feed port according to the ash tanker feed port image includes:

[0028] Determining the pixel coordinates of the ash tanker feed port in the world coordinate system according to the ash tanker feed port image;

[0029] Determine the camera coordinates of the ash tanker feed port in the camera coordinate system according to the pixel coordinates and a preset first coordinate conversion strategy;

[0030] The imaging coordinates of the ash tanker feed port in the focal plane coordinate system are determined according to the camera coordinates and a preset second coordinate conversion strategy.

[0031] Optionally, the coordinate correction model is expressed as:

[0032]

[0033]

[0034] Among them, x u and y u Indicates the corrected coordinates, x d and y d represents the imaging coordinates, e x Represents the lens distortion coefficient in the x direction, e y represents the lens distortion coefficient in the y direction, and k1, k2, p1, and p2 represent correction coefficients.

[0035] According to a third aspect of an embodiment of the present disclosure, a non-temporary computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the method described in the second aspect of the present disclosure are implemented.

[0036] According to a fourth aspect of the embodiments of the present disclosure, there is provided an electronic device, including:

[0037] processor;

[0038] a memory for storing processor-executable instructions;

[0039] Wherein, the processor is configured to:

[0040] Execute the steps of the method described in the second aspect.

[0041] Through the above technical solution, the automatic loading equipment can accurately determine the coordinates of the ash tank truck's feed port based on the ash tank truck's feed port image and coordinate correction model, and automatically control the robotic arm device to automatically align the discharge pipe with the ash tank truck's feed port. No human intervention is required throughout the process, and the ash tank truck driver does not need to repeatedly adjust the position of the ash tank truck's feed port, which effectively improves loading efficiency.

[0042] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following detailed description, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0044] Figure 1 is a block diagram of an automatic loading device according to an exemplary embodiment;

[0045] Figure 2 is a structural schematic diagram of an automatic loading device according to an exemplary embodiment;

[0046] Figure 3 is a bottom view of an automatic loading device according to an exemplary embodiment;

[0047] Figure 4 is a bottom view of an automatic loading device according to an exemplary embodiment;

[0048] Figure 5 is a bottom view of an automatic loading device according to an exemplary embodiment;

[0049] Figure 6 is a schematic flow chart of an automatic loading method according to an exemplary embodiment;

[0050] Figure 7 The figure is a schematic structural diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0051] The following describes the specific embodiments of the present disclosure in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure and are not intended to limit the present disclosure.

[0052] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the corresponding data protection laws and policies of the country where they are located and with the authorization given by the owner of the corresponding device.

[0053] As mentioned in the background technology, a large amount of ash is generated during the operation of a thermal power plant. In the related technology, the ash is transported and transferred by using ash tank trucks for loading. That is, first, a worker directs the ash tank truck to move to the bottom of the ash outlet of the ash bin, and makes the ash tank truck feed port roughly located directly below the ash outlet of the ash bin. Then, the worker adjusts and aligns the discharge pipe 4 of the ash outlet of the ash bin with the feed port of the ash tank truck. Finally, the worker opens the ash outlet valve of the ash outlet of the ash bin and transfers the ash in the ash bin 1 to the ash tank truck. When the loading is completed, the worker closes the ash outlet valve of the ash outlet of the ash bin. This method of ash transfer requires repeated adjustment of the position of the ash tank truck to make the ash tank truck feed port roughly located directly below the ash outlet of the ash bin, which has the problem of slow filling speed.

[0054] To address the aforementioned technical issues, the inventors first proposed using a visual camera and a robotic arm device 2 to replace manual labor in connecting the discharge pipe 4 to the ash tanker's feed port. Specifically, the visual camera captures the location of the ash tanker's feed port, and then controls the robotic arm device 2 to move the discharge pipe 4 to the location of the ash tanker's feed port. However, in actual operation, it was discovered that due to the distortion of the image signal captured by the visual camera, in the ash storage environment, this distortion would increase the motion error of the robotic arm device 2, resulting in the discharge pipe 4 and the ash tanker's feed port being out of alignment, seriously affecting the loading efficiency of the ash tanker.

[0055] In view of this, the inventors proposed an automatic loading device, method, computer-readable storage medium and electronic device, which corrects the position of the ash tank truck's feed port obtained by the visual camera so that the discharge pipe 4 and the center of the ash tank truck's feed port can be in a straight line, thereby improving the loading efficiency of the ash tank truck.

