Rotary trolley positioning method and device and engineering machinery

Abstract

The invention relates to a rotary trolley positioning method and device and engineering machinery, and relates to the technical field of engineering machinery, and the rotary trolley positioning method comprises the steps: obtaining a target image; identifying a calibration plate in the target image to obtain position information of the calibration plate in the target image; obtaining a first offset of the current calibration plate relative to the first standard position according to the position information of the calibration plate in the target image; and obtaining a second offset of the current rotary trolley relative to the second standard position according to the first offset. According to the rotary trolley positioning method and device and the engineering machinery, the rotary trolley can be accurately positioned, and the follow-up working efficiency of the rotary trolley can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a slewing trolley positioning method, device and engineering machinery. Background Art

[0002] At present, after the slewing trolley rotates to a specific workstation, it needs to cooperate with corresponding operations (for example, hoisting operations, excavation operations, etc.). Therefore, the position accuracy of the slewing trolley at a specific workstation directly affects the subsequent operation efficiency. Therefore, it is necessary to accurately locate the position of the slewing trolley to ensure that the slewing trolley is at a specific workstation. In the related art, the positioning method using sensor coding is used to locate the slewing trolley, but its positioning accuracy is not high, which affects the subsequent operation efficiency. Summary of the invention

[0003] In order to solve the above-mentioned technical problems, the embodiments of the present application provide a slewing trolley positioning method, device and engineering machinery, which can accurately position the slewing trolley, which is beneficial to improving the subsequent work efficiency of the slewing trolley.

[0004] In a first aspect, a method for positioning a rotary trolley is provided, comprising:

[0005] Get the target image;

[0006] Identify the calibration plate in the target image and obtain the position information of the calibration plate in the target image; wherein the calibration plate is arranged on the side wall of the rotary trolley;

[0007] According to the position information of the calibration plate in the target image, a first offset of the current calibration plate relative to a first standard position is obtained; wherein the first standard position represents the position of the calibration plate in the target image when the rotary trolley is not offset;

[0008] According to the first offset, a second offset of the current rotary trolley relative to a second standard position is obtained; wherein the second standard position represents the position of the rotary trolley when no offset occurs in an actual scene.

[0009] According to the first aspect of the present application, acquiring the target image includes:

[0010] When the rotary carriage rotates to the first station, acquiring the target image; and / or,

[0011] When the rotary carriage rotates to the second station, acquiring the target image;

[0012] Wherein, the rotation angle of the rotary trolley from the first station to the second station is 180°.

[0013] According to the first aspect of the present application, the calibration plate comprises a first calibration plate and a second calibration plate, wherein the first calibration plate and the second calibration plate are respectively arranged on opposite sides of the rotary trolley;

[0014] The identifying the calibration plate in the target image and obtaining the position information of the calibration plate in the target image comprises:

[0015] When the rotary carriage rotates to the first workstation, the first calibration plate in the target image is identified to obtain position information of the first calibration plate in the target image; and / or,

[0016] When the rotary carriage rotates to the second workstation, the second calibration plate in the target image is identified to obtain position information of the second calibration plate in the target image.

[0017] According to the first aspect of the present application, the identifying the calibration plate in the target image and obtaining the position information of the calibration plate in the target image includes:

[0018] According to the preset color and / or preset shape of the calibration plate, the calibration plate is identified in the target image, and the position information of the calibration plate in the target image is obtained.

[0019] According to the first aspect of the present application, after identifying the calibration plate in the target image and obtaining the position information of the calibration plate in the target image, the rotary trolley positioning method further includes:

[0020] Acquire pixel information of the target image;

[0021] The obtaining, according to the position information of the calibration plate in the target image, a first offset of the current calibration plate relative to the first standard position comprises:

[0022] According to the position information of the calibration plate in the target image and the pixel information, a first offset of the current calibration plate relative to a first standard position is obtained.

[0023] According to the first aspect of the present application, before acquiring the target image, the rotary vehicle positioning method further includes:

[0024] Train the localization model;

[0025] Run the trained positioning model.

