Visual positioning-based parking control method, device, equipment, and storage medium

Abstract

This invention provides a vision-based parking control method, apparatus, device, and storage medium. The method includes: detecting a parking sign using a vision sensor based on an AGV; determining the AGV's first vertical position coordinates, second horizontal position coordinates, and tilt angle relative to the parking sign; controlling the forward movement speed of the AGV's chassis based on the first and second position coordinates until the AGV's vertical distance is less than a minimum vertical distance; controlling the backward movement speed of the AGV based on the second position coordinates and tilt angle until the AGV's vertical distance is greater than a first preset distance; and returning to continue executing the above steps until the AGV's vertical distance is greater than a minimum vertical distance but less than a maximum vertical distance, its horizontal distance is greater than a minimum horizontal distance but less than a maximum horizontal distance, and its tilt angle is greater than a minimum tilt angle but less than a maximum tilt angle. This invention improves parking accuracy.

Description

Technical Field

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

[0002] Currently, conventional AGVs (Automated Guided Vehicles) can employ positioning methods such as magnetic nail positioning, laser scanning positioning, and optical sensor positioning. When using differential AGVs for parking operations, the steering and stopping of the differential AGV rely on the friction between the tires and the ground. Therefore, its parking positioning is usually set with an allowable error range. As long as the positioning result of the differential AGV is detected within this error range, it is considered to meet the parking standard.

[0003] However, differential AGVs are affected by external factors such as tire friction and ground smoothness. For example, when turning, severely worn tires may cause a difference between the actual and expected steering angles, limiting their parking accuracy. The actual parking position may exceed the set error range, resulting in parking accuracy that does not meet the requirements of some high-precision applications. Summary of the Invention

[0004] This invention provides a parking control method, device, equipment, and storage medium based on visual positioning to address the deficiencies in the prior art.

[0005] This invention provides a parking control method based on vision positioning, comprising:

[0006] When a parking sign is detected by the vision sensor of the automated guided vehicle (AGV), the first position coordinates of the AGV in the vertical direction, the second position coordinates in the horizontal direction, and the tilt angle of the AGV relative to the parking sign are determined based on the vision sensor.

[0007] If the vertical distance between the AGV and the parking sign is determined to be not less than the minimum vertical distance based on the first position coordinates, the chassis speed of the AGV moving forward relative to the parking sign is controlled based on the first position coordinates and the second position coordinates of the AGV until the vertical distance of the AGV is less than the minimum vertical distance.

[0008] Based on the second position coordinates of the AGV and the tilt angle, the chassis speed of the AGV moving backward relative to the parking sign is controlled 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 is greater than the minimum vertical distance.

[0009] Return to continue executing based on the first and second position coordinates of the AGV, control the chassis speed of the AGV to move 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 tilt angle is greater than the minimum tilt angle and less than the maximum tilt angle; wherein, the lateral distance is determined based on the second position coordinates.

[0010] According to a vision-based parking control method provided by the present invention, based on the first and second position coordinates of the AGV, the chassis speed of the AGV moving forward relative to the parking sign is controlled, including:

[0011] If, based on the first position coordinates, the vertical distance of the AGV relative to the parking sign is determined to be greater than a first preset distance, the chassis linear velocity of the AGV relative to the parking sign is controlled based on the AGV's first position coordinates, AGV length, and a first linear velocity positive coefficient; and

[0012] Based on the second position coordinates of the AGV, the length of the AGV, and the positive coefficient of the first angular velocity, the chassis angular velocity of the AGV relative to the parking sign is controlled to move forward.

[0013] According to a vision-based parking control method provided by the present invention, based on the first and second position coordinates of the AGV, the chassis speed of the AGV moving forward relative to the parking sign is controlled, including:

[0014] If, based on the first position coordinates, the vertical distance of the AGV relative to the parking sign is greater than a second preset distance but not greater than a first preset distance, the chassis linear velocity of the AGV relative to the parking sign is controlled based on the AGV's first position coordinates, AGV length, and a first linear velocity positive coefficient; wherein the second preset distance is greater than a minimum vertical distance; and

[0015] Based on the second position coordinates of the AGV, the length of the AGV, and the second angular velocity positive coefficient, the chassis angular velocity of the AGV relative to the parking sign is controlled to move forward; wherein, the second angular velocity positive coefficient is less than the first angular velocity positive coefficient.

[0016] According to a vision-based parking control method provided by the present invention, based on the first and second position coordinates of the AGV, the chassis speed of the AGV moving forward relative to the parking sign is controlled, including:

[0017] If, based on the first position coordinates, the vertical distance between the AGV and the parking sign is determined to be not less than a minimum vertical distance and not greater than a second preset distance, the chassis linear velocity of the AGV relative to the parking sign is controlled based on the AGV's first position coordinates, the AGV's length, and a second linear velocity positive coefficient; wherein the second linear velocity positive coefficient is less than the first linear velocity positive coefficient; and

[0018] Based on the second position coordinates of the AGV, the length of the AGV, and the positive coefficient of the third angular velocity, the chassis angular velocity of the AGV relative to the parking sign is controlled to move forward; wherein, the positive coefficient of the third angular velocity is less than the positive coefficient of the first angular velocity, but greater than the positive coefficient of the second angular velocity.