[0056] The following further explains the embodiments of the present disclosure with reference to the accompanying drawings.

[0057] Figure 1 is a block diagram of an automatic loading device according to an exemplary embodiment. Figure 1 As shown, the automatic loading equipment may include:

[0058] The visual inspection device 3 is used to obtain an image of the feed port of the ash tanker, determine the imaging coordinates of the feed port of the ash tanker based on the image of the feed port of the ash tanker, and determine the corrected coordinates of the feed port of the ash tanker based on the imaging coordinates and a preset coordinate correction model;

[0059] It should be understood that in the field of machine vision, camera calibration is a fundamental step. During the calibration process, three coordinate systems are used: the world coordinate system, the camera coordinate system, and the focal plane coordinate system. The world coordinate system refers to a reference coordinate system selected in the environment to describe the position of the camera and objects; the camera coordinate system refers to a coordinate system with its origin at the optical center of the camera, the z-axis being the optical axis of the camera and perpendicular to the focal plane of the camera; and the focal plane coordinate system refers to a two-dimensional coordinate system with its origin at the focal point of the camera's optical axis and the focal plane, and the x-axis and y-axis being parallel to the u-axis and v-axis of the image coordinate system, respectively, and in the same direction. This coordinate system is measured in actual physical lengths.

[0060] That is, when the ash tanker enters the predetermined location, the camera in the visual inspection device 3 takes a picture of the location of the ash tanker's loading port. This image is then processed to obtain the pixel coordinates of the ash tanker's loading port. Because the pixel coordinates are in the world coordinate system, they need to be converted to the focal plane coordinate system through calibration. Specifically, according to one embodiment of the present disclosure, the visual inspection device 3 may include:

[0061] a pixel coordinate determining unit, configured to determine the pixel coordinates of the ash tanker feed port in a world coordinate system based on the ash tanker feed port image;

[0062] In a possible embodiment, the pixel coordinate determination unit grids the image of the ash tank truck feed port according to a preset grid size to obtain a gridded feed port image; then selects a corner point of the central grid of the gridded feed port image as the coordinate origin, and finally determines the pixel coordinates of the ash tank truck feed port according to the preset grid size.

[0063] A camera coordinate determination unit, configured to determine the camera coordinates of the feed port of the ash tanker in a camera coordinate system according to the pixel coordinates and a preset first coordinate conversion strategy;

[0064] In a possible implementation, the first coordinate transformation strategy is to multiply the pixel coordinates by the rotation matrix and add the translation matrix. That is, the camera coordinates are obtained according to the following formula:

[0065]

[0066]

[0067]

[0068] Among them, x c ,y c and z c Represents the camera coordinates, R represents the rotation matrix, T represents the translation matrix, x w ,y w and z wIndicates camera coordinates.

[0069] An imaging coordinate determining unit is used to determine the imaging coordinates of the ash tanker feed port in the focal plane coordinate system according to the camera coordinates and a preset second coordinate conversion strategy.

[0070] In a possible implementation, the second coordinate transformation strategy is the product of the coordinate ratio and the focal length of the camera lens, where the coordinate ratio is the ratio of the x-axis or y-axis to the z-axis of the camera coordinate. That is, the imaging coordinate is obtained according to the following formula:

[0071]

[0072]

[0073] Among them, x d and y d represents the imaging coordinates, and f represents the focal length of the camera lens.

[0074] It should be understood that due to the lens distortion of the camera in the visual inspection device 3, there will be errors between the imaging coordinates obtained by the visual inspection device 3 and the actual coordinates. If the discharge pipe 4 is moved according to these imaging coordinates, the discharge pipe 4 and the center of the ash tanker feed port will not be in a straight line, which will cause the ash in the ash bin 1 to leak out during the process of loading into the ash tanker, affecting the loading efficiency. Therefore, the coordinates can be corrected using a coordinate correction model to overcome the above technical problems. In a possible embodiment, the expression of the coordinate correction model can be:

[0075]

[0076]

[0077] Among them, x u and y u Indicates the corrected coordinates, x d and y d represents the imaging coordinates, e x Represents the lens distortion coefficient in the x direction, e y represents the lens distortion coefficient in the y direction, and k1, k2, p1, and p2 represent correction coefficients.

[0078] It should be understood that the values ​​of k1, k2, p1, and p2 can be set according to actual conditions, and the present disclosure does not impose any restrictions on this. In a possible implementation, k1 = 8.43e-3, k2 = 4.75e-3, p1 = 0.781, and p2 = 1.263.

