Adjustment control method and device of hook arm vehicle and electronic equipment

Abstract

The invention provides an adjustment control method and device for a hook arm vehicle and electronic equipment, and the method comprises the steps: determining that an auxiliary virtual straight line passes through a central point if a first region of a designated side surface of a target garbage can appears in a reversing image and the vertical distance from the central point of a labeling region of a reflective label to the auxiliary virtual straight line is smaller than a first pixel number; and respectively calculating a difference value between a first distance from the plurality of specified pixel points to the first angular point and a second distance from the plurality of specified pixel points to the second angular point, so that the back-up hook hooks the hook arm ring. According to the mode, the reflective label is arranged on the designated side face of the target garbage can, so that a driver can quickly recognize the position of the hook arm ring through a reversing image; after it is determined that the auxiliary virtual straight line penetrates through the center point of the labeling area, the difference value of the first distance and the second distance corresponding to each designated pixel point is calculated, a driver can be guided to adjust the driving direction of the hook arm vehicle, the driver is helped to rapidly transfer a dustbin to the hook arm vehicle, the workload of the driver is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to an adjustment control method, device and electronic equipment for a hook boom vehicle. Background Art

[0002] The hook-arm truck is a relatively new type of garbage loading vehicle used for garbage collection and transportation. Existing hook-arm trucks are usually equipped with reversing images and reversing radars, which can help the driver align the reversing hook of the hook-arm truck with the hook-arm ring on the garbage bin when reversing. However, in the related art, during the docking process of the reversing hook and the hook-arm ring, the X-axis direction of the hook-arm truck (referring to the longitudinal direction of the hook-arm truck) and the X-axis direction of the garbage bin (referring to the vertical direction of the side where the hook-arm ring on the garbage bin is located) are usually at a certain angle and do not overlap. Even if the reversing hook is hooked on the hook-arm ring, the garbage bin cannot be smoothly loaded onto the vehicle due to inconsistent directions, and repeated attempts are required, which increases the driver's workload and reduces work efficiency. Summary of the invention

[0003] The object of the present invention is to provide an adjustment control method, device and electronic equipment for a hook boom truck, so as to reduce the workload of the driver and improve the working efficiency.

[0004] The present invention provides an adjustment and control method for a hook-arm truck, wherein a camera is installed in the middle position of the rear end of the hook-arm truck, the plane where the lens of the camera is located is perpendicular to the X-axis direction of the hook-arm truck, and the X-axis direction of the hook-arm truck is the longitudinal direction of the hook-arm truck; the method comprises: collecting a reversing image by means of the camera; wherein the reversing image contains an auxiliary virtual straight line; during the adjustment process of the hook-arm truck, if a first area corresponding to a designated side of a target trash bin appears in the reversing image, and within the first area, the vertical distance from the center point of the label area corresponding to the reflective label to the auxiliary virtual straight line is less than a preset first number of pixels, determining that the auxiliary virtual straight line passes through the center point of the label area; wherein a hook arm ring and a reflective label are provided on the designated side. Cursor sticker; respectively calculate the first distances from the multiple designated pixel points on the auxiliary virtual straight line to the first corner point of the first area, and the second distances from the multiple designated pixel points to the second corner point of the first area; wherein the first corner point and the second corner point are two corner points at the upper part of the first area respectively; or, the first corner point and the second corner point are two corner points at the lower part of the first area respectively; for each designated pixel point, calculate the difference between the first distance corresponding to the designated pixel point and the second distance corresponding to the designated pixel point, and obtain the difference result corresponding to the designated pixel point; according to the difference result corresponding to each designated pixel point, guide the driver to adjust the driving direction of the hook arm vehicle so that the reversing hook of the hook arm vehicle hooks the hook arm ring.

[0005] Furthermore, the plurality of designated pixel points are determined in the following manner: starting from the first pixel point on the auxiliary virtual straight line, a plurality of designated pixel points are sequentially selected on the auxiliary virtual straight line at a preset pixel interval.

[0006] Furthermore, according to the difference result corresponding to each of the designated pixel points, the step of guiding the driver to adjust the driving direction of the hook-arm truck so that the reversing hook of the hook-arm truck hooks the hook-arm ring includes: if the first distance corresponding to the designated pixel point is greater than the second distance corresponding to the designated pixel point, generating a first display mark to guide the driver to adjust the driving direction of the hook-arm truck in the first direction; if the first distance corresponding to the designated pixel point is less than the second distance corresponding to the designated pixel point, generating a second display mark to guide the driver to adjust the driving direction of the hook-arm truck in the second direction; when there are at least a continuous preset number of designated pixel points whose corresponding difference results are all less than the preset second number of pixels, determining that the designated side is perpendicular to the X-axis direction of the hook-arm truck; controlling the auxiliary virtual straight line to be displayed in the preset first display mode, so as to guide the driver to reverse the hook-arm truck so that the reversing hook of the hook-arm truck hooks the hook-arm ring.

[0007] Furthermore, after the step of determining that the auxiliary virtual straight line passes through the center point of the label area, the method further includes: generating a shape mark of a specified size with the center point of the label area as the center.

