Parking control method, device and equipment based on visual positioning and storage medium

Abstract

The invention provides a parking control method and device based on visual positioning, equipment and a storage medium, and the method comprises the steps: detecting a parking marker through a visual sensor based on an AGV, and determining a first position coordinate of the AGV relative to the parking marker in a vertical direction, a second position coordinate of the AGV relative to the parking marker in a horizontal direction, and an inclination angle of the AGV; based on the first position coordinates and the second position coordinates, the chassis speed of the AGV moving forwards is controlled till the vertical distance of the AGV is smaller than the minimum vertical distance; based on the second position coordinate and the inclination angle of the AGV, the chassis speed of the AGV moving backwards is controlled until the vertical distance of the AGV is larger than the first preset distance; and returning to continue to execute the steps until the vertical distance of the AGV is larger than the minimum vertical distance and smaller than the maximum vertical distance, the transverse distance is larger than the minimum transverse distance and smaller than the maximum transverse distance, and the inclination angle is larger than the minimum inclination angle and smaller than the maximum inclination angle. According to the invention, the parking precision is improved.

Description

Technical Field

[0001] The present invention relates to the field of computer vision technology, and in particular to a parking control method, device, equipment and storage medium based on vision positioning. Background Art

[0002] At present, conventional AGVs (Automated Guided Vehicles) can use magnetic nail positioning, laser scanning positioning, optical sensor positioning and other positioning methods. When using differential AGVs for parking operations, the steering and parking of the differential AGV body rely on the friction between the tires and the ground. Therefore, its parking positioning usually sets an allowable error value range. As long as the positioning result of the differential AGV is detected within this error value range, it is considered that the parking standard is met.

[0003] However, since differential AGVs are affected by external factors such as tire friction and ground smoothness, for example, when a severely worn tire is turning, the actual turning angle of the vehicle body may differ from the expected turning angle, so the parking accuracy of differential AGVs cannot be very high. The actual parking position may exceed the set error value range, resulting in parking accuracy not meeting certain high-precision application scenarios. Summary of the invention

[0004] The present invention provides a parking control method, device, equipment and storage medium based on visual positioning, which are used to solve the defects in the prior art.

[0005] The present invention provides a parking control method based on visual positioning, comprising: In the case where a stop sign is detected by a visual sensor of an automated guided vehicle (AGV), determining a first position coordinate in a vertical direction, a second position coordinate in a horizontal direction, and an inclination angle of the AGV relative to the stop sign based on the visual sensor; In a case where it is determined based on the first position coordinate that the vertical distance of the AGV relative to the stop mark is not less than a minimum vertical distance, based on the first position coordinate and the second position coordinate of the AGV, controlling a chassis speed of the AGV moving forward relative to the stop mark until the vertical distance of the AGV is less than the minimum vertical distance; Based on the second position coordinate and the tilt angle of the AGV, control the chassis speed of the AGV moving backward relative to the stop sign until the vertical distance of the AGV is greater than a first preset distance, the first preset distance is determined based on the length of the AGV, and the first preset distance is greater than a minimum vertical distance; Return to continue executing based on the first position coordinate and the second position coordinate of the AGV, control the chassis speed of the AGV moving forward relative to the parking sign, until the vertical distance of the AGV is greater than the minimum vertical distance and less than the maximum vertical distance, the lateral distance is greater than the minimum lateral distance and less than the maximum lateral distance, and the inclination angle is greater than the minimum inclination angle and less than the maximum inclination angle; wherein the lateral distance is determined based on the second position coordinate.

[0006] According to a parking control method based on visual positioning provided by the present invention, based on the first position coordinates and the second position coordinates of the AGV, the chassis speed of the AGV moving forward relative to the parking mark is controlled, including: When it is determined based on the first position coordinate that the vertical distance of the AGV relative to the stop sign is greater than a first preset distance, based on the first position coordinate of the AGV, the vehicle length of the AGV and a first positive linear velocity coefficient, controlling the linear velocity of the chassis of the AGV moving forward relative to the stop sign; and Based on the second position coordinates of the AGV, the vehicle length of the AGV and the first positive angular velocity coefficient, the chassis angular velocity of the AGV moving forward relative to the parking mark is controlled.

[0007] According to a parking control method based on visual positioning provided by the present invention, based on the first position coordinates and the second position coordinates of the AGV, the chassis speed of the AGV moving forward relative to the parking mark is controlled, including: When it is determined based on the first position coordinates that the vertical distance of the AGV relative to the stop mark is greater than the second preset distance but not greater than the first preset distance, based on the first position coordinates of the AGV, the vehicle length of the AGV and the first linear velocity positive coefficient, the chassis linear velocity of the AGV moving forward relative to the stop mark is controlled; wherein the second preset distance is greater than the minimum vertical distance; and Based on the second position coordinates of the AGV, the vehicle length of the AGV and the second positive angular velocity coefficient, the chassis angular velocity of the AGV moving forward relative to the parking sign is controlled; wherein the second positive angular coefficient is smaller than the first positive angular coefficient.

[0008] According to a parking control method based on visual positioning provided by the present invention, based on the first position coordinates and the second position coordinates of the AGV, the chassis speed of the AGV moving forward relative to the parking mark is controlled, including: When it is determined based on the first position coordinate that the vertical distance of the AGV relative to the stop mark is not less than the minimum vertical distance and not greater than the second preset distance, based on the first position coordinate of the AGV, the vehicle length of the AGV and the second linear velocity positive coefficient, the linear velocity of the chassis of the AGV moving forward relative to the stop mark is controlled; wherein the second linear velocity positive coefficient is less than the first linear velocity positive coefficient; and Based on the second position coordinates of the AGV, the vehicle length of the AGV and the third positive angular velocity coefficient, the chassis angular velocity of the AGV moving forward relative to the parking sign is controlled; wherein the third positive angular velocity coefficient is smaller than the first positive angular velocity coefficient but larger than the second positive angular velocity coefficient.