[0026] According to the first aspect of the present application, the training positioning model includes:

[0027] Obtaining relative position information between the photographing device and the rotary vehicle;

[0028] Controlling the rotary trolley to rotate to different offset positions; wherein the offset amounts of different offset positions relative to the second standard position are different;

[0029] Acquire reference images of the rotary carriage at a plurality of offset positions;

[0030] Running the positioning model to detect the calibration plate in the plurality of reference images to obtain a plurality of detection results; wherein the detection results represent the position information of the calibration plate in the different reference images;

[0031] According to the relative position information and the plurality of detection results, actual position information representing the rotary vehicle at different offset positions is output.

[0032] According to the first aspect of the present application, before running the positioning model to detect the calibration plate in the plurality of reference images to obtain a plurality of detection results, the training positioning model further includes:

[0033] The calibration plate in the plurality of reference images is labeled.

[0034] In a second aspect, a slewing trolley positioning device is also provided, comprising:

[0035] A first acquisition module, used for acquiring a target image;

[0036] A first recognition module, used for recognizing a calibration plate in the target image, and obtaining position information of the calibration plate in the target image; wherein the calibration plate is arranged on a rotary trolley;

[0037] A first calculation module is used to obtain a first offset of the current calibration plate relative to a first standard position according to the position information of the calibration plate in the target image; wherein the first standard position represents the position of the calibration plate in the target image when the rotary trolley is not offset;

[0038] The second calculation module is used to obtain a second offset of the current rotary trolley relative to a second standard position according to the first offset; wherein the second standard position represents the position of the rotary trolley when there is no offset.

[0039] In a third aspect, there is also provided an engineering machine, comprising:

[0040] Body;

[0041] A rotary trolley is rotatably arranged on the machine body;

[0042] A calibration plate, arranged on the side wall of the rotary trolley;

[0043] A photographing device, disposed on the machine body, and used for photographing the rotary trolley and the calibration plate;

[0044] An electronic device is communicatively connected to the photographing device, and the electronic device is used to execute the slewing trolley positioning method as described in the previous embodiment.

[0045] In a fourth aspect, an electronic device is also provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is used to execute the slewing trolley positioning method described in the above embodiment.

[0046] In a fifth aspect, a computer-readable storage medium is also provided, wherein the storage medium stores a computer program, and the computer program is used to execute the slewing trolley positioning method described in the above embodiment.

[0047] The slewing trolley positioning method, device and engineering machinery provided in the embodiments of the present application obtain a target image through a visual shooting scheme. The target image can more intuitively and accurately reflect the current position information of the calibration plate, and can also more accurately obtain the first offset of the current calibration plate relative to the first standard position. In this way, the second offset calculated based on the first offset can also more accurately reflect the offset of the current slewing trolley relative to the second standard position, thereby achieving the purpose of accurately positioning the slewing trolley, facilitating the subsequent adjustment of the slewing trolley or compensation of the offset error of the subsequent operations of the slewing trolley according to the offset of the slewing trolley, which is beneficial to improving the subsequent work efficiency of the slewing trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0049] Figure 1 A schematic flow chart of a slewing trolley positioning method provided for an exemplary embodiment of the present application.

[0050] Figure 2 A schematic diagram of a process for acquiring a target image provided by an exemplary embodiment of the present application.

[0051] Figure 3 A schematic diagram of a process for identifying a calibration plate in a target image provided by an exemplary embodiment of the present application.

[0052] Figure 4 A schematic flow chart of a slewing trolley positioning method provided for another exemplary embodiment of the present application.

[0053] Figure 5 A schematic flow chart of a slewing trolley positioning method provided for another exemplary embodiment of the present application.

[0054] Figure 6 A schematic diagram of calculating a first offset using pixel information provided by an exemplary embodiment of the present application.

[0055] Figure 7 A schematic flow chart of a slewing trolley positioning method provided for another exemplary embodiment of the present application.