[0008] Furthermore, the step of controlling the auxiliary virtual straight line to be displayed in a preset first display mode to guide the driver to reverse the hook-arm truck and make the reversing hook of the hook-arm truck hook onto the hook-arm ring includes: controlling the auxiliary virtual straight line to be displayed in a preset first display mode to guide the driver to reverse the hook-arm truck; when the distance between the camera and the reflective sticker meets a preset distance range, controlling the shape mark to be displayed in a preset second display mode to prompt the driver to hook the reversing hook of the hook-arm truck onto the hook-arm ring.

[0009] Furthermore, the auxiliary virtual straight line divides the reversing image into two parts, a left part and a right part.

[0010] Furthermore, the reflective label is arranged below the hook arm ring.

[0011] The present invention provides an adjustment control device for a hook-arm truck, wherein a camera is installed in the middle position of the rear end of the hook-arm truck, the plane where the lens of the camera is located is perpendicular to the X-axis direction of the hook-arm truck, and the X-axis direction of the hook-arm truck is the longitudinal direction of the hook-arm truck; the device comprises: a collection module, used for collecting a reversing image through the camera; wherein the reversing image contains an auxiliary virtual straight line; a determination module, used for determining that the auxiliary virtual straight line passes through the center point of the label area if a first area corresponding to a designated side of a target trash bin appears in the reversing image during the adjustment of the hook-arm truck, and within the first area, the vertical distance from the center point of the label area corresponding to the reflective label to the auxiliary virtual straight line is less than a preset first number of pixels; wherein a hook arm ring and a reflective label are provided on the designated side;

[0012] The first calculation module is used to respectively calculate the first distances from multiple designated pixel points on the auxiliary virtual straight line to the first corner point of the first area, and the second distances from the multiple designated pixel points to the second corner point of the first area; wherein the first corner point and the second corner point are respectively two corner points at the top of the first area; or, the first corner point and the second corner point are respectively two corner points at the bottom of the first area; the second calculation module is used to calculate, for each designated pixel point, the difference between the first distance corresponding to the designated pixel point and the second distance corresponding to the designated pixel point, to obtain the difference result corresponding to the designated pixel point; the guiding module is used to guide the driver to adjust the driving direction of the hook arm vehicle according to the difference result corresponding to each designated pixel point, so that the reversing hook of the hook arm vehicle hooks the hook arm ring.

[0013] An electronic device provided by the present invention comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor executes the machine executable instructions to implement any of the above-mentioned methods for adjusting and controlling a hook boom truck.

[0014] The present invention provides a machine-readable storage medium, which stores machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions prompt the processor to implement any of the above-mentioned methods for adjusting and controlling a hook-arm vehicle.

[0015] The adjustment control method, device and electronic device of the hook arm truck provided by the present invention collect the reversing image through the camera; wherein the reversing image contains an auxiliary virtual straight line; during the adjustment process of the hook arm truck, if the first area corresponding to the designated side of the target trash bin appears in the reversing image, and within the first area, the vertical distance from the center point of the label area corresponding to the reflective sticker to the auxiliary virtual straight line is less than a preset first number of pixels, it is determined that the auxiliary virtual straight line passes through the center point of the label area; wherein a hook arm ring and a reflective sticker are provided on the designated side; and the number of times that a plurality of designated pixel points on the auxiliary virtual straight line reach the first area is calculated respectively. The first distance of a corner point, and the second distance of the plurality of designated pixel points to the second corner point of the first area; wherein the first corner point and the second corner point are respectively two corner points of the upper part of the first area; or the first corner point and the second corner point are respectively two corner points of the lower part of the first area; for each designated pixel point, the difference between the first distance corresponding to the designated pixel point and the second distance corresponding to the designated pixel point is calculated to obtain the difference result corresponding to the designated pixel point; according to the difference result corresponding to each designated pixel point, the driver is guided to adjust the driving direction of the hook arm vehicle so that the reversing hook of the hook arm vehicle hooks the hook arm ring. In this method, a reflective label is set on the designated side of the target trash bin, so that the driver can quickly identify the position of the hook arm ring through the reversing image; after determining that the auxiliary virtual straight line passes through the center point of the label area, the driver can be guided to adjust the driving direction of the hook arm vehicle by calculating the difference between the first distance and the second distance corresponding to each designated pixel point, which helps the driver to quickly transfer the trash bin to the hook arm vehicle, reduces the workload of the driver, and improves the work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A flowchart of an adjustment control method of a hook boom vehicle provided by an embodiment of the present invention;

[0018] Figure 2 A schematic diagram of a reversing image provided by an embodiment of the present invention;

[0019] Figure 3 A schematic diagram of another reversing image provided by an embodiment of the present invention;

[0020] Figure 4A schematic diagram of another reversing image provided by an embodiment of the present invention;

[0021] Figure 5 A schematic diagram of another reversing image provided by an embodiment of the present invention;

[0022] Figure 6 A schematic diagram of another reversing image provided by an embodiment of the present invention;