[0009] According to a parking control method based on visual positioning provided by the present invention, based on the second position coordinates and the inclination angle of the AGV, the chassis speed of the AGV moving backward relative to the parking mark is controlled, including: When it is determined based on the second position coordinate that the lateral distance of the AGV relative to the stop mark is within a preset lateral distance range, based on the vehicle length of the AGV and the negative linear velocity coefficient, controlling the chassis linear velocity of the AGV moving backward relative to the stop mark; wherein the preset lateral distance range is determined based on the vehicle length of the AGV; and Based on the vehicle length of the AGV, the tilt angle of the AGV and the fourth positive angular velocity coefficient, the chassis angular velocity of the AGV moving backward relative to the parking mark is controlled.

[0010] According to a parking control method based on visual positioning provided by the present invention, the method further includes: When it is determined based on the second position coordinate that the lateral distance of the AGV relative to the parking sign is not within the preset lateral distance range, the chassis angular velocity of the AGV moving forward relative to the parking sign is controlled based on the vehicle length of the AGV, the second position coordinate of the AGV and the fifth positive angular velocity coefficient.

[0011] According to a parking control method based on visual positioning provided by the present invention, the method further includes: Based on the size of the parking space of the AGV and the chassis size of the AGV, the parking positioning parameters are determined; wherein the parking positioning parameters include the minimum vertical distance, the maximum vertical distance, the minimum lateral distance, the maximum lateral distance, the minimum tilt angle, the maximum tilt angle and the vehicle length.

[0012] The present invention also provides a parking control device based on visual positioning, comprising: A first parking control module is used to determine, when a visual sensor of an automatic guided vehicle AGV detects a parking mark, a first position coordinate of the AGV in a vertical direction, a second position coordinate in a horizontal direction, and an inclination angle of the AGV relative to the parking mark based on the visual sensor; a second parking control module, configured to control a chassis speed of the AGV moving forward relative to the parking mark based on the first position coordinates and the second position coordinates of the AGV, when it is determined based on the first position coordinates that the vertical distance of the AGV relative to the parking mark is not less than a minimum vertical distance, until the vertical distance of the AGV is less than the minimum vertical distance; a third parking control module, configured to control a chassis speed of the AGV moving backward relative to the parking mark based on the second position coordinates and the tilt angle of the AGV until the vertical distance of the AGV is greater than a first preset distance, wherein the first preset distance is determined based on the vehicle length of the AGV and the first preset distance is greater than a minimum vertical distance; The fourth parking control module is used to return to continue executing the first position coordinates and the second position coordinates of the AGV, controlling the chassis speed of the AGV moving forward relative to the parking sign until the vertical distance of the AGV is greater than the minimum vertical distance and less than the maximum vertical distance, the lateral distance is greater than the minimum lateral distance and less than the maximum lateral distance, and the inclination angle is greater than the minimum inclination angle and less than the maximum inclination angle.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a parking control method based on visual positioning as described above is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the parking control method based on visual positioning as described in any one of the above is implemented.

[0015] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the parking control method based on visual positioning as described above is implemented.

[0016] The parking control method, device, equipment and storage medium based on visual positioning provided by the present invention can realize fine control of the movement process of the AGV by using the visual sensor of the AGV to accurately detect the position of the parking mark, and calculate the first position coordinate, second position coordinate and inclination angle of the AGV relative to the parking mark in real time. The method can intelligently adjust the speed of the chassis moving forward according to the first position coordinate and the second position coordinate when the vertical distance of the AGV is not less than the minimum vertical distance, until the AGV approaches the position where the vertical distance is less than the minimum vertical distance; then, adjust the speed of the chassis moving backward according to the second position coordinate and the inclination angle, so that the AGV retreats to a first preset distance to ensure that there is enough space for the next operation; finally, the AGV is controlled to move forward again based on the first position coordinate and the second position coordinate until all parking parameters (vertical distance, lateral distance, inclination angle) meet the preset parking conditions (that is, between the corresponding minimum and maximum values), thereby improving the parking accuracy of the AGV and reducing the parking error of the AGV. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a flow chart of a parking control method based on visual positioning provided by the present invention; Figure 2 This is one of the scene schematic diagrams of the parking control method based on visual positioning provided by the present invention; Figure 3 This is the second scene schematic diagram of the parking control method based on visual positioning provided by the present invention; Figure 4 This is the third scene schematic diagram of the parking control method based on visual positioning provided by the present invention; Figure 5 This is the fourth scene schematic diagram of the parking control method based on visual positioning provided by the present invention; Figure 6 It is a structural schematic diagram of a parking control device based on visual positioning provided by the present invention; Figure 7 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Figure 1 A schematic diagram of a parking control method based on visual positioning provided by the present invention; Figure 1 As shown, the method includes: Step 110, when a visual sensor of an automated guided vehicle AGV detects a stop sign, determining a first position coordinate in a vertical direction, a second position coordinate in a horizontal direction, and an inclination angle of the AGV relative to the stop sign based on the visual sensor; In an embodiment of the present invention, a parking mark is provided in the parking environment of the automatic guided vehicle AGV, such as a parking mark at a parking space or a parking mark at a charging station. The AGV is equipped with a visual sensor, such as a camera, which can capture images of the surrounding environment and identify specific parking marks through image processing algorithms. Parking marks usually contain specific patterns or colors, which can be accurately identified and located by the visual sensor of the AGV. When the visual sensor detects a preset parking mark, it triggers further calculation and decision-making processes.