[0079] After the imaging coordinates are corrected by the above-mentioned coordinate correction model, the problem that the centers of the discharge pipe 4 and the feed port of the ash tank truck are not in a straight line can be effectively reduced.

[0080] Among them, it is worth mentioning that the inventors found in the actual application process that the above-mentioned coordinate correction model can only eliminate part of the deviation between the discharge pipe 4 and the feed port of the ash tanker, and ash leakage will still occur during the loading process. On this basis, the inventors found through a lot of research that the camera in the visual detection device 3 not only has lens distortion, but also has mirror distortion, and the above-mentioned coordinate correction model only considers the error caused by lens distortion, and does not consider the error caused by mirror distortion. Therefore, after the imaging coordinates are corrected by the above-mentioned coordinate correction model, there will still be a small amount of ash leakage. In order to overcome the position error caused by mirror distortion, the inventors have made improvements on the basis of the above-mentioned coordinate correction model and proposed a new coordinate correction model. The coordinate correction model takes into account both lens distortion and mirror distortion to overcome the position error caused by lens distortion and mirror distortion, and further improve the loading efficiency. That is, according to one embodiment of the present disclosure, the expression of the coordinate correction model is:

[0081]

[0082] Among them, x u and y u represents the corrected coordinates, e x Represents the lens distortion coefficient in the x direction, e y Indicates the lens distortion coefficient in the y direction, x d and y d represents the imaging coordinates,

[0083] It should be understood that the lens distortion coefficient e x and the lens distortion coefficient e y It can be set according to actual conditions, and the present disclosure does not impose any restrictions on this. In a possible implementation, the lens distortion coefficient e x and the lens distortion coefficient e y Determined by the following formulas:

[0084]

[0085]

[0086] Among them, e x Represents the lens distortion coefficient in the x direction, e y Indicates the lens distortion coefficient in the y direction, x d and y d represents the imaging coordinates, and p1 and p2 represent the correction coefficients.

[0087] A robotic arm device 2 is connected to the discharge pipe 4 of the ash bin 1 and is used to move the discharge pipe 4;

[0088] The robotic arm control device is connected to the visual inspection device 3 and the robotic arm device 2, and is used to control the robotic arm device 2 to move the discharge pipe 4 to the corrected coordinates.

[0089] To sum up, the automatic loading equipment can accurately determine the coordinates of the ash tank truck's feed port based on the ash tank truck's feed port image and coordinate correction model, and automatically control the robotic arm device 2 to automatically align the discharge pipe 4 with the ash tank truck's feed port. No human intervention is required throughout the process, and the ash tank truck driver does not need to repeatedly adjust the position of the ash tank truck's feed port, which effectively improves the loading efficiency.

[0090] It should be understood that when the ash tanker is poured under the ash outlet of the ash bin, due to the dual influence of environmental factors and human factors, the specific position of the ash tanker under the ash outlet of the ash bin is uncertain, which may deviate greatly from the ideal position or may deviate slightly from the ideal position. If the robotic arm device 2 has only one robotic arm, it is necessary to significantly adjust the position of the robotic arm in order to move the discharge pipe 4 to the corrected coordinates, which will waste a lot of adjustment time and thus affect the loading efficiency. Therefore, in a possible implementation method, in order to improve the adjustment rate, the position of the discharge pipe 4 can be adjusted by cooperating with multiple articulated arms. That is, according to one embodiment of the present disclosure, the robotic arm device 2 may include a support, a first articulated arm and a second articulated arm; one end of the first articulated arm is movably connected to the support, the other end of the first articulated arm is movably connected to one end of the second articulated arm, and the other end of the second articulated arm is fixedly connected to the discharge pipe 4.

[0091] Schematically, the automatic loading equipment is as follows Figure 2 As shown, it includes a visual inspection device 3, a robotic arm device 2 and a robotic arm control device, wherein the robotic arm device 2 includes a support, a first articulated arm and a second articulated arm. Specifically, the ash bin 1 is set on the top of the support, and the visual inspection device 3 is set on the support and located below the grayscale, for obtaining the image of the ash tanker feed port; the robotic arm device 2 is installed on the automatic loading equipment, and the central axis of the robotic arm device 2 is perpendicular to and intersects with the central axis of the automatic loading equipment, that is, when the first articulated arm and the second articulated arm are straightened (the angle between the first articulated arm and the second articulated arm is 0° or 180°), the central axis of the first articulated arm and the second articulated arm is perpendicular to and intersects with the central axis of the automatic loading equipment.