[0023] Figure 7 A schematic structural diagram of an adjustment control device for a hook boom truck provided in an embodiment of the present invention;

[0024] Figure 8 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Hook-arm trucks are relatively new garbage transport vehicles used for garbage collection and transfer. Their use is growing rapidly and their application is expanding. Existing hook-arm garbage transfer trucks are usually equipped with reversing images and reversing radars, which can help the driver hook the reversing hook of the hook-arm truck to the hook arm ring of the garbage collection box when reversing. However, there are still some problems in the actual use of existing reversing images. The positioning accuracy of these devices is limited, and it is difficult for the driver to accurately align the reversing hook with the hook arm ring. Specifically, there are the following problems:

[0027] During the docking process of the reversing hook of the hook arm truck and the hook arm ring, the X-axis direction of the hook arm truck (i.e. the longitudinal direction of the vehicle) and the X-axis direction of the garbage bin (the direction perpendicular to the plane where the hook arm ring is located) do not coincide at a certain angle. Even if the hook is hooked on the hook arm ring, the garbage bin cannot be successfully loaded onto the vehicle due to inconsistent directions. Repeated attempts are required to make the X-axis of the hook arm truck and the X-axis of the garbage bin coincide before the garbage bin can be successfully hooked onto the vehicle.

[0028] During the docking process of the vehicle's reversing hook, the reversing hook and the hook arm ring cannot touch each other and cannot be hooked, resulting in failure of the docking of the hook arm ring. The height difference is easier to make up for by raising and lowering the reversing hook. The lateral difference requires the vehicle to move forward and backward repeatedly to align.

[0029] In summary, in the related art, the complexity of docking the reversing hook with the hook arm ring greatly reduces the working efficiency of the hook arm truck, increases the workload of the operator, and easily causes unreasonable contact and collision between the garbage bin and the hook arm truck, causing damage to the garbage bin or the hook arm truck, and reducing the service life of both. Based on this, the embodiment of the present invention provides an adjustment control method, device and electronic equipment for a hook arm truck, which can be applied to the scene of a hook arm truck transporting a garbage bin.

[0030] To facilitate understanding of this embodiment, we first introduce a method for adjusting and controlling a hook-arm truck disclosed in an embodiment of the present invention. A camera is installed in the middle position of the rear of the hook-arm truck. The plane where the camera lens is located is perpendicular to the X-axis direction of the hook-arm truck. The X-axis direction of the hook-arm truck is the longitudinal direction of the hook-arm truck. The middle position of the rear of the vehicle can be the middle of the last crossbeam of the vehicle frame. In actual implementation, a camera can be installed at this position, and the plane where the camera lens is located is perpendicular to the X-axis direction of the hook-arm truck. It can also be understood that when installing the camera, the plane where the camera lens is located must be parallel to the rear plane corresponding to the rear of the vehicle to ensure the accuracy of subsequent adjustment and control of the hook-arm truck. Figure 1 As shown, the method comprises the following steps:

[0031] Step S102, collecting a reversing image through a camera; wherein the reversing image includes an auxiliary virtual straight line;

[0032] The above-mentioned reversing image can clearly display the situation behind the vehicle on the reversing LCD screen, helping the driver to accurately grasp the situation behind the vehicle; the line width, color, etc. of the above-mentioned auxiliary virtual straight line can be set according to actual needs, for example, the line width can be three pixels, the color can be red, etc.; in actual practice, when it is necessary to transport the garbage bin by a hook arm truck, the reversing image can be collected by the camera installed at the rear of the vehicle, which includes an auxiliary virtual straight line.

[0033] Step S104, during the adjustment process of the hook arm vehicle, if a first area corresponding to the designated side of the target trash bin appears in the reversing image, and in the first area, the vertical distance from the center point of the label area corresponding to the reflective label to the auxiliary virtual straight line is less than a preset first number of pixels, it is determined that the auxiliary virtual straight line passes through the center point of the label area; wherein the hook arm ring and the reflective label are provided on the designated side;

[0034] The above-mentioned target trash bin can be understood as the trash bin to be transferred; the above-mentioned designated side specifically refers to the side of the target trash bin provided with the hook arm ring and the reflective label, that is, the hook arm ring and the reflective label are arranged on the same designated side, wherein the hook arm ring is usually a lifting ring installed on the designated side of the trash bin, and after the reversing hook of the hook arm truck hooks the hook arm ring, the target trash bin can be lifted and transferred to the hook arm truck; the above-mentioned reflective label is usually a reflective material with adhesive backing, which can reflect light at night or in low light conditions to improve the visibility of the target trash bin; the size and shape of the reflective label can be determined according to the actual situation. The first number of pixels can be set according to actual needs, for example, it can be a square of 20cm×20cm, etc.; the above-mentioned first number of pixels can be set according to actual needs, for example, it can be 6 pixels, etc.; in actual implementation, when the driver adjusts the hook arm vehicle, if the first area corresponding to the designated side of the target trash can appears in the reversing image, the first area will display the label area corresponding to the hook arm ring and the reflective label set on the designated side. When the shortest distance from the center point of the label area to the auxiliary virtual straight line is less than the first number of pixels, such as less than 6 pixels, it can be considered that the auxiliary virtual straight line passes through the center point of the label area.