[0021] Specifically, the position of the parking sign detected by the AGV's visual sensor in the image captured by the visual sensor is combined with the known size of the sign and camera parameters, and the position (qr_x, qr_y, qr_z) and posture quaternion (qr_w1, qr_x1, qr_y1, qr_z1) of the AGV relative to the parking sign are calculated through a visual algorithm.

[0022] In this embodiment, reference Figure 2 In the top view shown in the figure, the position of the stop sign is taken as the origin of the coordinate system, the forward and backward moving direction of the AGV relative to the stop sign is the Z axis, and the direction of the AGV moving backward relative to the stop sign is the positive direction of the Z axis; the left and right moving direction of the AGV relative to the stop sign is the Y axis, and the direction of the AGV moving left relative to the stop sign is the positive direction of the Y axis, and the direction perpendicular to the ground is the X axis, and a coordinate system is established. Then qr_x represents the X-axis position of the AGV in the coordinate system, qr_y represents the Y-axis position of the AGV in the coordinate system, that is, the second position coordinate of the AGV in the horizontal direction relative to the stop sign, and qr_z represents the Z-axis position of the AGV in the coordinate system, that is, the first position coordinate of the AGV in the vertical direction relative to the stop sign.

[0023] It should be understood that qr_w1 in the attitude quaternion (qr_w1, qr_x1, qr_y1, qr_z1) is the real part of the quaternion, which represents the scalar part of the rotation. qr_x1 is the X-axis component of the quaternion, which represents the rotation around the X-axis, that is, the rotation of the AGV in the vertical direction; qr_y1 is the Y-axis component of the quaternion, which represents the rotation around the Y-axis, that is, the rotation of the AGV in the left and right directions; qr_z1 is the Z-axis component of the quaternion, which represents the rotation around the Z-axis, that is, the rotation of the AGV in the front and back directions.

[0024] In this embodiment, in order to more intuitively understand the posture of the AGV, the posture quaternion is converted into Euler angles (yaw angle, pitch angle, roll angle). Specifically, the conversion formula is as follows: Pitch angle, the rotation angle around the Y axis: ; Yaw angle, the rotation angle around the Z axis: ; Roll angle, the rotation angle around the X axis: .

[0025] Furthermore, the radian value of the Euler angle (yaw angle, pitch angle, roll angle) is converted to an angle value. Specifically, the conversion formula is as follows: ; ; .

[0026] In this embodiment, the vertical distance of the AGV relative to the parking mark generally refers to the front-to-rear distance between the AGV and the parking mark in the horizontal direction. In the above coordinate system, the vertical distance is determined by the first position coordinate qr_z of the AGV relative to the parking mark in the vertical direction, that is, the vertical distance is |qr_z|. The lateral distance of the AGV relative to the parking mark generally refers to the left-right distance between the AGV and the parking mark in the horizontal direction. In the above coordinate system, the vertical distance is determined by the second position coordinate qr_y of the AGV relative to the parking mark in the horizontal direction, that is, the lateral distance is |qr_y|.

[0027] It should be understood that the inclination angle of an AGV generally refers to the rotation angle of the AGV body around a certain axis. Specifically, in this embodiment, the inclination angle of the AGV is defined as the rotation angle of the AGV body around the Y-axis (i.e., the left and right movement direction relative to the parking sign), that is, the inclination angle of the AGV is determined based on the pitch angle of the AGV.

[0028] Step 120, when it is determined based on the first position coordinate that the vertical distance of the AGV relative to the stop mark is not less than the minimum vertical distance, based on the first position coordinate and the second position coordinate of the AGV, controlling the chassis speed of the AGV moving forward relative to the stop mark until the vertical distance of the AGV is less than the minimum vertical distance; Here, the minimum vertical distance is the minimum allowable distance between the front end or rear end of the AGV and the location of the parking mark during parking, to ensure that the AGV does not get too close to the location of the parking mark and exceed the parking space range.

[0029] It should be understood that the chassis speed refers to the movement speed caused by the speed command output by the chassis motor of the AGV. It is a vector data that includes both size and direction. Specifically, it usually includes two aspects: chassis linear speed and chassis angular speed. The chassis linear speed determines the displacement of the AGV along its moving direction per unit time, which directly affects the linear motion speed of the AGV. The chassis angular speed determines the angle at which the AGV rotates around its rotation axis per unit time, which directly affects the steering speed and steering angle of the AGV.

[0030] In this embodiment, when the vertical distance of the AGV is not less than the minimum vertical distance, the speed command output by the chassis motor of the AGV is precisely controlled according to the first position coordinates and the second position coordinates of the AGV to achieve the chassis linear velocity and chassis angular velocity of the AGV during movement, ensuring that the AGV moves forward relative to the parking mark and gradually approaches the position of the parking mark until the vertical distance is reduced to less than the minimum vertical distance.

[0031] In one example, if the first position coordinate is large, it indicates that the vertical distance of the AGV relative to the parking sign is large. In this case, the chassis linear velocity and chassis angular velocity output by the chassis motor can be appropriately increased. If the vertical distance is close to the minimum vertical distance, the chassis linear velocity and chassis angular velocity output by the chassis motor can be reduced until the vertical distance of the AGV is less than the minimum vertical distance.

[0032] Step 130, based on the second position coordinates and the tilt angle of the AGV, controlling the chassis speed of the AGV moving backward relative to the stop sign until the vertical distance of the AGV is greater than a first preset distance, wherein the first preset distance is determined based on the length of the AGV and the first preset distance is greater than a minimum vertical distance; Similarly, when the vertical distance of the AGV is less than the minimum vertical distance, it means that the AGV is too close to the parking mark and needs to move back and gradually adjust its posture relative to the parking mark to ensure that it can accurately align with the parking mark for parking later.