[0092] When it is necessary to control the robotic arm device 2 to move the discharge pipe 4 to the corrected coordinates, the first articulated arm can be controlled to rotate for rough position adjustment, and then the second articulated arm can be controlled to rotate for fine position adjustment, thereby moving the discharge pipe 4 to the corrected coordinates.

[0093] It should be understood that when the feed port of the ash tanker is in the moving area that can be covered by the robotic arm device 2, although the first articulated arm and the second articulated arm can move the discharge pipe 4 to the feed port of the ash tanker no matter how they are rotated, there is always an optimal rotation method that can achieve the alignment of the discharge pipe 4 with the feed port of the ash tanker at the fastest speed. Therefore, in a possible implementation method, in order to further improve the loading efficiency, the first articulated arm and the second articulated arm can be controlled to move the discharge pipe 4 to the feed port of the ash tanker or the corrected coordinates at the minimum rotation angle. Schematically, when the corrected coordinates are in the upper half of the figure (i.e., the preset first area), as shown in FIG. Figure 3 or Figure 4 As shown, the rotation angles of the first articulated arm and the second articulated arm can be respectively:

[0094]

[0095]

[0096] Among them, p a represents the rotation angle of the first joint arm, p b represents the rotation angle of the second joint arm, x u and y u represents the corrected coordinates, F a Indicates the length of the first joint arm, F b Indicates the length of the second joint arm.

[0097] When the corrected coordinates are in the lower half of the figure (i.e., the preset second area), Figure 3 or Figure 5 As shown, the rotation angles of the first articulated arm and the second articulated arm can be respectively:

[0098]

[0099]

[0100] Among them, p a represents the rotation angle of the first joint arm, p b represents the rotation angle of the second joint arm, x u and y u represents the corrected coordinates, F a Indicates the length of the first joint arm, F b represents the length of the second joint arm, and π represents pi.

[0101] Based on the same concept, the embodiment of the present disclosure also provides an automatic loading method, which is applied to the automatic loading equipment described in any of the above embodiments, such as Figure 6 As shown, the method may include the following steps:

[0102] Step 601: Acquire an image of the feed port of the ash tanker, and determine the imaging coordinates of the feed port of the ash tanker according to the image of the feed port of the ash tanker;

[0103] Step 602: determining the corrected coordinates of the feed port of the ash tanker according to the imaging coordinates and a preset coordinate correction model;

[0104] Step 603: Control the robotic arm device 2 to move the discharge pipe 4 to the corrected coordinates.

[0105] Optionally, determining the imaging coordinates of the ash tanker feed port according to the ash tanker feed port image may include:

[0106] Determining the pixel coordinates of the ash tanker feed port in the world coordinate system according to the ash tanker feed port image;

[0107] Determine the camera coordinates of the ash tanker feed port in the camera coordinate system according to the pixel coordinates and a preset first coordinate conversion strategy;

[0108] The imaging coordinates of the ash tanker feed port in the focal plane coordinate system are determined according to the camera coordinates and a preset second coordinate conversion strategy.

[0109] Optionally, the coordinate correction model may be expressed as:

[0110]

[0111]

[0112] Among them, x u and y u Indicates the corrected coordinates, x d and y d represents the imaging coordinates, e x Represents the lens distortion coefficient in the x direction, e y represents the lens distortion coefficient in the y direction, and k1, k2, p1, and p2 represent correction coefficients.

[0113] Optionally, the lens distortion coefficient e x and the lens distortion coefficient e y It can be:

[0114]

[0115]

[0116] Among them, e x Represents the lens distortion coefficient in the x direction, e y Indicates the lens distortion coefficient in the y direction, xd and y d represents the imaging coordinates, and p1 and p2 represent the correction coefficients.

[0117] In summary, the automatic loading method can accurately determine the coordinates of the ash tank truck's feed port based on the ash tank truck's feed port image and coordinate correction model, and automatically control the robotic arm device 2 to automatically align the position of the discharge pipe 4 with the ash tank truck's feed port. No human intervention is required throughout the process, and the ash tank truck driver does not need to repeatedly adjust the position of the ash tank truck's feed port, which effectively improves the loading efficiency.