[0035] Step S106, respectively calculating a first distance from a plurality of designated pixel points on the auxiliary virtual straight line to a first corner point of the first region, and a second distance from a plurality of designated pixel points to a second corner point of the first region; wherein the first corner point and the second corner point are two corner points at the upper part of the first region, respectively; or, the first corner point and the second corner point are two corner points at the lower part of the first region, respectively;

[0036] The above-mentioned multiple designated pixel points can be selected according to actual needs. For example, multiple designated pixel points can be selected in sequence from the auxiliary virtual straight line according to a preset pixel interval. In actual implementation, the shape of the designated side of the target trash can is usually a quadrilateral, such as a rectangle, and the shape of the first area corresponding to the designated side is usually also a quadrilateral. The first area of ​​the rectangular shape has two corner points at the top and two corner points at the bottom. In one embodiment, the above-mentioned first corner point can be the upper left corner point, and the second corner point can be the upper right corner point. In another embodiment, the above-mentioned first corner point can be the lower left corner point, and the second corner point can be It is the lower right corner point; the first corner point and the second corner point can be marked with special colors respectively, for example, they can be marked with bright yellow, the diameters of the two corner points can be set according to actual needs, for example, they can be 5 pixels respectively, the two corner points can be connected by a dotted line, the color of the dotted line can be yellow, etc., and the line width of the dotted line can be set according to actual needs, for example, it can be 3 pixels, etc.; in actual implementation, for each specified pixel point, the first distance from the specified pixel point to the first corner point and the second distance from the specified pixel point to the second corner point can be calculated respectively.

[0037] Step S108, for each designated pixel point, calculating the difference between the first distance corresponding to the designated pixel point and the second distance corresponding to the designated pixel point, to obtain a difference result corresponding to the designated pixel point;

[0038] In actual implementation, for each designated pixel point, the first distance corresponding to the designated pixel point may be greater than, less than or equal to the second distance corresponding to the designated pixel point, and the difference between the first distance and the second distance can be calculated to obtain the difference result.

[0039] Step S110, guiding the driver to adjust the driving direction of the hook-arm truck according to the difference result corresponding to each designated pixel point, so that the reversing hook of the hook-arm truck is hooked on the hook-arm ring.

[0040] In actual implementation, after the difference result corresponding to each specified pixel point is calculated, the driver can be guided to adjust the driving direction of the hook arm truck according to each difference result. For example, the driver can be guided to turn the steering wheel left, right or reverse, etc., so that the reversing hook of the hook arm truck can finally hook the hook arm ring on the target trash can.

[0041] The above-mentioned hook arm vehicle adjustment control method collects a reversing image through a camera; wherein the reversing image includes an auxiliary virtual straight line; during the adjustment process of the hook arm vehicle, if a first area corresponding to a designated side of the target trash bin appears in the reversing image, and in the first area, the vertical distance from the center point of the label area corresponding to the reflective sticker to the auxiliary virtual straight line is less than a preset first number of pixels, the auxiliary virtual straight line passes through the center point of the label area; wherein a hook arm ring and a reflective sticker are provided on the designated side; a first distance from a plurality of designated pixel points on the auxiliary virtual straight line to a first corner point of the first area, and a second distance from a plurality of designated pixel points to a second corner point of the first area are respectively calculated; wherein the first corner point and the second corner point are respectively two corner points of the upper part of the first area; or the first corner point and the second corner point are respectively two corner points of the lower part of the first area; for each designated pixel point, the difference between the first distance corresponding to the designated pixel point and the second distance corresponding to the designated pixel point is calculated to obtain a difference result corresponding to the designated pixel point; according to the difference result corresponding to each designated pixel point, the driver is guided to adjust the driving direction of the hook arm vehicle so that the reversing hook of the hook arm vehicle hooks the hook arm ring. This method sets a reflective label on the designated side of the target trash bin, so that the driver can quickly identify the position of the hook arm ring through the reversing image; after determining that the auxiliary virtual straight line passes through the center point of the label area, by calculating the difference between the first distance and the second distance corresponding to each designated pixel point, the driver can be guided to adjust the driving direction of the hook arm truck, which helps the driver to quickly transfer the trash bin to the hook arm truck, reducing the driver's workload and improving work efficiency.

[0042] The embodiment of the present invention further provides another adjustment control method of a hook boom truck, which is implemented on the basis of the method in the above embodiment, and comprises the following steps:

[0043] Step 1: collecting a reversing image through a camera; wherein the reversing image includes an auxiliary virtual straight line;

[0044] For example, Figure 2 A schematic diagram of a reversing image is shown in FIG. Figure 2 The rectangular frame in is the entire area of ​​the reversing image, and the thick black solid line is an auxiliary virtual straight line, which is located in the middle of the reversing image.