[0019] According to a vision-based parking control method provided by the present invention, based on the second position coordinates of the AGV and the tilt angle, the method controls the chassis speed of the AGV moving backward relative to the parking sign, including:

[0020] When the lateral distance between the AGV and the parking sign is determined to be within a preset lateral distance range based on the second position coordinates, the chassis linear velocity of the AGV relative to the parking sign is controlled based on the AGV's length and negative linear velocity coefficient; wherein, the preset lateral distance range is determined based on the AGV's length; and

[0021] Based on the AGV's length, the AGV's tilt angle, and the positive coefficient of the fourth angular velocity, the chassis angular velocity of the AGV relative to the parking sign is controlled to move backward.

[0022] According to a vision-based parking control method provided by the present invention, the method further includes:

[0023] If the lateral distance between the AGV and the parking sign is not within a preset lateral distance range based on the second position coordinates, the chassis angular velocity of the AGV moving forward relative to the parking sign is controlled based on the AGV length, the second position coordinates of the AGV, and the positive coefficient of the fifth angular velocity.

[0024] According to a vision-based parking control method provided by the present invention, the method further includes:

[0025] Based on the dimensions of the AGV's parking space and the AGV's chassis dimensions, parking positioning parameters are determined; wherein, the parking positioning parameters include minimum vertical distance, maximum vertical distance, minimum lateral distance, maximum lateral distance, minimum tilt angle, maximum tilt angle, and vehicle length.

[0026] The present invention also provides a parking control device based on vision positioning, comprising:

[0027] The first parking control module is used to determine, based on the vision sensor of the automated guided vehicle (AGV), the first position coordinate of the AGV in the vertical direction, the second position coordinate of the AGV in the horizontal direction, and the tilt angle of the AGV relative to the parking sign when the AGV's vision sensor detects a parking sign.

[0028] The second parking control module is used to control the chassis speed of the AGV moving forward relative to the parking sign based on the first position coordinates and the second position coordinates of the AGV, when the vertical distance of the AGV relative to the parking sign is not less than the minimum vertical distance, until the vertical distance of the AGV is less than the minimum vertical distance.

[0029] The third parking control module is used to control the chassis speed of the AGV moving backward relative to the parking sign 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, the first preset distance being determined based on the length of the AGV and greater than a minimum vertical distance.

[0030] The fourth parking control module is used to return to continue executing the first position coordinates and the second position coordinates based on 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 tilt angle is greater than the minimum tilt angle and less than the maximum tilt angle.

[0031] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the visual positioning-based parking control method as described above.

[0032] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the visual positioning-based parking control method as described above.

[0033] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the visual positioning-based parking control method as described above.

[0034] This invention provides a vision-based parking control method, device, equipment, and storage medium. By utilizing the AGV's vision sensor to accurately detect the position of parking markers and calculating the AGV's first position coordinates, second position coordinates, and tilt angle relative to the parking markers in real time, it achieves precise control over the AGV's movement. This method intelligently adjusts the chassis's forward movement speed based on the first and second position coordinates when the AGV's vertical distance is not less than the minimum vertical distance, until the AGV approaches a position where the vertical distance is less than the minimum vertical distance. Subsequently, it adjusts the chassis's backward movement speed based on the second position coordinates and the tilt angle, causing the AGV to retreat to a first preset distance to ensure sufficient space for the next operation. Finally, it again controls the AGV to move forward based on the first and second position coordinates until all parking parameters (vertical distance, lateral distance, and tilt angle) meet preset parking conditions (i.e., between the corresponding minimum and maximum values), thereby improving the AGV's parking accuracy and reducing parking errors. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0036] Figure 1 This is a flowchart illustrating the parking control method based on visual positioning provided by the present invention.

[0037] Figure 2 This is one of the scenario illustrations of the parking control method based on visual positioning provided by the present invention;

[0038] Figure 3 This is the second scenario illustration of the parking control method based on visual positioning provided by the present invention;

[0039] Figure 4 This is the third scenario illustration of the parking control method based on visual positioning provided by the present invention;

[0040] Figure 5 This is the fourth scenario illustration of the parking control method based on visual positioning provided by the present invention;

[0041] Figure 6 This is a schematic diagram of the visual positioning-based parking control device provided by the present invention;

[0042] Figure 7 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0044] Figure 1 This is a flowchart illustrating the vision-based parking control method provided by the present invention; as shown below. Figure 1 As shown, the method includes:

[0045] Step 110: When the vision sensor of the automated guided vehicle (AGV) detects a parking sign, the first position coordinate of the AGV relative to the parking sign in the vertical direction, the second position coordinate in the horizontal direction, and the tilt angle of the AGV are determined based on the vision sensor.

[0046] In this embodiment of the invention, the parking environment of the Automated Guided Vehicle (AGV) is equipped with parking markers, such as parking markers at parking spaces or charging stations. The AGV is equipped with vision sensors, such as cameras, which can capture images of the surrounding environment and identify specific parking markers through image processing algorithms. Parking markers typically contain specific patterns or colors, which can be accurately identified and located by the AGV's vision sensors. When the vision sensor detects a preset parking marker, it triggers further calculation and decision-making processes.