[0056] Figure 8 A schematic diagram of a flow chart of a training positioning model provided for an exemplary embodiment of the present application.

[0057] Fig. 9 A schematic diagram of a flow chart of training a positioning model provided for another exemplary embodiment of the present application.

[0058] Fig.10 A structural block diagram of a rotary trolley positioning device provided as an exemplary embodiment of the present application.

[0059] Fig.11 A structural block diagram of a rotary trolley positioning device provided for another exemplary embodiment of the present application.

[0060] Fig.12 A structural block diagram of an engineering machinery provided as an exemplary embodiment of the present application.

[0061] Fig.13 A structural block diagram of an electronic device provided for an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0062] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described here.

[0063] Figure 1 The following is a flow chart of a method for positioning a rotary trolley provided by an exemplary embodiment of the present application. Figure 1 As shown, the slewing trolley positioning method provided in the embodiment of the present application may include:

[0064] S210: Acquire a target image.

[0065] Specifically, a shooting device (eg, a camera, a video camera, etc.) may be arranged near the rotating trolley, and the shooting device shoots the rotating trolley to obtain a target image.

[0066] In one embodiment, the carousel operates at a specific workstation (such as the first workstation and the second workstation described below). When the carousel rotates to the specific workstation, the shooting device can shoot the current carousel, thereby facilitating subsequent confirmation of whether the carousel is accurately located at the specific workstation.

[0067] S220: Identify the calibration plate in the target image and obtain position information of the calibration plate in the target image.

[0068] Specifically, the calibration plate is set on the side wall of the rotating trolley. When the camera is shooting the rotating trolley, the calibration plate will also appear in the target image. Step S220 is executed to select the calibration plate from the numerous objects in the target image. The specific recognition process will be described later.

[0069] It should be noted that when the rotary carriage rotates to the aforementioned specific station, the position of the calibration plate at this time should be within the field of view of the shooting device to ensure that the calibration plate is in the target image.

[0070] It should be understood that when the calibration plate is identified in the target image during step S220, the position of the calibration plate in the target image can be determined, that is, the position information of the calibration plate in the target image can be obtained.

[0071] S230: Obtaining a first offset of the current calibration plate relative to a first standard position according to the position information of the calibration plate in the target image.

[0072] It should be noted that since the position between the calibration plate and the rotary trolley is relatively fixed, the position of the calibration plate relative to the rotary trolley will not change during the rotation of the rotary trolley. Therefore, if the rotary trolley is offset at a specific position, the calibration plate will also be offset in the target image accordingly.

[0073] Specifically, the aforementioned first standard position represents the position of the calibration plate in the target image when the rotary trolley is not offset. In the case that the rotary trolley is offset, the actual position of the calibration plate in the target image will be offset relative to the first standard position. According to the position information of the calibration plate in the target image, the first offset of the current calibration plate relative to the first standard position can be determined.

[0074] S240: According to the first offset, a second offset of the current rotary trolley relative to the second standard position is obtained.

[0075] It should be noted that the aforementioned second standard position is the position of the standard rotary trolley when it is not offset in the actual scene. Since the calibration plate moves synchronously with the rotary trolley, there is a specific proportional relationship between the first offset of the calibration plate relative to the first standard position in the target image and the second offset of the current rotary trolley relative to the second standard position in the actual scene (related to the performance parameters of the shooting device, the relative position relationship between the shooting device and the rotary trolley, etc.).

[0076] It should be understood that the slewing trolley positioning method provided in the embodiment of the present application obtains a target image through a visual shooting scheme. The target image can more intuitively and accurately reflect the current position information of the calibration plate, and can also more accurately obtain the first offset of the current calibration plate relative to the first standard position. In this way, the second offset calculated based on the first offset can also more accurately reflect the offset of the current slewing trolley relative to the second standard position, thereby achieving the purpose of accurately positioning the slewing trolley, facilitating the subsequent adjustment of the slewing trolley or the offset error compensation of the subsequent operations of the slewing trolley according to the offset of the slewing trolley, which is beneficial to improving the subsequent work efficiency of the slewing trolley.