[0045] Step 2: during the adjustment of the hook arm vehicle, if a first area corresponding to the designated side of the target trash bin appears in the reversing image, and in the first area, the vertical distance from the center point of the label area corresponding to the reflective label to the auxiliary virtual straight line is less than a preset first number of pixels, it is determined that the auxiliary virtual straight line passes through the center point of the label area; wherein the hook arm ring and the reflective label are provided on the designated side;

[0046] like Figure 3In another schematic diagram of a reversing image, the reflective marker sticker is set below the hook arm ring. For example, the reflective marker sticker can be pasted 50 cm below the hook arm ring. Of course, the reflective marker sticker can also be pasted at a suitable pasting position according to the specific position of the hook arm ring on the specified side. It can be set according to actual needs and is not limited here. Figure 3 In the figure, the largest rectangle represents the entire area of ​​the reversing image, the smallest rectangle represents the sticker area corresponding to the reflective sticker, and the rectangle of the middle size represents the first area corresponding to the specified side.

[0047] Step three, generating a shape mark of a specified size with the center point of the labeling area as the center.

[0048] The above specified size and shape identifiers can be set according to actual needs, for example, Figure 3 As shown, it can be a circle with the center point of the label area as the center and 30 pixels as the diameter, and the line width of the circle is 3 pixels, etc.; in actual implementation, after determining that the auxiliary virtual straight line passes through the center point of the label area, the center point of the label area can be circled with a shape mark of a specified size, which helps the driver to quickly confirm the position of the label area and thus improve work efficiency. It should be noted that if, during the adjustment of the hook arm vehicle, it is determined that the auxiliary virtual straight line does not pass through the center point of the label area, the shape mark of the specified size will automatically disappear.

[0049] Step 4, respectively calculating a first distance from a plurality of designated pixel points on the auxiliary virtual straight line to a first corner point of the first region, and a second distance from a plurality of designated pixel points to a second corner point of the first region; wherein the first corner point and the second corner point are two corner points at the upper part of the first region, respectively; or, the first corner point and the second corner point are two corner points at the lower part of the first region, respectively;

[0050] The multiple designated pixel points are determined in the following manner: starting from the first pixel point on the auxiliary virtual straight line, multiple designated pixel points are selected in sequence on the auxiliary virtual straight line at a preset pixel interval. The above-mentioned first pixel point can be the pixel point corresponding to the first pixel position starting from the upper end of the auxiliary virtual straight line, or the pixel point corresponding to the first pixel position starting from the lower end of the auxiliary virtual straight line; the above-mentioned preset pixel interval can be set according to actual needs, for example, a pixel point can be selected every 5 pixel points; in actual implementation, multiple designated pixel points can be selected in sequence on the auxiliary virtual straight line at a preset pixel interval; Figure 3 In FIG, the first corner point and the second corner point of the first region are marked with circles respectively, and the two corner points are connected by a gray dotted line.

[0051] Step 5: for each designated pixel point, calculate the difference between the first distance corresponding to the designated pixel point and the second distance corresponding to the designated pixel point to obtain the difference result corresponding to the designated pixel point;

[0052] Step six: if the first distance corresponding to the designated pixel point is greater than the second distance corresponding to the designated pixel point, generate a first display mark to guide the driver to adjust the driving direction of the hook arm vehicle in the first direction;

[0053] The first display mark can be set according to actual needs, for example, Figure 4 Another schematic diagram of the reversing image shown may be an arc-shaped flashing arrow pointing to the right side of the vehicle's forward direction, etc., indicating that in a top-down perspective, the hook arm truck needs to adjust its position in a clockwise direction so that the reversing hook of the hook arm truck can be correctly connected with the hook arm ring.

[0054] Step seven: if the first distance corresponding to the designated pixel point is smaller than the second distance corresponding to the designated pixel point, generate a second display mark to guide the driver to adjust the driving direction of the hook arm vehicle in the second direction;

[0055] The second display mark can be set according to actual needs, for example, Figure 5 Another schematic diagram of the reversing image shown may be an arc-shaped flashing arrow pointing to the left side of the vehicle's forward direction, etc., indicating that in a top-down perspective, the hook arm truck needs to adjust its position in a counterclockwise direction so that the reversing hook of the hook arm truck can be correctly connected with the hook arm ring.

[0056] Step 8: When there are at least a continuous preset number of designated pixel points whose corresponding difference results are all smaller than a preset second number of pixels, it is determined that the designated side surface is perpendicular to the X-axis direction of the hook boom vehicle;

[0057] The above-mentioned preset number can be set according to actual needs, for example, it can be 6 consecutive designated pixels, etc.; the above-mentioned second number of pixels can be set according to actual needs, for example, it can be 5 pixels, etc.; for example, when the difference results corresponding to 6 consecutive designated pixels are all less than 5 pixels, it can be considered that the X-axis direction of the hook arm vehicle is perpendicular to the designated side of the target trash can.