[0047] Specifically, the position of the parking sign detected by the AGV's vision sensor in the image acquired by the vision sensor, combined with the known size of the sign and camera parameters, is used to calculate the position (qr_x,qr_y,qr_z) and attitude quaternion (qr_w1,qr_x1,qr_y1,qr_z1) of the AGV relative to the parking sign using a vision algorithm.

[0048] In this embodiment, reference Figure 2The top view shown uses the location of the parking sign as the origin of the coordinate system. The forward / backward movement of the AGV relative to the parking sign is the Z-axis, with the backward movement of the AGV relative to the parking sign being the positive Z-axis. The left / right movement of the AGV relative to the parking sign is the Y-axis, with the leftward movement of the AGV relative to the parking sign being the positive Y-axis. The direction perpendicular to the ground is the X-axis. Therefore, qr_x represents the AGV's X-axis position in the coordinate system, qr_y represents the AGV's Y-axis position (i.e., the second horizontal position coordinate of the AGV relative to the parking sign), and qr_z represents the AGV's Z-axis position (i.e., the first vertical position coordinate of the AGV relative to the parking sign).

[0049] It should be understood that in the attitude quaternion (qr_w1, qr_x1, qr_y1, qr_z1), qr_w1 is the real part of the quaternion, representing the scalar part of rotation. qr_x1 is the X-axis component of the quaternion, representing rotation about the X-axis, i.e., the AGV's rotation in the vertical direction; qr_y1 is the Y-axis component of the quaternion, representing rotation about the Y-axis, i.e., the AGV's rotation in the left-right direction; and qr_z1 is the Z-axis component of the quaternion, representing rotation about the Z-axis, i.e., the AGV's rotation in the forward-backward direction.

[0050] In this embodiment, to more intuitively understand the AGV's attitude, the attitude quaternions are converted into Euler angles (yaw angle, pitch angle, roll angle). Specifically, the conversion formula is as follows:

[0051] Pitch angle, the angle of rotation about the Y-axis: ;

[0052] Yaw angle, the rotation angle about the Z-axis: ;

[0053] Roll angle, the angle of rotation about the X-axis: .

[0054] Furthermore, the radian values ​​of Euler angles (yaw, pitch, and roll) are converted into angle values. Specifically, the conversion formula is as follows:

[0055] ;

[0056] ;

[0057] .

[0058] In this embodiment, the vertical distance between the AGV and the parking sign typically refers to the front-to-back distance between the AGV and the parking sign in the horizontal direction. In the coordinate system above, the vertical distance is determined by the first vertical position coordinate qr_z of the AGV relative to the parking sign, i.e., the vertical distance is |qr_z|. The horizontal distance between the AGV and the parking sign typically refers to the left-to-right distance between the AGV and the parking sign in the horizontal direction. In the coordinate system above, the vertical distance is determined by the second horizontal position coordinate qr_y of the AGV relative to the parking sign, i.e., the horizontal distance is |qr_y|.

[0059] It should be understood that the tilt angle of an AGV usually refers to the rotation angle of the AGV body around a certain axis. Specifically, in this embodiment, the tilt angle of an 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). In other words, the tilt angle of an AGV is determined based on the pitch angle of the AGV.

[0060] Step 120: If the vertical distance between the AGV and the parking sign is determined to be not less than the minimum vertical distance based on the first position coordinates, the chassis speed of the AGV moving forward relative to the parking sign is controlled based on the first position coordinates and the second position coordinates of the AGV until the vertical distance of the AGV is less than the minimum vertical distance.

[0061] Here, the minimum vertical distance is the minimum allowable distance between the front or rear end of the AGV and the location of the parking sign during the parking process, to ensure that the AGV does not get too close to the location of the parking sign and exceed the parking space range.

[0062] It should be understood that 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 magnitude and direction. Specifically, it usually includes two aspects: chassis linear velocity and chassis angular velocity. Chassis linear velocity determines the amount of displacement of the AGV along its direction of movement per unit time, directly affecting the AGV's linear motion speed. Chassis angular velocity determines the amount of angle the AGV rotates around its axis of rotation per unit time, directly affecting the AGV's steering speed and steering angle.

[0063] 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 coordinate and the second position coordinate of the AGV, so as to realize the chassis linear velocity and chassis angular velocity of the AGV during the movement process, ensuring that the AGV moves forward relative to the parking sign and gradually approaches the location of the parking sign until the vertical distance is reduced to less than the minimum vertical distance.

[0064] 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 decreased until the vertical distance of the AGV is less than the minimum vertical distance.

[0065] Step 130: Based on the second position coordinates of the AGV and the tilt angle, control the chassis speed of the AGV to move backward relative to the parking 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 is greater than the minimum vertical distance.

[0066] Similarly, if the vertical distance of the AGV is less than the minimum vertical distance, it means that the AGV is too close to the parking sign and needs to be moved back and its position relative to the parking sign gradually adjusted to ensure that it can accurately align with the parking sign for parking in the future.

[0067] 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 tilt angle to ensure that it moves backward relative to the parking sign and gradually adjusts its posture relative to the parking sign until the vertical distance increases to a greater than the first preset distance.

[0068] The first preset distance is a safety distance determined based on the AGV's length, used to ensure that the AGV has sufficient space for the next operation. In one example, if the AGV's length is x, then to enhance its operational safety and flexibility, the first preset distance can be set to 1.5 times the length, i.e., 1.5x. This ensures that the AGV has sufficient buffer area for the next operation, avoiding potential collisions or operational limitations.

