Rotating trolley positioning method, device and engineering machinery

Abstract

The present application relates to a slewing trolley positioning method, device, and engineering machinery, and relates to the technical field of engineering machinery. The slewing trolley positioning method includes acquiring 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 a first standard position based on the position information of the calibration plate in the target image; and obtaining a second offset of the current slewing trolley relative to a second standard position based on the first offset. The slewing trolley positioning method, device, and engineering machinery can accurately position the slewing trolley, which is conducive to improving the subsequent work efficiency of the slewing trolley.

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] Currently, after a trolley rotates to a specific workstation, it must be used for related operations (e.g., lifting, excavation, etc.). Therefore, the accuracy of the trolley's position at that specific workstation directly impacts the efficiency of subsequent operations. Therefore, it is necessary to precisely locate the trolley to ensure it is at that specific workstation. Related technologies utilize sensor coding for trolley positioning, but this method suffers from low positioning accuracy, impacting subsequent operational efficiency. Summary of the Invention

[0003] In order to solve the above 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 conducive to improving the subsequent work efficiency of the slewing trolley.

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

[0005] Acquire the target image;

[0006] Identifying a calibration plate in the target image to obtain position information of the calibration plate in the target image; wherein the calibration plate is disposed on a side wall of the rotary trolley;

[0007] Obtaining, based on the position information of the calibration plate in the target image, a first offset of the calibration plate relative to a first standard position; wherein the first standard position represents the position of the calibration plate in the target image when the rotary carriage 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 workstation to the second workstation is 180°.

[0013] According to the first aspect of the present application, the calibration plate includes 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 includes:

[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, identifying the calibration plate in the target image and obtaining position information of the calibration plate in the target image includes:

[0018] The calibration plate is identified in the target image according to the preset color and / or preset shape of the calibration plate, and 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] Acquiring pixel information of the target image;

[0021] Obtaining, based on 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 includes:

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

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

[0024] Training 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 camera and the rotary vehicle;

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

[0029] Acquiring 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 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 trolley 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 rotary trolley positioning device is also provided, comprising:

[0035] A first acquisition module is used to acquire a target image;

[0036] a first recognition module, configured 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 disposed on a rotary trolley;

[0037] a first calculation module, configured to obtain, based on position information of the calibration plate in the target image, a first offset of the calibration plate relative to a first standard position; wherein the first standard position represents the position of the calibration plate in the target image when the rotary carriage 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 based on the first offset; wherein the second standard position represents the position of the rotary trolley when it is not offset.

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

[0040] body;

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

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

[0043] A photographing device, provided on the machine body, 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 rotary 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 instructions executable by 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 subsequent adjustments to the slewing trolley or compensation for offset errors in subsequent operations of the slewing trolley based on the offset of the slewing trolley, and is conducive to improving the subsequent work efficiency of the slewing trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The above and other purposes, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended 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 drawings, the same reference numerals generally represent the same components or steps.

[0049] Figure 1 A schematic flow chart of a rotary trolley positioning method provided in 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 rotary trolley positioning method provided in another exemplary embodiment of the present application.

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

[0056] Figure 8 A flowchart of a training positioning model provided in an exemplary embodiment of the present application.

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

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

[0059] Figure 11 This is a structural block diagram of a rotary trolley positioning device provided in another exemplary embodiment of the present application.

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

[0061] Figure 13 A structural block diagram of an electronic device provided as 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 herein.

[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 provided near the rotating trolley, and the shooting device shoots the rotating trolley to obtain a target image.

[0066] In one embodiment, the turntable is operating at a specific workstation (such as the first and second workstations described later). When the turntable rotates to the specific workstation, the camera can take a picture of the current turntable, thereby facilitating subsequent confirmation of whether the turntable 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 placed on the side wall of the rotating trolley. When the camera captures the trolley, the calibration plate appears in the target image. Step S220 is executed to filter out the calibration plate from the numerous objects in the target image. The specific recognition process is described later.

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

[0070] It should be understood that when step S220 is executed and the calibration plate is identified in the target image, 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 calibration plate is fixed relative to the trolley, its position relative to the trolley does not change during the trolley's rotation. Therefore, if the trolley shifts at a specific position, the calibration plate will also shift in the target image.

[0073] Specifically, the aforementioned first standard position represents the position of the calibration plate in the target image when the trolley is not offset. If the trolley is offset, the actual position of the calibration plate in the target image will shift relative to the first standard position. Based on 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 can be determined.

[0074] S240: Obtain a second offset of the current rotary trolley relative to the second standard position based on the first offset.

[0075] It should be noted that the aforementioned second standard position is the position of the standard trolley when it is not offset in the actual scene. Since the calibration plate moves synchronously with the 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 trolley relative to the second standard position in the actual scene (related to the performance parameters of the camera device, the relative position relationship between the camera device and the 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, and facilitating subsequent adjustments to the slewing trolley or compensation for offset errors in subsequent operations of the slewing trolley based on 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, which is convenient for improving 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 This 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 rotary trolley at the first and second stations, it should be ensured that when the rotary trolley rotates to the first and second stations, 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 there is a 180° difference between the first workstation and the second workstation, 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 This 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 trolley 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 This 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 This 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 the positioning model.

[0109] S270: Running the trained positioning model.

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

[0111] Figure 8 A flowchart of a training positioning model provided in an exemplary embodiment of the present application.

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

[0113] S261: Obtain the relative position information between the camera and the rotary car.

[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 and second workstations 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 the calibration plates in the 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 rotary car 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 trolley at different offset positions based on the relative position information and multiple detection results.