[0033] Here, the AGV will control the chassis linear velocity and chassis angular velocity output by the chassis motor according to the current second position coordinates and inclination angle to ensure that it moves backward relative to the parking sign, and gradually adjust its posture relative to the parking sign until the vertical distance increases to greater than the first preset distance.

[0034] The first preset distance is a safe distance determined based on the length of the AGV, which is used to ensure that the AGV has enough space to perform the next operation. In one example, if the length of the AGV is x, then in order to enhance the safety and flexibility of its operation, the first preset distance can be set to 1.5 times the length of the vehicle, i.e. 1.5x. This ensures that the AGV has enough buffer area for the next operation to avoid potential collisions or operational restrictions.

[0035] Step 140, returns to continue executing based on the first position coordinates and the second position coordinates of the AGV, controlling the chassis speed of the AGV moving forward relative to the parking sign, until the vertical distance of the AGV is greater than the minimum vertical distance and less than the maximum vertical distance, the lateral distance is greater than the minimum lateral distance and less than the maximum lateral distance, and the inclination angle is greater than the minimum inclination angle and less than the maximum inclination angle.

[0036] Here, the maximum vertical distance is relative to the minimum vertical distance, and it defines the maximum allowable distance between the AGV and the location of the parking mark when parking, to ensure that the AGV does not move too far away from the location of the parking mark and exceed the parking space range.

[0037] The minimum lateral distance and the maximum lateral distance define the allowable range of the offset distance between the AGV and the center line of the parking mark when parking, to ensure that the AGV is parked in the center of the parking space and does not exceed the boundary.

[0038] The minimum tilt angle and the maximum tilt angle define the allowable range of tilt angles between the AGV's body orientation and the center line of the parking mark when parking, to ensure that the AGV is parked in the correct position aligned with the parking mark within the parking space.

[0039] When the AGV retreats beyond the first preset distance, it returns to continue to execute the above step of controlling the chassis speed of the AGV moving forward relative to the parking mark based on the first position coordinates and the second position coordinates. During the execution of this step, the AGV will continue to check whether the parking parameters of the AGV meet the preset conditions. The preset conditions of the parking parameters include: the vertical distance of the AGV is greater than the minimum vertical distance and less than the maximum vertical distance, the lateral vertical distance is greater than the minimum lateral distance and less than the maximum lateral distance, and the inclination angle is greater than the minimum inclination angle and less than the maximum inclination angle.

[0040] If the parking parameters of the AGV have not met the preset conditions during the process of moving forward relative to the parking mark, then when the vertical distance of the AGV is less than the minimum vertical distance, the execution continues to be based on the second position coordinates and the inclination angle of the AGV to control the chassis speed of the AGV moving backward relative to the parking mark, and after the vertical distance of the AGV is greater than the first preset distance, the execution returns to continue to control the chassis speed of the AGV moving forward relative to the parking mark based on the first position coordinates and the second position coordinates until the vertical distance of the AGV is greater than the minimum vertical distance and less than the maximum vertical distance, the lateral vertical distance is greater than the minimum lateral distance and less than the maximum lateral distance, and the inclination angle is greater than the minimum inclination angle and less than the maximum inclination angle.

[0041] The parking control method based on visual positioning proposed in the embodiment of the present invention realizes fine control of the movement process of the AGV by using the visual sensor of the AGV to accurately detect the position of the parking mark, and calculates the first position coordinate, the second position coordinate and the inclination angle of the AGV relative to the parking mark in real time. The method can intelligently adjust the speed of the chassis moving forward according to the first position coordinate and the second position coordinate when the vertical distance of the AGV is not less than the minimum vertical distance, until the AGV approaches the position where the vertical distance is less than the minimum vertical distance; then, adjust the speed of the chassis moving backward according to the second position coordinate and the inclination angle, so that the AGV retreats to a first preset distance to ensure that there is enough space for the next operation; finally, the AGV is controlled to move forward again based on the first position coordinate and the second position coordinate until all parking parameters (vertical distance, lateral distance, inclination angle) meet the preset parking conditions (that is, between the corresponding minimum and maximum values), thereby improving the parking accuracy of the AGV and reducing the parking error of the AGV.

[0042] It should be noted that each implementation method of the present application can be freely combined, the order can be changed, or it can be executed separately, and does not need to rely on or depend on a fixed execution order.

[0043] In some embodiments, the method further comprises: Based on the size of the parking space of the AGV and the chassis size of the AGV, the parking positioning parameters are determined; wherein the parking positioning parameters include the minimum vertical distance, the maximum vertical distance, the minimum lateral distance, the maximum lateral distance, the minimum tilt angle, the maximum tilt angle and the vehicle length.

[0044] Here, the parking space size of the AGV refers to the minimum space size required by the AGV during parking (such as the length and width of the parking space), and the chassis size of the AGV refers to the physical size of the AGV chassis (such as the length and width of the AGV chassis).

[0045] In this embodiment, the minimum vertical distance a, maximum vertical distance b, minimum lateral distance c, maximum lateral distance d, minimum inclination angle e, maximum inclination angle f and vehicle length x can be determined based on the size of the AGV parking space and the chassis size of the AGV and combined with the preset parking positioning parameter setting rules.

[0046] The parking control method based on visual positioning proposed in the embodiment of the present invention calculates and sets these parking positioning parameters according to the size of the parking space of the AGV and the chassis size of the AGV, so as to perform accurate position and posture adjustment based on these parking positioning parameters during the parking process.