[0069] Step 140: Return to continue executing based on the first and second position coordinates 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 tilt angle is greater than the minimum tilt angle and less than the maximum tilt angle.

[0070] Here, the maximum vertical distance is relative to the minimum vertical distance. It defines the maximum allowable distance between the AGV and the location of the parking sign when the AGV is parked, to ensure that the AGV does not move too far away from the location of the parking sign and exceed the parking space range.

[0071] The minimum and maximum lateral distances define the allowable offset between the AGV and the centerline of the parking marker when the AGV is parked, ensuring that the AGV is centered within the parking space and does not exceed the boundary.

[0072] The minimum tilt angle and the maximum tilt angle define the allowable range of tilt angles between the AGV's body orientation and the centerline of the parking sign when it is parked, to ensure that the AGV is parked in the correct position relative to the parking sign within the parking space.

[0073] Once the AGV has moved backward beyond the first preset distance, it returns to continue executing the steps described above, which control the chassis speed of the AGV relative to the parking marker based on the first and second position coordinates. During this step, the AGV continuously checks whether its parking parameters meet preset conditions. The preset parking parameters include: the AGV's vertical distance 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 tilt angle is greater than the minimum tilt angle and less than the maximum tilt angle.

[0074] If the parking parameters of the AGV do not meet the preset conditions during the forward movement relative to the parking sign, when the vertical distance of the AGV is less than the minimum vertical distance, the system continues to execute the step of controlling the chassis speed of the AGV to move backward relative to the parking sign based on the second position coordinate and tilt angle of the AGV. After the vertical distance of the AGV is greater than the first preset distance, the system returns to the step of controlling the chassis speed of the AGV to move forward relative to the parking sign based on the first position coordinate and the second position coordinate, until the vertical distance of the AGV is greater than the minimum vertical distance and less than the maximum vertical distance, the horizontal vertical distance is greater than the minimum horizontal distance and less than the maximum horizontal distance, and the tilt angle is greater than the minimum tilt angle and less than the maximum tilt angle.

[0075] The vision-based parking control method proposed in this invention utilizes the AGV's vision sensors to accurately detect the position of parking markers and calculates the AGV's first position coordinates, second position coordinates, and tilt angle relative to the parking markers in real time, achieving precise control over the AGV's movement. This method intelligently adjusts the chassis's forward movement speed based on the first and second position coordinates when the AGV's vertical distance is not less than the minimum vertical distance, until the AGV approaches a position where the vertical distance is less than the minimum vertical distance. Subsequently, it adjusts the chassis's backward movement speed based on the second position coordinates and the tilt angle, causing the AGV to retreat to a first preset distance to ensure sufficient space for the next operation. Finally, it again controls the AGV to move forward based on the first and second position coordinates until all parking parameters (vertical distance, lateral distance, and tilt angle) meet preset parking conditions (i.e., between their respective minimum and maximum values), thereby improving the AGV's parking accuracy and reducing parking errors.

[0076] It should be noted that each implementation method of this application can be freely combined, rearranged, or executed individually, and does not need to rely on or depend on a fixed execution order.

[0077] In some embodiments, the method further includes:

[0078] Based on the dimensions of the AGV's parking space and the AGV's chassis dimensions, parking positioning parameters are determined; wherein, the parking positioning parameters include minimum vertical distance, maximum vertical distance, minimum lateral distance, maximum lateral distance, minimum tilt angle, maximum tilt angle, and vehicle length.

[0079] Here, the parking space dimensions of an AGV refer to the minimum space dimensions required for the AGV to park (such as the length and width of the parking space), while the chassis dimensions of an AGV refer to the physical dimensions of the AGV chassis (such as the length and width of the AGV chassis).

[0080] In this embodiment, the minimum vertical distance a, the maximum vertical distance b, the minimum lateral distance c, the maximum lateral distance d, the minimum tilt angle e, the maximum tilt angle f, and the vehicle length x can be determined based on the size of the AGV's parking space and the size of the AGV's chassis, combined with the preset parking positioning parameter setting rules.

[0081] The visual positioning-based parking control method proposed in this invention calculates and sets parking positioning parameters based on the size of the AGV's parking space and the AGV's chassis size, so as to make precise position and posture adjustments based on these parking positioning parameters during the parking process.

[0082] In some embodiments, controlling the chassis speed of the AGV relative to the parking sign to move forward, based on the first and second position coordinates of the AGV, includes:

[0083] If, based on the first position coordinates, the vertical distance of the AGV relative to the parking sign is determined to be greater than a first preset distance, the chassis linear velocity of the AGV relative to the parking sign is controlled based on the AGV's first position coordinates, AGV length, and a first linear velocity positive coefficient; and

[0084] Based on the second position coordinates of the AGV, the length of the AGV, and the positive coefficient of the first angular velocity, the chassis angular velocity of the AGV relative to the parking sign is controlled to move forward.

[0085] In one example, see Figure 3 As shown, the first preset distance is set to 1.5x, where x represents 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 velocity of the AGV moving forward relative to the parking sign can be controlled based on the following formula. :

[0086] The positive coefficient of the first linear velocity is 0.1.