[0058] The auxiliary virtual straight line divides the reversing image into two parts, the left and the right. It can be understood that the auxiliary virtual straight line may be perpendicular to the line between the first corner point and the second corner point, or may not be perpendicular to the line between the first corner point and the second corner point. Figure 6 In the schematic diagram of another reversing image shown, when the difference result corresponding to each designated pixel point is zero, the virtual auxiliary straight line is a straight line perpendicular to the upper edge and the lower edge of the reversing image.

[0059] Step nine, controlling the auxiliary virtual straight line to be displayed in a preset first display mode to guide the driver to reverse the hook-arm truck so that the reversing hook of the hook-arm truck is hooked onto the hook-arm ring.

[0060] The above-mentioned first display mode can be set according to actual needs; in actual implementation, when it is determined that the X-axis direction of the hook arm truck is perpendicular to the designated side of the target trash can, the color brightness of the auxiliary virtual straight line can be controlled to change at 1.5Hz to form a flashing effect, indicating that in terms of direction, the hook arm truck has reached the standard for the reversing hook and the hook arm ring to be connected. The driver can directly back up and the hook arm truck can be connected to the hook arm ring.

[0061] The step nine can be implemented by following the steps 90 to 91:

[0062] Step 90, controlling the auxiliary virtual straight line to be displayed in a preset first display mode to guide the driver to reverse the hook boom truck;

[0063] Step 91, when the distance between the camera and the reflective label meets the preset distance range, the shape mark is controlled to be displayed in a preset second display mode to prompt the driver to hook the reversing hook of the hook arm vehicle onto the hook arm ring.

[0064] The above-mentioned distance range can be set according to actual needs, for example, it can be 1.65 meters to 1.8 meters, etc.; the above-mentioned second display mode can be set according to actual needs, for example, it can flash or highlight at a preset flashing frequency, etc.; in actual implementation, when the driver drives the hook arm vehicle to back up to the distance between the camera and the reflective marker sticker that meets the preset distance range, the reversing hook of the hook arm vehicle and the hook arm ring can be hooked. At this time, the shape mark can be controlled to be displayed in the second display mode, which can prompt the driver more intuitively, and the reversing hook of the hook arm vehicle and the hook arm ring can be hooked at this time.

[0065] The above-mentioned hook arm vehicle adjustment control method pastes a reflective mark on the lower part of the hook arm ring of the garbage bin, so that the staff can quickly identify the position of the hook arm ring through the reversing image in dim scenes, improve the recognition accuracy of the camera algorithm, and reduce the operation risk caused by unclear vision in dim scenes.

[0066] This method adds a series of intelligent algorithms based on the reversing image of the hook-arm truck, including virtual straight line drawing, edge corner marking, direction adjustment indication and hook operation prompts. These technical means can reduce the workload of the driver and improve the reversing efficiency. It can effectively solve the problem of the difficulty of reversing positioning of the hook-arm truck, help the driver operate the hook-arm truck, and improve the alignment accuracy of the reversing hook and hook arm ring of the hook-arm truck, thereby improving the reversing efficiency and safety, making the entire workflow smoother and more efficient.

[0067] This method only adds reflective stickers to the trash can, the reversing image system is the original vehicle, and the rest is software work, which is low-cost and easy to implement. This method can help drivers solve the problem of hook-arm trucks being difficult to hook. During the vehicle's reversing process, it helps drivers adjust the vehicle's hook position from the perspectives of the vehicle's direction and the point-line distance between the hook point and the trash can. This method can guide the driver to drive the hook-arm truck to the correct position step by step through sound and graphic prompts. It is simple and easy to do, and can achieve reversing after alignment in one step. This method can enable the hook-arm truck and the trash can to achieve precise axis alignment in direction, avoid damage to the hook-arm truck and the trash can caused by misalignment, and avoid the problem of increased risk of the hook-arm truck rolling instability caused by the hook-arm truck and the trash can not meeting the standard. This method can help drivers save time in hooking the reversing hook with the hook-arm ring, reduce labor intensity, improve work efficiency, improve quality of life, and also have economic benefits.

[0068] The embodiment of the present invention provides an adjustment control device for a hook-arm vehicle, wherein a camera is installed at the middle position of the rear of the hook-arm vehicle, and the plane where the lens of the camera is located is perpendicular to the X-axis direction of the hook-arm vehicle, and the X-axis direction of the hook-arm vehicle is the longitudinal direction of the hook-arm vehicle; Figure 7 As shown, the device comprises:

[0069] The acquisition module 70 is used to acquire the reversing image through the camera; wherein the reversing image includes an auxiliary virtual straight line;

[0070] The determination module 71 is used to determine that the auxiliary virtual straight line passes through the center point of the sticker area if a first area corresponding to the designated side of the target trash bin appears in the reversing image during the adjustment of the hook arm vehicle, and the vertical distance from the center point of the sticker area corresponding to the reflective sticker to the auxiliary virtual straight line in the first area is less than a preset first number of pixels; wherein the hook arm ring and the reflective sticker are provided on the designated side;

[0071] A first calculation module 72 is used to calculate a first distance from a plurality of designated pixel points on the auxiliary virtual straight line to a first corner point of the first region, and a second distance from a plurality of designated pixel points to a second corner point of the first region, respectively; wherein the first corner point and the second corner point are two corner points at the upper part of the first region, respectively; or, the first corner point and the second corner point are two corner points at the lower part of the first region, respectively;

[0072] A second calculation module 73 is used to calculate, for each designated pixel point, a difference between a first distance corresponding to the designated pixel point and a second distance corresponding to the designated pixel point, to obtain a difference result corresponding to the designated pixel point;

[0073] The guiding module 74 is used to guide the driver to adjust the driving direction of the hook arm vehicle according to the difference result corresponding to each designated pixel point, so that the reversing hook of the hook arm vehicle is hooked on the hook arm ring.