[0047] In some embodiments, based on the first position coordinate and the second position coordinate of the AGV, controlling the chassis speed of the AGV moving forward relative to the stop sign includes: When it is determined based on the first position coordinate that the vertical distance of the AGV relative to the stop sign is greater than a first preset distance, based on the first position coordinate of the AGV, the vehicle length of the AGV and a first positive linear velocity coefficient, controlling the linear velocity of the chassis of the AGV moving forward relative to the stop sign; and Based on the second position coordinates of the AGV, the vehicle length of the AGV and the first positive angular velocity coefficient, the chassis angular velocity of the AGV moving forward relative to the parking mark is controlled.

[0048] In one example, see Figure 3 As shown, the first preset distance is set to 1.5x, where x refers to the length of the AGV. When the vertical distance |qr_z| of the AGV is greater than the first preset distance 1.5x, the chassis linear speed of the AGV moving forward relative to the parking sign can be controlled based on the following formula: : ; Among them, the positive coefficient of the first linear velocity is 0.1.

[0049] Similarly, the chassis angular velocity of the AGV moving forward relative to the stop sign can be controlled based on the following formula: : ; Among them, the first angular velocity positive coefficient is 2.

[0050] It should be understood that the first linear velocity positive coefficient value of 0.1 and the first angular velocity positive coefficient value of 2 are merely a specific embodiment, and the specific values ​​can be adjusted according to actual needs, and there is no limitation to this.

[0051] In some embodiments, based on the first position coordinate and the second position coordinate of the AGV, controlling the chassis speed of the AGV moving forward relative to the stop sign includes: When it is determined based on the first position coordinates that the vertical distance of the AGV relative to the stop mark is greater than the second preset distance but not greater than the first preset distance, based on the first position coordinates of the AGV, the vehicle length of the AGV and the first linear velocity positive coefficient, the chassis linear velocity of the AGV moving forward relative to the stop mark is controlled; wherein the second preset distance is greater than the minimum vertical distance; and Based on the second position coordinates of the AGV, the vehicle length of the AGV and the second positive angular velocity coefficient, the chassis angular velocity of the AGV moving forward relative to the parking sign is controlled; wherein the second positive angular coefficient is smaller than the first positive angular coefficient.

[0052] In one example, see Figure 4 As shown in the figure, the first preset distance is set to 1.5x, and the second preset distance is set to a+0.1, where x refers to the length of the AGV and a refers to the minimum vertical distance. When the vertical distance |qr_z| of the AGV is greater than the second preset distance a+0.1 and not greater than the first preset distance 1.5x, the chassis linear speed of the AGV moving forward relative to the parking sign can be controlled based on the following formula : ; Among them, the positive coefficient of the first linear velocity is 0.1.

[0053] Similarly, the chassis angular velocity of the AGV moving forward relative to the stop sign can be controlled based on the following formula: : ; Among them, the second angular velocity positive coefficient is 1.

[0054] It should be understood that the first linear velocity positive coefficient is 0.1 and the second angular velocity positive coefficient is 1, which is only a specific embodiment, and the specific values ​​can be adjusted according to actual needs, and there is no limitation on this. However, it should be noted that in this embodiment, the second angular velocity positive coefficient is smaller than the first angular velocity positive coefficient.

[0055] In some embodiments, based on the first position coordinate and the second position coordinate of the AGV, controlling the chassis speed of the AGV moving forward relative to the stop sign includes: When it is determined based on the first position coordinate that the vertical distance of the AGV relative to the stop mark is not less than the minimum vertical distance and not greater than the second preset distance, based on the first position coordinate of the AGV, the vehicle length of the AGV and the second linear velocity positive coefficient, the linear velocity of the chassis of the AGV moving forward relative to the stop mark is controlled; wherein the second linear velocity positive coefficient is less than the first linear velocity positive coefficient; and Based on the second position coordinates of the AGV, the vehicle length of the AGV and the third positive angular velocity coefficient, the chassis angular velocity of the AGV moving forward relative to the parking sign is controlled; wherein the third positive angular velocity coefficient is smaller than the first positive angular velocity coefficient but larger than the second positive angular velocity coefficient.

[0056] In one example, x refers to the length of the AGV. The second preset distance is set to a+0.1, where a refers to the minimum vertical distance. When the vertical distance |qr_z| of the AGV is not less than the minimum vertical distance a and not greater than the second preset distance a+0.1, the chassis linear speed of the AGV moving forward relative to the parking sign can be controlled based on the following formula: : ; Among them, the positive coefficient of the second linear velocity is 0.03.

[0057] Similarly, the chassis angular velocity of the AGV moving forward relative to the stop sign can be controlled based on the following formula: : ; Among them, the third angular velocity positive coefficient is 1.5.

[0058] It should be understood that the first linear velocity positive coefficient is 0.03 and the second angular velocity positive coefficient is 1.5, which is only a specific embodiment. The specific values ​​can be adjusted according to actual needs and are not limited to this. However, it should be noted that in this embodiment, the second linear velocity positive coefficient is smaller than the first linear velocity positive coefficient, and the third angular velocity positive coefficient is smaller than the first angular velocity positive coefficient, but greater than the second angular velocity positive coefficient.

[0059] The parking control method based on visual positioning proposed in an embodiment of the present invention uses the above method to control the AGV to gradually move forward to a range close to the location of the parking mark when the vertical distance of the AGV relative to the parking mark is not less than the minimum vertical distance. When the vertical distance of the AGV relative to the parking mark is in different distance intervals, different control strategies are adopted to improve the parking accuracy of the AGV.