[0087] Similarly, the chassis angular velocity of the AGV moving forward relative to the parking sign can be controlled based on the following formula. :

[0088] The positive coefficient of the first angular velocity is 2.

[0089] It should be understood that the first linear velocity positive coefficient being 0.1 and the first angular velocity positive coefficient being 2 is merely a specific embodiment, and the specific values ​​can be adjusted according to actual needs, without any restrictions.

[0090] In some embodiments, controlling the chassis speed of the AGV relative to the parking sign to move forward, based on the first and second position coordinates of the AGV, includes:

[0091] If, based on the first position coordinates, the vertical distance of the AGV relative to the parking sign is greater than a second preset distance but not greater than a first preset distance, the chassis linear velocity of the AGV relative to the parking sign is controlled based on the AGV's first position coordinates, AGV length, and a first linear velocity positive coefficient; wherein the second preset distance is greater than a minimum vertical distance; and

[0092] Based on the second position coordinates of the AGV, the length of the AGV, and the second angular velocity positive coefficient, the chassis angular velocity of the AGV relative to the parking sign is controlled to move forward; wherein, the second angular velocity positive coefficient is less than the first angular velocity positive coefficient.

[0093] In one example, see Figure 4 As shown, the first preset distance is set to 1.5x, and the second preset distance is set to a+0.1, where x represents the length of the AGV, and a represents the minimum vertical distance. When the vertical distance |qr_z| of the AGV is greater than the second preset distance a+0.1 but not greater than the first preset distance 1.5x, the chassis linear velocity of the AGV moving forward relative to the parking sign can be controlled based on the following formula. :

[0094] The positive coefficient of the first linear velocity is 0.1.

[0095] Similarly, the chassis angular velocity of the AGV moving forward relative to the parking sign can be controlled based on the following formula. :

[0096] The positive coefficient of the second angular velocity is 1.

[0097] It should be understood that the first linear velocity positive coefficient being 0.1 and the second angular velocity positive coefficient being 1 is merely a specific embodiment, and the specific values ​​can be adjusted according to actual needs, without limitation. However, it should be noted that in this embodiment, the second angular velocity positive coefficient is smaller than the first angular velocity positive coefficient.

[0098] In some embodiments, controlling the chassis speed of the AGV relative to the parking sign to move forward, based on the first and second position coordinates of the AGV, includes:

[0099] If, based on the first position coordinates, the vertical distance between the AGV and the parking sign is determined to be not less than a minimum vertical distance and not greater than a second preset distance, the chassis linear velocity of the AGV relative to the parking sign is controlled based on the AGV's first position coordinates, the AGV's length, and a second linear velocity positive coefficient; wherein the second linear velocity positive coefficient is less than the first linear velocity positive coefficient; and

[0100] Based on the second position coordinates of the AGV, the length of the AGV, and the positive coefficient of the third angular velocity, the chassis angular velocity of the AGV relative to the parking sign is controlled to move forward; wherein, the positive coefficient of the third angular velocity is less than the positive coefficient of the first angular velocity, but greater than the positive coefficient of the second angular velocity.

[0101] In one example, x represents the length of the AGV. The second preset distance is set to a+0.1, where a represents 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 velocity of the AGV moving forward relative to the parking sign can be controlled based on the following formula. :

[0102] The positive coefficient for the second linear velocity is 0.03.

[0103] Similarly, the chassis angular velocity of the AGV moving forward relative to the parking sign can be controlled based on the following formula. :

[0104] The positive coefficient of the third angular velocity is 1.5.

[0105] It should be understood that the positive coefficient of the first linear velocity being 0.03 and the positive coefficient of the second angular velocity being 1.5 are merely specific embodiments, and the specific values ​​can be adjusted according to actual needs without limitation. However, it should be noted that in this embodiment, the positive coefficient of the second linear velocity is less than the positive coefficient of the first linear velocity, and the positive coefficient of the third angular velocity is less than the positive coefficient of the first angular velocity but greater than the positive coefficient of the second angular velocity.

[0106] The visual positioning-based parking control method proposed in this invention uses the above method to control the AGV to gradually move forward to a position close to the parking sign when the vertical distance between the AGV and the parking sign is not less than the minimum vertical distance. Furthermore, different control strategies are adopted when the vertical distance between the AGV and the parking sign is in different distance ranges, thereby improving the parking accuracy of the AGV.

[0107] In some embodiments, controlling the chassis speed of the AGV relative to the parking sign to move backward, based on the second position coordinates of the AGV and the tilt angle, includes:

[0108] When the lateral distance between the AGV and the parking sign is determined to be within a preset lateral distance range based on the second position coordinates, the chassis linear velocity of the AGV relative to the parking sign is controlled based on the AGV's length and negative linear velocity coefficient; wherein, the preset lateral distance range is determined based on the AGV's length; and

[0109] Based on the AGV's length, the AGV's tilt angle, and the positive coefficient of the fourth angular velocity, the chassis angular velocity of the AGV relative to the parking sign is controlled to move backward.

[0110] In one example, see Figure 5As shown, x represents the length of the AGV, and a represents 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 sign is further determined based on the second position coordinates. Based on the lateral distance |qr_y|, the control strategy for the chassis speed of the AGV moving backward relative to the parking sign is determined.