[0077] Figure 2 A schematic diagram of a process for acquiring a target image provided by an exemplary embodiment of the present application.

[0078] like Figure 2 As shown, S210 includes:

[0079] S211: When the rotary carriage rotates to the first station, a target image is acquired.

[0080] S212: When the rotary carriage rotates to the second station, a target image is acquired.

[0081] Specifically, the rotation angle of the rotary trolley from the first station to the second station is 180°. For example, if the first station is defined as the 0° station, then the second station can be correspondingly defined as the 180° station.

[0082] In actual applications, the rotary trolley usually performs corresponding operations (including lifting operations, excavation operations, etc.) at the first workstation and the second workstation. Therefore, by executing steps 211 and S212, the offset of the rotary trolley at the first workstation and the second workstation can be determined, so as to improve the working efficiency of the rotary trolley at the first workstation and the second workstation.

[0083] In one embodiment, only step S211 may be executed; or, only step S212 may be executed; or, both step S211 and step S212 may be executed.

[0084] It should be noted that, when both step S211 and step S212 are executed, there is no distinction in the order of execution of step S211 and step S212. Depending on the actual situation of the rotary trolley at the first workstation or the second workstation, step S211 or step S212 can be executed accordingly.

[0085] Figure 3 The following is a flow chart of identifying a calibration plate in a target image provided by an exemplary embodiment of the present application. Figure 3 As shown, S220 includes:

[0086] S221: When the rotary carriage rotates to the first workstation, the first calibration plate in the target image is identified to obtain position information of the first calibration plate in the target image.

[0087] S222: When the rotary carriage rotates to the second workstation, the second calibration plate in the target image is identified to obtain position information of the second calibration plate in the target image.

[0088] It should be noted that in order to accurately obtain the second offset of the turntable at the first station and the second station, it should be ensured that when the turntable rotates to the first station and the second station, the shooting device can capture the calibration plate, that is, the calibration plate can exist in the captured target image.

[0089] Specifically, the calibration plate may include a first calibration plate and a second calibration plate. Since the first workstation and the second workstation differ by 180°, the first calibration plate and the second calibration plate are respectively arranged on opposite sides of the rotary trolley. In this way, when the rotary trolley is at the first workstation, the first calibration plate can be within the shooting range of the shooting device, so that the first calibration plate exists in the target image. By identifying the first calibration plate in the target image, the specific position of the first calibration plate in the target image can be determined; when the rotary trolley is at the second workstation, the second calibration plate can be within the shooting range of the shooting device, so that the second calibration plate exists in the target image. By identifying the second calibration plate in the target image, the specific position of the second calibration plate in the target image can be determined.

[0090] In one embodiment, only step S221 may be executed; or, only step S222 may be executed; or, both step S221 and step S222 may be executed.

[0091] It should be noted that, when both step S221 and step S222 are executed, there is no distinction in the order of execution of step S221 and step S222. Depending on the actual situation of the rotary trolley at the first workstation or the second workstation, step S221 or step S222 can be executed accordingly.

[0092] It should be understood that, when executing step S221, the current calibration plate in step S230 can be considered as the first calibration plate; similarly, when executing step S22, the current calibration plate in step S230 can be considered as the second calibration plate.

[0093] Figure 4 The following is a flow chart of a method for positioning a rotary trolley provided by another exemplary embodiment of the present application. Figure 4 As shown, S220 includes:

[0094] S223: Identify the calibration plate in the target image according to the preset color and / or preset shape of the calibration plate, and obtain position information of the calibration plate in the target image.

[0095] It should be understood that the preset color and preset shape are obvious features of the calibration plate and can be used as a basis for identifying the calibration plate. In this way, the calibration plate can be quickly identified from the target image, shortening the positioning time of the rotary car and improving positioning efficiency.

[0096] In one embodiment, in order to be able to identify the calibration plate from the target image more quickly, the preset color of the calibration plate can be set to a color that is significantly different from the colors of other objects in the target image, and the preset shape of the calibration plate can be set to a shape that is significantly different from the shapes of other objects in the target image.