[0060] In some embodiments, based on the second position coordinates and the inclination angle of the AGV, controlling the chassis speed of the AGV moving backward relative to the parking sign includes: When it is determined based on the second position coordinate that the lateral distance of the AGV relative to the stop mark is within a preset lateral distance range, based on the vehicle length of the AGV and the negative linear velocity coefficient, controlling the chassis linear velocity of the AGV moving backward relative to the stop mark; wherein the preset lateral distance range is determined based on the vehicle length of the AGV; and Based on the vehicle length of the AGV, the tilt angle of the AGV and the fourth positive angular velocity coefficient, the chassis angular velocity of the AGV moving backward relative to the parking mark is controlled.

[0061] In one example, see Figure 5 As shown, x refers to the length of the AGV, and a refers to the minimum vertical distance. When the vertical distance |qr_z| of the AGV is less than the minimum vertical distance, the lateral distance |qr_y| of the AGV relative to the parking mark is further determined based on the second position coordinate, and the control strategy of the chassis speed of the AGV moving backward relative to the parking mark is determined based on the lateral distance |qr_y|.

[0062] Specifically, when the lateral distance |qr_y| is within the preset lateral distance range, such as less than or equal to 0.35x, the chassis linear speed of the AGV moving backward relative to the parking mark is controlled based on the following formula: : ; Among them, the negative coefficient of linear velocity is -0.15.

[0063] Similarly, the chassis angular velocity of the AGV moving backward relative to the stop sign can be controlled based on the following formula: : ; Among them, the fourth angular velocity positive coefficient is 0.2, is the tilt angle.

[0064] It should be understood that the negative coefficient of linear velocity being -0.15 and the positive coefficient of the fourth angular velocity being 0.2 is merely a specific embodiment, and the specific values ​​can be adjusted according to actual needs, and there is no limitation to this.

[0065] In one example, the method further includes: When it is determined based on the second position coordinate that the lateral distance of the AGV relative to the parking sign is not within the preset lateral distance range, the chassis angular velocity of the AGV moving forward relative to the parking sign is controlled based on the vehicle length of the AGV, the second position coordinate of the AGV and the fifth positive angular velocity coefficient.

[0066] When the lateral distance |qr_y| is not within the preset lateral distance range, such as greater than 0.35x, the chassis linear speed of the AGV moving backward relative to the parking mark is controlled is 0.

[0067] Similarly, the chassis angular velocity of the AGV moving backward relative to the stop sign can be controlled based on the following formula: : ; Among them, the fifth angular velocity positive coefficient is 0.08.

[0068] It should be understood that the fifth angular velocity positive coefficient value of 0.08 is only a specific embodiment, and the specific value can be adjusted according to actual needs, and there is no limitation to this.

[0069] The parking control method based on visual positioning proposed in an embodiment of the present invention uses the above method to control the AGV to gradually move backward to a range away from the location of the parking mark when the vertical distance of the AGV relative to the parking mark is less than the minimum vertical distance. When the lateral distance of the AGV relative to the parking mark is in different distance intervals, different control strategies are adopted to achieve precise control of the posture of the AGV.

[0070] In some embodiments, in order to ensure that the AGV can move forward or backward correctly, a flag AAA is also set in the control program of the AGV in this embodiment. When the vertical distance |qr_z| of the AGV is not less than the minimum vertical distance, the flag is set to 0. When the flag is set to 0, the AGV can only move forward relative to the parking sign. When the vertical distance |qr_z| of the AGV is less than the minimum vertical distance, the flag is set to 1. When the flag is set to 1, the AGV can only move backward relative to the parking sign.

[0071] An embodiment of the present invention also provides a parking control device based on visual positioning. The parking control device based on visual positioning provided by the embodiment of the present invention is described below. The parking control device based on visual positioning described below and the parking control method based on visual positioning described above can be referenced to each other.

[0072] refer to Figure 6 In this embodiment, the parking control device based on visual positioning includes: A first parking control module 610 is configured to determine, when a visual sensor of the automatic guided vehicle AGV detects a parking sign, a first position coordinate in the vertical direction, a second position coordinate in the horizontal direction, and an inclination angle of the AGV relative to the parking sign based on the visual sensor; a second parking control module 620, configured to control a chassis speed of the AGV moving forward relative to the parking mark based on the first position coordinates and the second position coordinates of the AGV, when it is determined based on the first position coordinates that the vertical distance of the AGV relative to the parking mark is not less than a minimum vertical distance, until the vertical distance of the AGV is less than the minimum vertical distance; a third parking control module 630, configured to control a chassis speed of the AGV moving backward relative to the parking mark based on the second position coordinates and the tilt angle of the AGV until the vertical distance of the AGV is greater than a first preset distance, wherein the first preset distance is determined based on the vehicle length of the AGV and the first preset distance is greater than a minimum vertical distance; The fourth parking control module 640 is used to return to continue executing based on the first position coordinates and the second position coordinates of the AGV, and control the chassis speed of the AGV moving forward relative to the parking sign until the vertical distance of the AGV is greater than the minimum vertical distance and less than the maximum vertical distance, the lateral distance is greater than the minimum lateral distance and less than the maximum lateral distance, and the inclination angle is greater than the minimum inclination angle and less than the maximum inclination angle.

[0073] The parking control device based on visual positioning provided by the embodiment of the present invention realizes fine control of the movement process of the AGV by using the visual sensor of the AGV to accurately detect the position of the parking mark, and calculates the first position coordinate, the second position coordinate and the inclination angle of the AGV relative to the parking mark in real time. The method can intelligently adjust the speed of the chassis moving forward according to the first position coordinate and the second position coordinate when the vertical distance of the AGV is not less than the minimum vertical distance, until the AGV approaches the position where the vertical distance is less than the minimum vertical distance; then, adjust the speed of the chassis moving backward according to the second position coordinate and the inclination angle, so that the AGV retreats to a first preset distance to ensure that there is enough space for the next operation; finally, the AGV is controlled to move forward again based on the first position coordinate and the second position coordinate until all parking parameters (vertical distance, lateral distance, inclination angle) meet the preset parking conditions (that is, between the corresponding minimum and maximum values), thereby improving the parking accuracy of the AGV and reducing the parking error of the AGV.