[0111] Specifically, when the lateral distance |qr_y| is within a preset lateral distance range, such as less than or equal to 0.35x, the chassis linear velocity of the AGV moving backward relative to the parking sign is controlled based on the following formula. :

[0112] The negative coefficient for linear velocity is -0.15.

[0113] Similarly, the chassis angular velocity of the AGV moving backward relative to the parking sign can be controlled based on the following formula. :

[0114] The positive coefficient of the fourth angular velocity is 0.2. The angle of inclination.

[0115] It should be understood that the negative coefficient of linear velocity is -0.15 and the positive coefficient of fourth angular velocity is 0.2, which is just a specific example. The specific values ​​can be adjusted according to actual needs, and there are no restrictions on them.

[0116] In one example, the method further includes:

[0117] If the lateral distance between the AGV and the parking sign is not within a preset lateral distance range based on the second position coordinates, the chassis angular velocity of the AGV moving forward relative to the parking sign is controlled based on the AGV length, the second position coordinates of the AGV, and the positive coefficient of the fifth angular velocity.

[0118] When the lateral distance |qr_y| is not within the preset lateral distance range, such as being greater than 0.35x, the chassis linear velocity of the AGV relative to the parking sign is controlled to move backward. It is 0.

[0119] Similarly, the chassis angular velocity of the AGV moving backward relative to the parking sign can be controlled based on the following formula. :

[0120] The positive coefficient of the fifth angular velocity is 0.08.

[0121] It should be understood that the positive coefficient of the fifth angular velocity being 0.08 is merely a specific embodiment, and the specific value can be adjusted according to actual needs without limitation.

[0122] The visual positioning-based parking control method proposed in this invention controls the AGV to gradually move backward to a position away from the parking sign when the vertical distance between the AGV and the parking sign is less than the minimum vertical distance. Furthermore, different control strategies are adopted when the lateral distance between the AGV and the parking sign is in different distance ranges, thereby achieving precise control of the AGV's posture.

[0123] In some embodiments, to ensure that the AGV can move forward or backward without error, a flag bit AAA is also set in the AGV control program in this embodiment. When the vertical distance |qr_z| of the AGV is not less than the minimum vertical distance, the flag bit is set to 0. When the flag bit 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 bit is set to 1. When the flag bit is set to 1, the AGV can only move backward relative to the parking sign.

[0124] This invention also provides a parking control device based on visual positioning. The parking control device based on visual positioning provided in this invention will be described below. The parking control device based on visual positioning described below can be referred to in correspondence with the parking control method based on visual positioning described above.

[0125] refer to Figure 6 In this embodiment, the visual positioning-based parking control device includes:

[0126] The first parking control module 610 is used to determine, based on the visual sensor of the automated guided vehicle (AGV), the first position coordinate of the AGV in the vertical direction, the second position coordinate in the horizontal direction, and the tilt angle of the AGV relative to the parking sign when the AGV's visual sensor detects a parking sign.

[0127] The second parking control module 620 is used to control the chassis speed of the AGV moving forward relative to the parking sign based on the first position coordinates and the second position coordinates of the AGV, when the vertical distance of the AGV relative to the parking sign is not less than the minimum vertical distance, until the vertical distance of the AGV is less than the minimum vertical distance.

[0128] The third parking control module 630 is used to control the chassis speed of the AGV moving backward relative to the parking sign 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, the first preset distance being determined based on the length of the AGV and greater than a minimum vertical distance.

[0129] The fourth parking control module 640 is used to return to continue executing the first position coordinates and the second position coordinates based on 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 tilt angle is greater than the minimum tilt angle and less than the maximum tilt angle.

[0130] The vision-based parking control device provided in this invention utilizes the AGV's vision sensor to accurately detect the position of parking markers and calculates the AGV's first position coordinates, second position coordinates, and tilt angle relative to the parking markers in real time, achieving precise control over the AGV's movement. This method intelligently adjusts the chassis's forward movement speed based on the first and second position coordinates when the AGV's vertical distance is not less than the minimum vertical distance, until the AGV approaches a position where the vertical distance is less than the minimum vertical distance. Subsequently, it adjusts the chassis's backward movement speed based on the second position coordinates and the tilt angle, causing the AGV to retreat to a first preset distance to ensure sufficient space for the next operation. Finally, it again controls the AGV to move forward based on the first and second position coordinates until all parking parameters (vertical distance, lateral distance, and tilt angle) meet preset parking conditions (i.e., between the corresponding minimum and maximum values), thereby improving the AGV's parking accuracy and reducing parking errors.

[0131] Figure 7 An example is a schematic diagram of the physical structure of an electronic device, such as... 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 via the communication bus 740. The processor 710 can call logical instructions in the memory 730 to execute a vision-based parking control method, which includes:

[0132] When a parking sign is detected by the vision sensor of the automated guided vehicle (AGV), the first position coordinates of the AGV in the vertical direction, the second position coordinates in the horizontal direction, and the tilt angle of the AGV relative to the parking sign are determined based on the vision sensor.

[0133] If the vertical distance between the AGV and the parking sign is determined to be not less than the minimum vertical distance based on the first position coordinates, the chassis speed of the AGV moving forward relative to the parking sign is controlled based on the first position coordinates and the second position coordinates of the AGV until the vertical distance of the AGV is less than the minimum vertical distance.