[0097] In one embodiment, the preset colors may include red, yellow, green, etc., and the preset shapes may include rectangle, circle, polygon, etc.

[0098] Figure 5 The following is a flow chart of a method for positioning a rotary trolley provided by another exemplary embodiment of the present application. Figure 5 After S220, the slewing trolley positioning method may further include:

[0099] S250: Obtain pixel information of the calibration plate in the target image.

[0100] Specifically, the pixel information of the target image is related to the performance parameters of the shooting device (such as viewing angle parameters, focal length parameters, etc.). After determining the model of the shooting device to be used, the performance parameters of the corresponding model of the shooting device can be called to obtain the pixel information of the target image.

[0101] Correspondingly, S230 may include:

[0102] S231: Obtaining a first offset of the current calibration plate relative to a first standard position according to the position information and pixel information of the calibration plate in the target image.

[0103] Specifically, the position of the first standard position of the aforementioned calibration plate in the target image is known information. After executing step S220, the actual position information of the calibration plate in the target image is known information. In this way, based on the pixel information obtained by executing step S250, the pixel width between the current position of the calibration plate in the target image and the first standard position can be determined, thereby determining the distance between the current position of the calibration plate in the target image and the first standard position in the target image, that is, obtaining the first offset.

[0104] Figure 6 This is a schematic diagram of calculating the first offset using pixel information provided by an exemplary embodiment of the present application. Figure 6 As shown, box A can be understood as the state of the calibration plate when it is in the first standard position in the target image, and box B can be understood as the actual state of the current calibration plate in the target image; distance C can be understood as the aforementioned first offset; the scale lines contained in distance C can be understood as pixel scale lines, and these pixel scale lines can be used to quickly obtain the first deviation.

[0105] It should be understood that, after the calibration plate in the target image is identified, the first offset can be quickly determined by using the pixel information without the aid of other measuring equipment, thereby improving the positioning efficiency of the rotary carriage.

[0106] In one embodiment, after executing step S220, other measuring equipment may be used to measure the distance between the current position of the calibration plate and the first standard position to obtain the first offset.

[0107] Figure 7 The following is a flow chart of a method for positioning a rotary trolley provided by another exemplary embodiment of the present application. Figure 7 As shown, before S210, the rotary trolley positioning method further includes:

[0108] S260: training a positioning model.

[0109] S270: Run the trained positioning model.

[0110] It should be understood that by training the positioning model with a large amount of data, the positioning model can learn the situation of the calibration plate at different offset positions, and enable the positioning model to output the second offset at a faster response speed after determining the first deviation. The specific training process is described in detail below.

[0111] Figure 8 A schematic diagram of a flow chart of a training positioning model provided for an exemplary embodiment of the present application.

[0112] like Figure 8 As shown, S260 includes:

[0113] S261: Obtain the relative position information between the shooting device and the rotating trolley.

[0114] Specifically, in actual applications, the shooting device is in a fixed position and the turntable operates at a specific workstation. Once the shooting position of the shooting device and the specific workstation of the turntable (such as the first workstation and the second workstation mentioned above) are determined, the relative position information between the shooting device and the turntable can also be determined.

[0115] S262: Control the rotary trolley to rotate to different offset positions.

[0116] S263: Acquire reference images of the rotary car at multiple offset positions.

[0117] Specifically, rotating the trolley to different offset positions can be understood as rotating the trolley to positions with different offsets relative to the second standard position, and then obtaining reference images of the trolley at multiple offset positions, so that the positioning model can learn the position corresponding to the calibration plate when the trolley is at different offset positions.

[0118] S264: Run the positioning model to detect calibration plates in multiple reference images to obtain multiple detection results.

[0119] Specifically, the detection results can be understood as the position information of the calibration plate in different reference images, that is, running step S264 to determine the specific position of the calibration plate in different reference images. Since the offset position of the slewing trolley in different reference images is different, the offset position of the calibration plate in different reference images is also different. Using multiple detection results to train the positioning model can facilitate the positioning model to quickly identify calibration plates at different offset positions in subsequent applications.