[0074] Figure 7 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 7 As shown, the electronic device may include: a processor 710, a communication interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communication interface 720 and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute the parking control method based on visual positioning, and the method includes: In the case where a stop sign is detected by a visual sensor of an automated guided vehicle (AGV), determining a first position coordinate in a vertical direction, a second position coordinate in a horizontal direction, and an inclination angle of the AGV relative to the stop sign based on the visual sensor; In a case where it is determined based on the first position coordinate that the vertical distance of the AGV relative to the stop mark is not less than a minimum vertical distance, based on the first position coordinate and the second position coordinate of the AGV, controlling a chassis speed of the AGV moving forward relative to the stop mark until the vertical distance of the AGV is less than the minimum vertical distance; Based on the second position coordinate and the tilt angle of the AGV, control the chassis speed of the AGV moving backward relative to the stop sign until the vertical distance of the AGV is greater than a first preset distance, the first preset distance is determined based on the length of the AGV, and the first preset distance is greater than a minimum vertical distance; Return to continue executing based on the first position coordinate and the second position coordinate of the AGV, control the chassis speed of the AGV moving forward relative to the parking sign, until the vertical distance of the AGV is greater than the minimum vertical distance and less than the maximum vertical distance, the lateral distance is greater than the minimum lateral distance and less than the maximum lateral distance, and the inclination angle is greater than the minimum inclination angle and less than the maximum inclination angle; wherein the lateral distance is determined based on the second position coordinate.

[0075] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0076] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the parking control method based on visual positioning provided by the above methods, the method includes: In the case where a stop sign is detected by a visual sensor of an automated guided vehicle (AGV), determining a first position coordinate in a vertical direction, a second position coordinate in a horizontal direction, and an inclination angle of the AGV relative to the stop sign based on the visual sensor; In a case where it is determined based on the first position coordinate that the vertical distance of the AGV relative to the stop mark is not less than a minimum vertical distance, based on the first position coordinate and the second position coordinate of the AGV, controlling a chassis speed of the AGV moving forward relative to the stop mark until the vertical distance of the AGV is less than the minimum vertical distance; Based on the second position coordinate and the tilt angle of the AGV, control the chassis speed of the AGV moving backward relative to the stop sign until the vertical distance of the AGV is greater than a first preset distance, the first preset distance is determined based on the length of the AGV, and the first preset distance is greater than a minimum vertical distance; Return to continue executing based on the first position coordinate and the second position coordinate of the AGV, control the chassis speed of the AGV moving forward relative to the parking sign, until the vertical distance of the AGV is greater than the minimum vertical distance and less than the maximum vertical distance, the lateral distance is greater than the minimum lateral distance and less than the maximum lateral distance, and the inclination angle is greater than the minimum inclination angle and less than the maximum inclination angle; wherein the lateral distance is determined based on the second position coordinate.

[0077] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to execute the parking control method based on visual positioning provided by the above methods, the method comprising: In the case where a stop sign is detected by a visual sensor of an automated guided vehicle (AGV), determining a first position coordinate in a vertical direction, a second position coordinate in a horizontal direction, and an inclination angle of the AGV relative to the stop sign based on the visual sensor; In a case where it is determined based on the first position coordinate that the vertical distance of the AGV relative to the stop mark is not less than a minimum vertical distance, based on the first position coordinate and the second position coordinate of the AGV, controlling a chassis speed of the AGV moving forward relative to the stop mark until the vertical distance of the AGV is less than the minimum vertical distance; Based on the second position coordinate and the tilt angle of the AGV, control the chassis speed of the AGV moving backward relative to the stop sign until the vertical distance of the AGV is greater than a first preset distance, the first preset distance is determined based on the length of the AGV, and the first preset distance is greater than a minimum vertical distance; Return to continue executing based on the first position coordinate and the second position coordinate of the AGV, control the chassis speed of the AGV moving forward relative to the parking sign, until the vertical distance of the AGV is greater than the minimum vertical distance and less than the maximum vertical distance, the lateral distance is greater than the minimum lateral distance and less than the maximum lateral distance, and the inclination angle is greater than the minimum inclination angle and less than the maximum inclination angle; wherein the lateral distance is determined based on the second position coordinate.

[0078] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0079] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A parking control method based on visual positioning, characterized in that: The method comprises: In the case where a stop sign is detected by a visual sensor of an automated guided vehicle (AGV), determining a first position coordinate in a vertical direction, a second position coordinate in a horizontal direction, and an inclination angle of the AGV relative to the stop sign based on the visual sensor; In a case where it is determined based on the first position coordinate that the vertical distance of the AGV relative to the stop mark is not less than a minimum vertical distance, based on the first position coordinate and the second position coordinate of the AGV, controlling a chassis speed of the AGV moving forward relative to the stop mark until the vertical distance of the AGV is less than the minimum vertical distance; Based on the second position coordinate and the tilt angle of the AGV, control the chassis speed of the AGV moving backward relative to the stop sign until the vertical distance of the AGV is greater than a first preset distance, the first preset distance is determined based on the length of the AGV, and the first preset distance is greater than a minimum vertical distance; Return to continue executing based on the first position coordinate and the second position coordinate of the AGV, control the chassis speed of the AGV moving forward relative to the parking sign, until the vertical distance of the AGV is greater than the minimum vertical distance and less than the maximum vertical distance, the lateral distance is greater than the minimum lateral distance and less than the maximum lateral distance, and the inclination angle is greater than the minimum inclination angle and less than the maximum inclination angle; wherein the lateral distance is determined based on the second position coordinate.