[0074] The adjustment control device of the above-mentioned hook arm truck is equipped with a reflective label on the designated side of the target garbage bin, which is convenient for the driver to quickly identify the position of the hook arm ring through the reversing image; after determining that the auxiliary virtual straight line passes through the center point of the label area, by calculating the difference between the first distance and the second distance corresponding to each designated pixel point, the driver can be guided to adjust the driving direction of the hook arm truck, which helps the driver to quickly transfer the garbage bin to the hook arm truck, reduces the driver's workload and improves work efficiency.

[0075] Furthermore, the multiple designated pixel points are determined in the following manner: starting from the first pixel point on the auxiliary virtual straight line, multiple designated pixel points are selected in sequence on the auxiliary virtual straight line at a preset pixel interval.

[0076] Furthermore, the guidance module is also used to: if the first distance corresponding to the designated pixel point is greater than the second distance corresponding to the designated pixel point, generate a first display mark to guide the driver to adjust the driving direction of the hook arm truck in the first direction; if the first distance corresponding to the designated pixel point is less than the second distance corresponding to the designated pixel point, generate a second display mark to guide the driver to adjust the driving direction of the hook arm truck in the second direction; when there are at least a continuous preset number of designated pixel points whose corresponding difference results are all less than the preset second number of pixels, determine that the designated side is perpendicular to the X-axis direction of the hook arm truck; control the auxiliary virtual straight line to be displayed in the preset first display mode to guide the driver to reverse the hook arm truck so that the reversing hook of the hook arm truck hooks the hook arm ring.

[0077] Furthermore, the device is also used to generate a shape mark of a specified size with the center point of the label area as the center.

[0078] Furthermore, the guidance module is also used to: control the auxiliary virtual straight line to be displayed in a preset first display mode to guide the driver to reverse the hook arm truck; when the distance between the camera and the reflective marker satisfies a preset distance range, control the shape mark to be displayed in a preset second display mode to prompt the driver to hook the reversing hook of the hook arm truck onto the hook arm ring.

[0079] Furthermore, the auxiliary virtual straight line divides the reversing image into two parts, left and right.

[0080] Furthermore, a reflective label is arranged below the hook arm ring.

[0081] The implementation principle and technical effects of the adjustment control device for the hook arm truck provided in the embodiment of the present invention are the same as those of the aforementioned embodiment of the adjustment control method for the hook arm truck. For the sake of brief description, for matters not mentioned in the embodiment of the adjustment control device for the hook arm truck, reference may be made to the corresponding contents in the aforementioned embodiment of the adjustment control method for the hook arm truck.

[0082] The embodiment of the present invention further provides an electronic device, see Figure 8 As shown, the electronic device includes a processor 130 and a memory 131. The memory 131 stores machine executable instructions that can be executed by the processor 130. The processor 130 executes the machine executable instructions to implement the above-mentioned hook boom vehicle adjustment control method.

[0083] Further, Figure 8 The electronic device shown further includes a bus 132 and a communication interface 133 , and the processor 130 , the communication interface 133 and the memory 131 are connected via the bus 132 .

[0084] The memory 131 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 133 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 132 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0085] The processor 130 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 130. The above processor 130 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present invention can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 131, and the processor 130 reads the information in the memory 131 and completes the steps of the method of the above embodiment in combination with its hardware.

[0086] An embodiment of the present invention also provides a machine-readable storage medium, which stores machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions prompt the processor to implement the above-mentioned hook arm truck adjustment control method. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0087] The computer program product of the hook arm truck adjustment control method, device and electronic device provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the method described in the previous method embodiments. The specific implementation can be found in the method embodiments, which will not be repeated here.