[0120] S265: Outputting actual position information representing the rotary vehicle at different offset positions according to the relative position information and multiple detection results.

[0121] Specifically, multiple first offsets can be obtained through multiple detection results, and the multiple first offsets and the relative position information between the aforementioned shooting device and the slewing car can determine the actual position information of the slewing car at different offset positions. In this way, after executing step S265, the positioning model can correspond the multiple offset positions of the calibration plate in the reference image to the multiple offset positions of the slewing car in the actual scene. In subsequent applications (for example, executing the aforementioned S210, S220, S230, S240), the second offset can be quickly obtained through the position information of the calibration plate in the target image, that is, the position of the slewing car in the actual scene can be quickly determined.

[0122] Fig. 9FIG. 1 is a flow chart of a training positioning model provided by another exemplary embodiment of the present application. Fig. 9 As shown, before S264, S260 also includes:

[0123] S266: Label the calibration plates in the multiple reference images.

[0124] Specifically, labeling the calibration plate in the reference image can provide accurate feature information for the positioning model. The positioning model can quickly and accurately detect the calibration plate in the reference image based on the labeled features, thereby enabling the positioning model to quickly learn the specific position of the calibration plate in the reference image.

[0125] It should be noted that, in the process of training the positioning model, the calibration plate can be annotated manually using annotation software, or the calibration plate can be automatically annotated using annotation software.

[0126] Fig.10 This is a structural block diagram of a rotary trolley positioning device provided by an exemplary embodiment of the present application. Fig.10 As shown, the slewing trolley positioning device 400 provided in the embodiment of the present application may include a first acquisition module 410, used to acquire a target image; a first recognition module 420, used to recognize a calibration plate in the target image, and obtain position information of the calibration plate in the target image; wherein the calibration plate is arranged on the slewing trolley; a first calculation module 430, used to obtain a first offset of the current calibration plate relative to a first standard position according to the position information of the calibration plate in the target image; wherein the first standard position represents the position of the calibration plate in the target image when the slewing trolley is not offset; a second calculation module 440, used to obtain a second offset of the current slewing trolley relative to a second standard position according to the first offset; wherein the second standard position represents the position of the slewing trolley when it is not offset.

[0127] The slewing trolley positioning device provided in the embodiment of the present application obtains a target image through a visual shooting scheme. The target image can more accurately reflect the current position information of the calibration plate, and can also more accurately obtain the first offset of the current calibration plate relative to the first standard position. In this way, the second offset calculated based on the first offset can also more accurately reflect the offset of the current slewing trolley relative to the second standard position, thereby achieving precise positioning of the slewing trolley, facilitating subsequent adjustments to the slewing trolley or compensation for offset errors in subsequent operations of the slewing trolley according to the offset of the slewing trolley, which is beneficial to improving the subsequent work efficiency of the slewing trolley.

[0128] Fig.11 This is a structural block diagram of a rotary trolley positioning device provided by another exemplary embodiment of the present application. Fig.11As shown, in one embodiment, the first acquisition module 410 includes a second acquisition module 411, which is used to acquire the target image when the turntable rotates to the first station; and / or, a third acquisition module 412, which is used to acquire the target image when the turntable rotates to the second station; wherein the rotation angle of the turntable from the first station to the second station is 180°.

[0129] like Fig.11 As shown, in one embodiment, the first recognition module 420 includes a second recognition module 421, which is used to identify the first calibration plate in the target image when the rotary carriage rotates to the first station, and obtain the position information of the first calibration plate in the target image; and / or, a third recognition module 422, which is used to identify the second calibration plate in the target image when the rotary carriage rotates to the second station, and obtain the position information of the second calibration plate in the target image.

[0130] like Fig.11 As shown, in one embodiment, the first recognition module 420 includes a fourth recognition module 423, which is used to recognize the calibration plate in the target image according to the preset color and / or preset shape of the calibration plate to obtain the position information of the calibration plate in the target image.