[0121] Specifically, multiple first offsets can be obtained through multiple detection results. The multiple first offsets and the relative position information between the aforementioned camera device and the slewing trolley can determine the actual position information of the slewing trolley 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 with the multiple offset positions of the slewing trolley 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 trolley in the actual scene can be quickly determined.

[0122] Figure 9This is a flow chart of a training positioning model provided by another exemplary embodiment of the present application. Figure 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, so that the positioning model can quickly learn the specific position of the calibration plate in the reference image.

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

[0126] Figure 10 This is a structural block diagram of a rotary trolley positioning device provided by an exemplary embodiment of the present application. Figure 10 As shown, the rotary 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 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 set on the rotary trolley; a first calculation module 430, used to obtain a first offset of the current calibration plate relative to the first standard position based on 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; a second calculation module 440, used to obtain a second offset of the current rotary trolley relative to the second standard position based on the first offset; wherein, the second standard position represents the position of the rotary trolley when it is not offset.

[0127] The rotary 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 rotary trolley relative to the second standard position, thereby achieving precise positioning of the rotary trolley, facilitating subsequent adjustments to the rotary trolley or compensation for offset errors in subsequent operations of the rotary trolley based on the offset of the rotary trolley, and helping to improve the subsequent work efficiency of the rotary trolley.

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

[0129] like Figure 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 workstation, 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 workstation, and obtain the position information of the second calibration plate in the target image.

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

[0131] like Figure 11 As shown, in one embodiment, the rotary 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 Figure 11 As shown, in one embodiment, the rotary trolley positioning device 400 further includes a training module 460 for training the positioning model; and an operation module 470 for operating the trained positioning model.

[0133] like Figure 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 of 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, the offset amounts of different offset positions relative to the second standard position are different; 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] Figure 12 This is a structural block diagram of an engineering machine provided by an exemplary embodiment of the present application. Figure 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. The slewing trolley 620 is rotatably arranged on the body 610; the calibration plate 630 is arranged on the side wall of the slewing trolley 620; the photographing device 640 is arranged 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, or the like. Depending on the type of construction machinery 600 , the slewing trolley 620 may perform different operations. For example, if the construction machinery 600 is a crane, the slewing trolley 620 may be used to assist in lifting cargo; if the construction machinery 600 is an excavator, the slewing trolley 620 may be used to assist in excavation operations.

[0137] Figure 13 This is a structural block diagram of an electronic device provided by an exemplary embodiment of the present application. Figure 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, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, 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 execute 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, configured to receive 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 determined distance information, direction information, etc. The output device 654 can include, for example, a display, a speaker, a printer, a communication network and its connected remote output device, etc.

[0144] Of course, to simplify, Figure 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, the electronic device 650 may further include any other appropriate components according to specific application scenarios.

[0145] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's 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, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. 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 thereof.

[0147] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0148] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[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, and 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 be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0151] The above description has been provided 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 a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for positioning a rotary trolley, characterized in that: include: Acquire the target image; Identifying a calibration plate in the target image to obtain position information of the calibration plate in the target image; wherein the calibration plate is disposed on a side wall of the rotary trolley; Obtaining, based on the position information of the calibration plate in the target image, a first offset of the calibration plate relative to a first standard position; wherein the first standard position represents the position of the calibration plate in the target image when the rotary carriage 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 it is not offset in an actual scene; Before acquiring the target image, the rotary vehicle positioning method further includes: Training the localization model; Running the trained positioning model; The training positioning model includes: Obtaining relative position information between the camera and the rotary vehicle; Controlling the rotary trolley to rotate to different offset positions; wherein the offset amounts of the different offset positions relative to the second standard position are different; Acquiring 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 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 trolley at different offset positions is output.

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 workstation to the second workstation is 180°.

3. The method for positioning the rotary trolley according to claim 2, characterized in that: The calibration plate includes 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; The identifying the calibration plate in the target image and obtaining the position information of the calibration plate in the target image includes: When the rotary carriage rotates to the first workstation, identifying the first calibration plate in the target image and obtaining 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 includes: The calibration plate is identified in the target image according to the preset color and / or preset shape of the calibration plate, and 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: Acquiring pixel information of the target image; Obtaining, based on 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 includes: A first offset of the current calibration plate relative to a first standard position is obtained according to the position information of the calibration plate in the target image and the pixel information.

6. The method for positioning the rotary trolley according to claim 5, 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.

7. A rotary trolley positioning device, characterized in that: include: Training module, used to train the positioning model; The training module includes a fifth acquisition module for acquiring relative position information between the camera and the slewing trolley; an adjustment module for controlling 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 for acquiring reference images of the slewing trolley at multiple offset positions; a detection module for running a positioning model to detect a calibration plate in multiple reference images to obtain multiple detection results, wherein the detection results represent position information of the calibration plate in different reference images; and an output module for outputting actual position information representing the slewing trolley at different offset positions based on the relative position information and the multiple detection results. The running module is used to run the trained positioning model; A first acquisition module is used to acquire a target image; a first recognition module, configured 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 disposed on a side wall of the rotary trolley; a first calculation module, configured to obtain, based on position information of the calibration plate in the target image, a first offset of the calibration plate relative to a first standard position; wherein the first standard position represents the position of the calibration plate in the target image when the rotary carriage 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 based on the first offset; wherein the second standard position represents the position of the rotary trolley when there is no offset in the actual scene.

8. An engineering machine, characterized in that: include: body; A rotary trolley is rotatably mounted on the machine body; A calibration plate, provided on the side wall of the rotary trolley; A photographing device, provided on the machine body, 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 6.

Images