[0134] Based on the second position coordinates of the AGV and the tilt angle, the chassis speed of the AGV moving backward relative to the parking sign is controlled 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 is greater than the minimum vertical distance.

[0135] Return to continue executing based on the first and second position coordinates of the AGV, control the chassis speed of the AGV to move 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 tilt angle is greater than the minimum tilt angle and less than the maximum tilt angle; wherein, the lateral distance is determined based on the second position coordinates.

[0136] Furthermore, the logical instructions in the aforementioned memory 730 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0137] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program that can be stored on a non-transitory computer-readable storage medium, wherein when the computer program is executed by a processor, the computer is able to execute the vision-based parking control method provided by the above methods, the method comprising:

[0138] When a parking sign is detected by the vision sensor of the automated guided vehicle (AGV), the first position coordinates of the AGV in the vertical direction, the second position coordinates in the horizontal direction, and the tilt angle of the AGV relative to the parking sign are determined based on the vision sensor.

[0139] If the vertical distance between the AGV and the parking sign is determined to be not less than the minimum vertical distance based on the first position coordinates, the chassis speed of the AGV moving forward relative to the parking sign is controlled based on the first position coordinates and the second position coordinates of the AGV until the vertical distance of the AGV is less than the minimum vertical distance.

[0140] Based on the second position coordinates of the AGV and the tilt angle, the chassis speed of the AGV moving backward relative to the parking sign is controlled 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 is greater than the minimum vertical distance.

[0141] Return to continue executing based on the first and second position coordinates of the AGV, control the chassis speed of the AGV to move 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 tilt angle is greater than the minimum tilt angle and less than the maximum tilt angle; wherein, the lateral distance is determined based on the second position coordinates.

[0142] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the vision-based parking control method provided by the methods described above, the method comprising:

[0143] When a parking sign is detected by the vision sensor of the automated guided vehicle (AGV), the first position coordinates of the AGV in the vertical direction, the second position coordinates in the horizontal direction, and the tilt angle of the AGV relative to the parking sign are determined based on the vision sensor.

[0144] If the vertical distance between the AGV and the parking sign is determined to be not less than the minimum vertical distance based on the first position coordinates, the chassis speed of the AGV moving forward relative to the parking sign is controlled based on the first position coordinates and the second position coordinates of the AGV until the vertical distance of the AGV is less than the minimum vertical distance.

[0145] Based on the second position coordinates of the AGV and the tilt angle, the chassis speed of the AGV moving backward relative to the parking sign is controlled 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 is greater than the minimum vertical distance.

[0146] Return to continue executing based on the first and second position coordinates of the AGV, control the chassis speed of the AGV to move 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 tilt angle is greater than the minimum tilt angle and less than the maximum tilt angle; wherein, the lateral distance is determined based on the second position coordinates.

[0147] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0148] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0149] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A visual positioning-based parking control method, characterized by, The method comprises: In a case where a parking marker is detected by a vision sensor of an automatic guided vehicle (AGV), determining, based on the vision sensor, a first position coordinate of the AGV in a vertical direction relative to the parking marker, a second position coordinate of the AGV in a horizontal direction, and an inclination angle of the AGV; In a case where it is determined, based on the first position coordinate, that a vertical distance of the AGV relative to the parking marker is not less than a minimum vertical distance, controlling, based on the first position coordinate and the second position coordinate of the AGV, a chassis speed at which the AGV moves forward relative to the parking marker until the vertical distance of the AGV is less than the minimum vertical distance; Controlling, based on the second position coordinate and the inclination angle of the AGV, a chassis speed at which the AGV moves backward relative to the parking marker until the vertical distance of the AGV is greater than a first preset distance, the first preset distance being determined based on a vehicle length of the AGV and the first preset distance being greater than the minimum vertical distance; Returning to continue controlling, based on the first position coordinate and the second position coordinate of the AGV, the chassis speed at which the AGV moves forward relative to the parking marker until the vertical distance of the AGV is greater than the minimum vertical distance and less than a maximum vertical distance, a lateral distance is greater than a minimum lateral distance and less than a maximum lateral distance, and the inclination angle is greater than a minimum inclination angle and less than a maximum inclination angle, the lateral distance being determined based on the second position coordinate; The controlling, based on the first position coordinate and the second position coordinate of the AGV, the chassis speed at which the AGV moves forward relative to the parking marker comprises: In a case where it is determined, based on the first position coordinate, that the vertical distance of the AGV relative to the parking marker is greater than the first preset distance, controlling, based on the first position coordinate of the AGV, a vehicle length of the AGV, and a first linear speed positive coefficient, a chassis linear speed at which the AGV moves forward relative to the parking marker; and Controlling, based on the second position coordinate of the AGV, the vehicle length of the AGV, and a first angular speed positive coefficient, a chassis angular speed at which the AGV moves forward relative to the parking marker; In a case where it is determined, based on the first position coordinate, that the vertical distance of the AGV relative to the parking marker is greater than a second preset distance and not greater than the first preset distance, controlling, based on the first position coordinate of the AGV, the vehicle length of the AGV, and the first linear speed positive coefficient, the chassis linear speed at which the AGV moves forward relative to the parking marker, the second preset distance being greater than the minimum vertical distance; and Controlling, based on the second position coordinate of the AGV, the vehicle length of the AGV, and a second angular speed positive coefficient, the chassis angular speed at which the AGV moves forward relative to the parking marker; in a case where it is determined based on the first position coordinate that a vertical distance of the AGV relative to the parking marker is not less than a minimum vertical distance and is not greater than a second preset distance, controlling a chassis linear velocity at which the AGV moves forward relative to the parking marker based on the first position coordinate of the AGV, a vehicle length of the AGV, and a second linear velocity positive coefficient, wherein the second linear velocity positive coefficient is less than the first linear velocity positive coefficient; and controlling a chassis angular velocity at which the AGV moves forward relative to the parking marker based on the second position coordinate of the AGV, the vehicle length of the AGV, and a third angular velocity positive coefficient, wherein the third angular velocity positive coefficient is less than the first angular velocity positive coefficient but greater than the second angular velocity positive coefficient.