[0131] like Fig.11 As shown, in one embodiment, the slewing trolley positioning device 400 also includes a fourth acquisition module 450 for acquiring pixel information of the target image; correspondingly, the first calculation module 430 can also be used to obtain the first offset of the current calibration plate relative to the first standard position based on the position information and pixel information of the calibration plate in the target image.

[0132] like Fig.11 As shown, in one embodiment, the slewing trolley positioning device 400 further includes a training module 460 for training a positioning model; and an operation module 470 for operating the trained positioning model.

[0133] like Fig.11 As shown, in one embodiment, the training module 460 includes a fifth acquisition module 461, which is used to obtain the relative position information between the shooting device and the slewing trolley; an adjustment module 462, which is used to control the slewing trolley to rotate to different offset positions; wherein different offset positions have different offset amounts relative to the second standard position; a sixth acquisition module 463, which is used to obtain reference images of the slewing trolley at multiple offset positions; a detection module 464, which is used to run the positioning model to detect the calibration plates in multiple reference images to obtain multiple detection results; wherein the detection results represent the position information of the calibration plates in different reference images; an output module 465, which is used to output the actual position information representing the slewing trolley at different offset positions based on the relative position information and multiple detection results.

[0134] In one embodiment, the training module 460 includes a labeling module 466 for labeling calibration plates in a plurality of reference images.

[0135] Fig.12 This is a structural block diagram of an engineering machine provided by an exemplary embodiment of the present application. Fig.12 As shown, the engineering machinery 600 provided in the embodiment of the present application may include a body 610, a slewing trolley 620, a calibration plate 630, a photographing device 640 and an electronic device 650, wherein the slewing trolley 620 is rotatably disposed on the body 610; the calibration plate 630 is disposed on the side wall of the slewing trolley 620; the photographing device 640 is disposed on the body 610, and the photographing device 640 is used to photograph the slewing trolley 620 and the calibration plate 630; the electronic device 650 is communicatively connected to the photographing device 640, and the electronic device 650 is used to execute the slewing trolley positioning method described in the aforementioned embodiment.

[0136] In one embodiment, the construction machinery 600 may include a crane, an excavator, etc. The types of construction machinery 600 are different, and the slewing trolley 620 performs different operations. For example, if the construction machinery 600 is a crane, the slewing trolley 620 is used to assist in lifting cargo; if the construction machinery 600 is an excavator, the slewing trolley 620 is used to assist in excavation operations.

[0137] Fig.13 This is a structural block diagram of an electronic device provided by an exemplary embodiment of the present application. Fig.13 As shown, the electronic device 650 may include a processor 651 and a memory 652. The memory 652 is used to store executable instructions of the processor 651; wherein the processor 651 is used to execute the slewing trolley positioning method of the above embodiment.

[0138] The processor 651 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 650 to perform desired functions.

[0139] The memory 652 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 651 may run the program instructions to implement the control methods of the various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0140] In one example, the electronic device 650 may further include: an input device 653 and an output device 654 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0141] When the electronic device is a stand-alone device, the input device 653 may be a communication network connector for receiving collected input signals from the first device and the second device.

[0142] In addition, the input device 653 may also include, for example, a keyboard, a mouse, etc.

[0143] The output device 654 can output various information to the outside, including the determined distance information, direction information, etc. The output device 654 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0144] Of course, to simplify, Fig.13 Only some of the components related to the present application in the electronic device 650 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application conditions, the electronic device 650 may also include any other appropriate components.

[0145] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0146] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0147] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0148] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0149] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0150] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0151] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A method for positioning a rotary trolley, characterized in that: include: Get the target image; Identify the calibration plate in the target image and obtain the position information of the calibration plate in the target image; wherein the calibration plate is arranged on the side wall of the rotary trolley; According to the position information of the calibration plate in the target image, a first offset of the current calibration plate relative to a first standard position is obtained; wherein the first standard position represents the position of the calibration plate in the target image when the rotary trolley is not offset; According to the first offset, a second offset of the current rotary trolley relative to a second standard position is obtained; wherein the second standard position represents the position of the rotary trolley when no offset occurs in an actual scene.