[0088] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for adjusting and controlling a hook boom vehicle, characterized in that: A camera is installed at the middle position of the rear of the hook-arm vehicle, and the plane where the lens of the camera is located is perpendicular to the X-axis direction of the hook-arm vehicle, and the X-axis direction of the hook-arm vehicle is the longitudinal direction of the hook-arm vehicle; the method comprises: The camera is used to collect a reversing image; wherein the reversing image includes an auxiliary virtual straight line; During the adjustment of the hook arm vehicle, if a first area corresponding to a designated side of the target trash bin appears in the reversing image, and within the first area, a vertical distance from a center point of a label area corresponding to a reflective label to the auxiliary virtual straight line is less than a preset first number of pixels, it is determined that the auxiliary virtual straight line passes through the center point of the label area; wherein a hook arm ring and a reflective label are provided on the designated side; Calculating first distances from a plurality of designated pixel points on the auxiliary virtual straight line to a first corner point of the first region, and second distances from the plurality of designated pixel points to a second corner point of the first region, respectively; wherein the first corner point and the second corner point are two corner points at the upper part of the first region, respectively; or, the first corner point and the second corner point are two corner points at the lower part of the first region, respectively; For each designated pixel point, calculate the difference between the first distance corresponding to the designated pixel point and the second distance corresponding to the designated pixel point to obtain the difference result corresponding to the designated pixel point; According to the difference result corresponding to each of the designated pixel points, the driver is guided to adjust the driving direction of the hook arm vehicle so that the reversing hook of the hook arm vehicle is hooked onto the hook arm ring.

2. The method according to claim 1, characterized in that The multiple designated pixel points are determined in the following manner: Starting from the first pixel point on the auxiliary virtual straight line, a plurality of designated pixel points are selected in sequence on the auxiliary virtual straight line according to a preset pixel interval.

3. The method according to claim 1, characterized in that The step of guiding the driver to adjust the driving direction of the hook arm vehicle according to the difference result corresponding to each of the designated pixel points so that the reversing hook of the hook arm vehicle is hooked onto the hook arm ring comprises: If the first distance corresponding to the designated pixel point is greater than the second distance corresponding to the designated pixel point, a first display mark is generated to guide the driver to adjust the driving direction of the hook boom vehicle in a first direction; If the first distance corresponding to the designated pixel point is smaller than the second distance corresponding to the designated pixel point, a second display mark is generated to guide the driver to adjust the driving direction of the hook arm vehicle in a second direction; When there are at least a continuous preset number of designated pixel points whose corresponding difference results are all smaller than a preset second number of pixels, it is determined that the designated side surface is perpendicular to the X-axis direction of the hook boom vehicle; The auxiliary virtual straight line is controlled to be displayed in a preset first display mode to guide the driver to reverse the hook arm vehicle so that the reversing hook of the hook arm vehicle is hooked onto the hook arm ring.

4. The method according to claim 3, characterized in that: After the step of determining that the auxiliary virtual straight line passes through the center point of the label area, the method further includes: A shape mark of a specified size is generated with the center point of the label area as the center.

5. The method according to claim 4, characterized in that The step of controlling the auxiliary virtual straight line to be displayed in a preset first display mode to guide the driver to reverse the hook arm vehicle so that the reversing hook of the hook arm vehicle is hooked onto the hook arm ring comprises: Controlling the auxiliary virtual straight line to be displayed in a preset first display mode to guide the driver to reverse the hook boom truck; When the distance between the camera and the reflective sticker meets a preset distance range, the shape mark is controlled to be displayed in a preset second display mode to prompt the driver to hook the reversing hook of the hook arm vehicle onto the hook arm ring.

6. The method according to claim 1, characterized in that The auxiliary virtual straight line divides the reversing image into two parts, a left part and a right part.

7. The method according to claim 1, characterized in that The reflective label is arranged below the hook arm ring.

8. An adjustment control device for a hook boom vehicle, characterized in that: A camera is installed at the middle position of the rear of the hook-arm vehicle, and the plane where the lens of the camera is located is perpendicular to the X-axis direction of the hook-arm vehicle, and the X-axis direction of the hook-arm vehicle is the longitudinal direction of the hook-arm vehicle; the device includes: A collection module, used for collecting a reversing image through the camera; wherein the reversing image includes an auxiliary virtual straight line; A determination module, used for determining that the auxiliary virtual straight line passes through the center point of the sticker area if a first area corresponding to the designated side of the target trash bin appears in the reversing image during the adjustment process of the hook arm vehicle, and the vertical distance from the center point of the sticker area corresponding to the reflective sticker to the auxiliary virtual straight line in the first area is less than a preset first number of pixels; wherein the hook arm ring and the reflective sticker are provided on the designated side; A first calculation module is used to calculate a first distance from a plurality of designated pixel points on the auxiliary virtual straight line to a first corner point of the first region, and a second distance from the plurality of designated pixel points to a second corner point of the first region; wherein the first corner point and the second corner point are two corner points at the upper part of the first region, respectively; or the first corner point and the second corner point are two corner points at the lower part of the first region, respectively; A second calculation module is used to calculate, for each designated pixel point, a difference between a first distance corresponding to the designated pixel point and a second distance corresponding to the designated pixel point, to obtain a difference result corresponding to the designated pixel point; The guiding module is used to guide the driver to adjust the driving direction of the hook arm vehicle according to the difference result corresponding to each of the designated pixel points, so that the reversing hook of the hook arm vehicle is hooked on the hook arm ring.

9. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor executes the machine executable instructions to implement the adjustment control method of the hook arm truck according to any one of claims 1 to 7.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions prompt the processor to implement the adjustment control method of the hook arm truck according to any one of claims 1 to 7.

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