2. The parking control method based on visual positioning according to claim 1, characterized in that: Based on the first position coordinate and the second position coordinate of the AGV, controlling the chassis speed of the AGV moving forward relative to the parking mark includes: When it is determined based on the first position coordinate that the vertical distance of the AGV relative to the stop sign is greater than a first preset distance, based on the first position coordinate of the AGV, the vehicle length of the AGV and a first positive linear velocity coefficient, controlling the linear velocity of the chassis of the AGV moving forward relative to the stop sign; and Based on the second position coordinates of the AGV, the vehicle length of the AGV and the first positive angular velocity coefficient, the chassis angular velocity of the AGV moving forward relative to the parking mark is controlled.

3. The parking control method based on visual positioning according to claim 1, characterized in that: Based on the first position coordinate and the second position coordinate of the AGV, controlling the chassis speed of the AGV moving forward relative to the parking mark includes: When it is determined based on the first position coordinates that the vertical distance of the AGV relative to the stop mark is greater than the second preset distance but not greater than the first preset distance, based on the first position coordinates of the AGV, the vehicle length of the AGV and the first linear velocity positive coefficient, the chassis linear velocity of the AGV moving forward relative to the stop mark is controlled; wherein the second preset distance is greater than the minimum vertical distance; and Based on the second position coordinates of the AGV, the vehicle length of the AGV and the second positive angular velocity coefficient, the chassis angular velocity of the AGV moving forward relative to the parking sign is controlled; wherein the second positive angular coefficient is smaller than the first positive angular coefficient.

4. The parking control method based on visual positioning according to claim 1, characterized in that: Based on the first position coordinate and the second position coordinate of the AGV, controlling the chassis speed of the AGV moving forward relative to the parking mark includes: When it is determined based on the first position coordinate that the vertical distance of the AGV relative to the stop mark is not less than the minimum vertical distance and not greater than the second preset distance, based on the first position coordinate of the AGV, the vehicle length of the AGV and the second linear velocity positive coefficient, the linear velocity of the chassis of the AGV moving forward relative to the stop mark is controlled; wherein the second linear velocity positive coefficient is less than the first linear velocity positive coefficient; and Based on the second position coordinates of the AGV, the vehicle length of the AGV and the third positive angular velocity coefficient, the chassis angular velocity of the AGV moving forward relative to the parking sign is controlled; wherein the third positive angular velocity coefficient is smaller than the first positive angular velocity coefficient but larger than the second positive angular velocity coefficient.

5. The parking control method based on visual positioning according to claim 1, characterized in that: Based on the second position coordinates and the inclination angle of the AGV, controlling the chassis speed of the AGV moving backward relative to the parking mark includes: When it is determined based on the second position coordinate that the lateral distance of the AGV relative to the stop mark is within a preset lateral distance range, based on the vehicle length of the AGV and the negative linear velocity coefficient, controlling the chassis linear velocity of the AGV moving backward relative to the stop mark; wherein the preset lateral distance range is determined based on the vehicle length of the AGV; and Based on the vehicle length of the AGV, the tilt angle of the AGV and the fourth positive angular velocity coefficient, the chassis angular velocity of the AGV moving backward relative to the parking mark is controlled.

6. The parking control method based on visual positioning according to claim 5 is characterized in that: The method further comprises: When it is determined based on the second position coordinate that the lateral distance of the AGV relative to the parking sign is not within the preset lateral distance range, the chassis angular velocity of the AGV moving forward relative to the parking sign is controlled based on the vehicle length of the AGV, the second position coordinate of the AGV and the fifth positive angular velocity coefficient.

7. The parking control method based on visual positioning according to any one of claims 1 to 6, characterized in that: The method further comprises: Based on the size of the parking space of the AGV and the chassis size of the AGV, the parking positioning parameters are determined; wherein the parking positioning parameters include the minimum vertical distance, the maximum vertical distance, the minimum lateral distance, the maximum lateral distance, the minimum tilt angle, the maximum tilt angle and the vehicle length.

8. A parking control device based on visual positioning, characterized in that: include: A first parking control module is used to determine, when a visual sensor of an automatic guided vehicle AGV detects a parking mark, a first position coordinate of the AGV in a vertical direction, a second position coordinate in a horizontal direction, and an inclination angle of the AGV relative to the parking mark based on the visual sensor; a second parking control module, configured to control a chassis speed of the AGV moving forward relative to the parking mark based on the first position coordinates and the second position coordinates of the AGV, when it is determined based on the first position coordinates that the vertical distance of the AGV relative to the parking mark is not less than a minimum vertical distance, until the vertical distance of the AGV is less than the minimum vertical distance; a third parking control module, configured to control a chassis speed of the AGV moving backward relative to the parking mark based on the second position coordinates and the tilt angle of the AGV until the vertical distance of the AGV is greater than a first preset distance, wherein the first preset distance is determined based on the vehicle length of the AGV and the first preset distance is greater than a minimum vertical distance; The fourth parking control module is used to return to continue executing the first position coordinates and the second position coordinates of the AGV, and control the chassis speed of the AGV moving forward relative to the parking sign until the vertical distance of the AGV is greater than the minimum vertical distance and less than the maximum vertical distance, the lateral distance is greater than the minimum lateral distance and less than the maximum lateral distance, and the inclination angle is greater than the minimum inclination angle and less than the maximum inclination angle.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the parking control method based on visual positioning as described in any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the parking control method based on vision positioning as described in any one of claims 1 to 7 is implemented.

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