2. The method for positioning the rotary trolley according to claim 1, characterized in that: The acquiring of the target image comprises: When the rotary carriage rotates to the first station, acquiring the target image; and / or, When the rotary carriage rotates to the second station, acquiring the target image; Wherein, the rotation angle of the rotary trolley from the first station to the second station is 180°.

3. The method for positioning the rotary trolley according to claim 2, characterized in that: The calibration plate comprises a first calibration plate and a second calibration plate, wherein the first calibration plate and the second calibration plate are respectively arranged on two opposite sides of the rotary trolley; The identifying the calibration plate in the target image and obtaining the position information of the calibration plate in the target image comprises: When the rotary carriage rotates to the first workstation, the first calibration plate in the target image is identified to obtain position information of the first calibration plate in the target image; and / or, When the rotary carriage rotates to the second workstation, the second calibration plate in the target image is identified to obtain position information of the second calibration plate in the target image.

4. The method for positioning the rotary trolley according to claim 1, characterized in that: The identifying the calibration plate in the target image and obtaining the position information of the calibration plate in the target image comprises: According to the preset color and / or preset shape of the calibration plate, the calibration plate is identified in the target image, and the position information of the calibration plate in the target image is obtained.

5. The method for positioning the rotary trolley according to claim 1, characterized in that: After identifying the calibration plate in the target image and obtaining the position information of the calibration plate in the target image, the rotary vehicle positioning method further includes: Acquire pixel information of the target image; The obtaining, according to the position information of the calibration plate in the target image, a first offset of the current calibration plate relative to the first standard position comprises: According to the position information of the calibration plate in the target image and the pixel information, a first offset of the current calibration plate relative to a first standard position is obtained.

6. The method for positioning the rotary trolley according to claim 1, characterized in that: Before acquiring the target image, the rotary vehicle positioning method further includes: Train the localization model; Run the trained positioning model.

7. The method for positioning the rotary trolley according to claim 6, characterized in that: The training positioning model comprises: Obtaining relative position information between the photographing device and the rotary vehicle; Controlling the rotary trolley to rotate to different offset positions; wherein the offset amounts of different offset positions relative to the second standard position are different; Acquire reference images of the rotary carriage at a plurality of offset positions; Running the positioning model to detect the calibration plate in the plurality of reference images to obtain a plurality of detection results; wherein the detection results represent the position information of the calibration plate in the different reference images; According to the relative position information and the plurality of detection results, actual position information representing the rotary vehicle at different offset positions is output.

8. The method for positioning the rotary trolley according to claim 7, characterized in that: Before running the positioning model to detect the calibration plate in the plurality of reference images to obtain a plurality of detection results, the training positioning model further includes: The calibration plate in the plurality of reference images is labeled.

9. A rotary trolley positioning device, characterized in that: include: A first acquisition module, used for acquiring a target image; A first recognition module, used for recognizing a calibration plate in the target image, and obtaining position information of the calibration plate in the target image; wherein the calibration plate is arranged on a rotary trolley; A first calculation module is used to obtain a first offset of the current calibration plate relative to a first standard position according to the position information of the calibration plate in the target image; wherein the first standard position represents the position of the calibration plate in the target image when the rotary trolley is not offset; The second calculation module is used to obtain a second offset of the current rotary trolley relative to a second standard position according to the first offset; wherein the second standard position represents the position of the rotary trolley when there is no offset.

10. An engineering machine, characterized in that: include: Body; A rotary trolley is rotatably arranged on the machine body; A calibration plate, arranged on the side wall of the rotary trolley; A photographing device, disposed on the machine body, and used for photographing the rotary trolley and the calibration plate; An electronic device is communicatively connected to the photographing device, and the electronic device is used to execute the slewing trolley positioning method according to any one of claims 1 to 8.

Images