[0118] Figure 7 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Figure 7 As shown, the electronic device 700 may include: a processor 701 , a memory 702 , and may further include one or more of a multimedia component 703 , an input / output (I / O) interface 704 , and a communication component 705 .

[0119] The processor 701 is used to control the overall operation of the electronic device 700 to complete all or part of the steps in the above-mentioned automatic loading method. The memory 702 is used to store various types of data to support the operation of the electronic device 700. Such data may include, for example, instructions for any application or method operating on the electronic device 700, as well as application-related data, such as contact information, sent and received messages, pictures, audio, video, etc. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 703 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 702 or sent via the communication component 705. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 704 provides an interface between the processor 701 and other interface modules. The above-mentioned other interface modules may be a keyboard, a mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more thereof, is not limited here. Therefore, the corresponding communication component 705 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0120] In an exemplary embodiment, the electronic device 700 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-mentioned automatic loading method.

[0121] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided. When executed by a processor, the program instructions implement the steps of the automatic loading method described above. For example, the computer-readable storage medium may be the aforementioned memory 702 including the program instructions. The program instructions may be executed by the processor 701 of the electronic device 700 to perform the automatic loading method described above.

[0122] In another exemplary embodiment, a computer program product is provided. The computer program product includes a computer program executable by a programmable device, and has a code portion for executing the above-mentioned automatic charging method when executed by the programmable device.

[0123] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the scope of protection of the present disclosure.

[0124] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0125] In addition, the various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. An automatic loading device, characterized in that: include: A visual inspection device, configured to acquire an image of the feed port of the ash tanker, determine the imaging coordinates of the feed port of the ash tanker based on the image of the feed port of the ash tanker, and determine the corrected coordinates of the feed port of the ash tanker based on the imaging coordinates and a preset coordinate correction model; a robotic arm device connected to a discharge pipe of the ash bin and used to move the discharge pipe; a robotic arm control device, connected to the visual inspection device and the robotic arm device, and configured to control the robotic arm device to move the discharge pipe to the corrected coordinates; Wherein, the visual detection device includes: a pixel coordinate determining unit, configured to determine the pixel coordinates of the ash tanker feed port in a world coordinate system based on the ash tanker feed port image; A camera coordinate determination unit, configured to determine the camera coordinates of the feed port of the ash tanker in a camera coordinate system according to the pixel coordinates and a preset first coordinate conversion strategy; An imaging coordinate determining unit, configured to determine the imaging coordinates of the feed port of the ash tanker in a focal plane coordinate system according to the camera coordinates and a preset second coordinate conversion strategy; The expression of the coordinate correction model is: in, and represents the corrected coordinates, and represents the imaging coordinates, express The lens distortion coefficient in the direction, express The lens distortion coefficient in the direction, , , as well as Indicates the correction factor.

2. The automatic loading equipment according to claim 1, characterized in that: Lens distortion coefficient and lens distortion coefficient for: ； 。 3. The automatic loading equipment according to claim 1 or 2, characterized in that: The robotic arm device comprises a support, a first articulated arm and a second articulated arm; One end of the first articulated arm is movably connected to the support, the other end of the first articulated arm is movably connected to one end of the second articulated arm, and the other end of the second articulated arm is fixedly connected to the discharge pipe.

4. An automatic loading method, characterized in that: Applicable to the automatic loading equipment according to any one of claims 1 to 3, the automatic loading method comprises the following steps: Acquire an image of the feed port of the ash tanker, and determine the imaging coordinates of the feed port of the ash tanker according to the image of the feed port of the ash tanker; Determining the corrected coordinates of the feed port of the ash tanker according to the imaging coordinates and a preset coordinate correction model; Control the robotic arm device to move the discharge pipe to the corrected coordinates.

5. The automatic loading method according to claim 4, characterized in that: The determining the imaging coordinates of the ash tanker feed port according to the ash tanker feed port image includes: Determining the pixel coordinates of the ash tanker feed port in the world coordinate system according to the ash tanker feed port image; Determine the camera coordinates of the ash tanker feed port in the camera coordinate system according to the pixel coordinates and a preset first coordinate conversion strategy; The imaging coordinates of the ash tanker feed port in the focal plane coordinate system are determined according to the camera coordinates and a preset second coordinate conversion strategy.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the automatic loading method according to claim 4 or 5 are implemented.

7. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the automatic loading method according to claim 4 or 5.

Images