2. The visual positioning-based parking control method according to claim 1, characterized by, controlling a chassis velocity at which the AGV moves backward relative to the parking marker based on the second position coordinate of the AGV and the inclination angle of the AGV, comprising: in a case where it is determined based on the second position coordinate that a lateral distance of the AGV relative to the parking marker is within a preset lateral distance range, controlling a chassis linear velocity at which the AGV moves backward relative to the parking marker based on the vehicle length of the AGV and a linear velocity negative coefficient, wherein the preset lateral distance range is determined based on the vehicle length of the AGV; and controlling a chassis angular velocity at which the AGV moves backward relative to the parking marker based on the vehicle length of the AGV, the inclination angle of the AGV, and a fourth angular velocity positive coefficient.

3. The visual positioning-based parking control method according to claim 2, characterized by, The method further comprises: in a case where it is determined based on the second position coordinate that the lateral distance of the AGV relative to the parking marker is not within the preset lateral distance range, controlling a chassis angular velocity at which the AGV moves forward relative to the parking marker based on the vehicle length of the AGV, the second position coordinate of the AGV, and a fifth angular velocity positive coefficient.

4. The visual positioning-based parking control method according to any one of claims 1 to 3, characterized in that, The method further comprises: determining a parking positioning parameter based on a size of a parking space of the AGV and a chassis size of the AGV, wherein the parking positioning parameter comprises a minimum vertical distance, a maximum vertical distance, a minimum lateral distance, a maximum lateral distance, a minimum inclination angle, a maximum inclination angle, and a vehicle length.

5. A parking control device based on visual positioning, characterized by, comprising: a first parking control module configured to, in a case where a parking marker is detected by a vision sensor of an automatic guided vehicle (AGV), determine, based on the vision sensor, 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; a second parking control module configured to, in a case where it is determined based on the first position coordinate that a vertical distance of the AGV relative to the parking marker is not less than a minimum vertical distance, control a chassis velocity at which the AGV moves forward relative to the parking marker based on the first position coordinate and the second position coordinate of the AGV, 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 marker based on the second position coordinate and the tilt angle of the AGV until the vertical distance of the AGV is greater than a first preset distance, the first preset distance being determined based on a length of the AGV, and the first preset distance being greater than the minimum vertical distance; a fourth parking control module configured to return to continue to control a chassis speed of the AGV moving forward relative to the parking marker based on the first position coordinate and the second position coordinate of the AGV 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 tilt angle is greater than the minimum tilt angle and less than the maximum tilt angle, the lateral distance being determined based on the second position coordinate; wherein the control of the chassis speed of the AGV moving forward relative to the parking marker based on the first position coordinate and the second position coordinate of the AGV includes: in a case where the vertical distance of the AGV relative to the parking marker determined based on the first position coordinate is greater than the first preset distance, controlling a chassis linear speed of the AGV moving forward relative to the parking marker based on the first position coordinate of the AGV, a length of the AGV, and a first linear speed positive coefficient; and controlling a chassis angular speed of the AGV moving forward relative to the parking marker based on the second position coordinate of the AGV, the length of the AGV, and a first angular speed positive coefficient; in a case where the vertical distance of the AGV relative to the parking marker determined based on the first position coordinate is greater than a second preset distance and not greater than the first preset distance, controlling a chassis linear speed of the AGV moving forward relative to the parking marker based on the first position coordinate of the AGV, the length of the AGV, and the first linear speed positive coefficient, the second preset distance being greater than the minimum vertical distance; and controlling a chassis angular speed of the AGV moving forward relative to the parking marker based on the second position coordinate of the AGV, the length of the AGV, and a second angular speed positive coefficient; in a case where the vertical distance of the AGV relative to the parking marker determined based on the first position coordinate is not less than the minimum vertical distance and not greater than the second preset distance, controlling a chassis linear speed of the AGV moving forward relative to the parking marker based on the first position coordinate of the AGV, the length of the AGV, and a second linear speed positive coefficient, the second linear speed positive coefficient being less than the first linear speed positive coefficient; and controlling a chassis angular speed of the AGV moving forward relative to the parking marker based on the second position coordinate of the AGV, the length of the AGV, and a third angular speed positive coefficient, the third angular speed positive coefficient being less than the first angular speed positive coefficient but greater than the second angular speed positive coefficient.

6. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the visual positioning-based parking control method of any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the visual positioning-based parking control method of any one of claims 1 to 4.

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