Vehicle tire pressure matching method and system and mobile robot

Abstract

The invention relates to the tire pressure monitoring technology, and discloses a vehicle tire pressure matching method and system and a mobile robotic.The vehicle tire pressure matching method is applied to the mobile robot and comprises the steps that the robot is controlled to move to the position area where a vehicle is located; when a corresponding tire of the vehicle is recognized based on the vehicle image collected in real time, tire pose information of the vehicle is obtained, and the robot is controlled to move and execute tire pressure information collection operation according to the tire pose information so as to obtain corresponding tire pressure sensor information; information of each tire pressure sensor and equipment identification information of the vehicle are uploaded to a server; the tire pressure configuration file is generated based on the equipment identification information and the information of each tire pressure sensor, so that the server transmits the tire pressure configuration file to an electronic control system of the vehicle to complete a tire pressure matching task. Automatic identification, acquisition and matching of the vehicle tire pressure are realized, and the tire pressure matching efficiency and precision are improved.

Description

Technical Field

[0001] This application relates to the technical field of tire pressure monitoring, and particularly to a vehicle tire pressure matching method, system, and mobile robot. Background Art

[0002] During the daily use and maintenance of an automobile, the tire pressure sensor is used to monitor the tire pressure status in real time to ensure driving safety. However, after performing operations such as changing tires, updating the tire pressure sensor, or carrying out other related maintenance operations, it is necessary to re-match the tire pressure sensor with the vehicle.

[0003] In the prior art, the matching between the tire pressure sensor and the vehicle mainly relies on manual operation. Relevant personnel need to identify the positions of the tire pressure valves of each tire of the vehicle one by one, activate the tire pressure sensor using special tools, and record the obtained data. Through a series of complex steps, this information is matched and integrated with the vehicle-mounted system. This not only consumes a large amount of time and human resources but also is prone to misoperation or inaccurate data recording during the execution process, posing a potential risk to driving safety. Summary of the Invention

[0004] In view of this, the embodiments of this application provide a vehicle tire pressure matching method, system, and mobile robot, which can effectively solve the problems in the prior art that rely on manual matching of the tire pressure sensor and the vehicle, not only consuming a large amount of time and human resources but also being prone to misoperation or inaccurate data recording, posing a potential danger to driving safety, etc.

[0005] In a first aspect, the embodiments of this application provide a vehicle tire pressure matching method, which is applied to a mobile robot. The matching method includes:

[0006] Controlling the robot to move to the position area where the vehicle is located;

[0007] When the corresponding tire of the vehicle is recognized in the vehicle image collected in real time, obtaining the tire pose information of the vehicle, and controlling the movement of the robot and performing the tire pressure information collection operation according to the tire pose information to obtain the corresponding tire pressure sensor information;

[0008] Uploading each of the tire pressure sensor information and the device identification information of the vehicle to a server; so that the server transmits a tire pressure configuration file to the electronic control system of the vehicle to complete the tire pressure matching task, where the tire pressure configuration file is generated based on the device identification information and each of the tire pressure sensor information.

[0009] In some embodiments, the device identification information includes a vehicle identifier. After controlling the robot to move to the position area of the vehicle, the tire pressure matching method further includes:

[0010] Obtain the vehicle position information and the position information of the vehicle identifier according to the vehicle image;

[0011] Control the movement of the robot and perform the vehicle identifier acquisition operation according to the vehicle position information and the position information of the vehicle identifier, so as to obtain the vehicle identifier of the vehicle.

[0012] In some embodiments, when the corresponding tire of the vehicle is recognized in the vehicle image collected in real time, obtain the tire pose information of the vehicle, and control the movement of the robot and perform the tire pressure information acquisition operation according to the tire pose information, so as to obtain the tire pressure sensor information of the vehicle, including:

[0013] When one of the tires of the vehicle is recognized in the vehicle image collected in real time, obtain the current tire pose information, control the movement of the robot to the first preset position of the current tire and perform the tire pressure information acquisition operation, so as to obtain the tire pressure sensor information of the current tire;

[0014] After the tire pressure information acquisition operation of the current tire is completed, control the robot to continue to move, and after recognizing the next tire, repeat the tire pressure sensor information acquisition operation until the tire pressure sensor information of each tire of the vehicle is obtained.

[0015] In some embodiments, the controlling the robot to move to the first preset position of the current tire and perform the tire pressure information acquisition operation according to the current tire pose information, so as to obtain the tire pressure sensor information of the current tire, includes:

[0016] Obtain the robot pose information and the environmental information;

[0017] Formulate the movement path of the robot according to the robot pose information, the environmental information and the current tire pose information;

[0018] Control the robot to move to the first preset position of the current tire according to the movement path;

[0019] Control the manipulator of the robot to trigger the tire pressure sensor of the current tire to collect the tire pressure sensor information of the current tire.

[0020] In some embodiments, the controlling the manipulator of the robot to trigger the tire pressure sensor of the current tire includes:

[0021] Obtain the valve position pose information of the current tire;

[0022] Determine the motion angles and motion sequences of the respective joints of the manipulator according to the valve position and pose information;

[0023] Control the respective joints of the manipulator according to the motion angles and motion sequences of the respective joints of the manipulator, and obtain the manipulator position and pose information in real time;

[0024] Adjust the motion of the joint according to the manipulator position and pose information, so that the triggering device of the manipulator moves to the second preset position of the valve, and trigger the tire pressure sensor of the current tire.

[0025] In some embodiments, when the corresponding tire of the vehicle is recognized in the vehicle image collected in real time, obtaining the tire position and pose information of the vehicle includes:

[0026] Analyze the vehicle image by using a target recognition algorithm to obtain the tire position and pose information of the vehicle.

[0027] In some embodiments, before analyzing the vehicle image by using the target recognition algorithm, the tire pressure matching method further includes:

[0028] Based on the original vehicle image collected in real time, perform denoising processing on the original vehicle image to obtain a first image;

[0029] Perform grayscale processing on the first image to obtain a second image;

[0030] Perform edge enhancement processing on the second image to obtain the vehicle image.

[0031] In a second aspect, an embodiment of the present application provides a vehicle tire pressure matching system, which is applied to a mobile robot and includes:

[0032] A mobile control module that controls the robot to move to the position area where the vehicle is located;

[0033] A tire pressure information acquisition module that, when the corresponding tire of the vehicle is recognized in the vehicle image collected in real time, obtains the tire position and pose information of the vehicle, and controls the movement of the robot and performs tire pressure information acquisition operations according to the tire position and pose information to obtain corresponding tire pressure sensor information;

[0034] A data upload module that uploads each tire pressure sensor information and the device identification information of the vehicle to the server; so that the server transmits a tire pressure configuration file to the electronic control system of the vehicle to complete the tire pressure matching task, where the tire pressure configuration file is generated based on the device identification information and each tire pressure sensor information.

[0035] In a third aspect, an embodiment of the present application provides a mobile robot, which includes: a processor and a memory. The memory stores a computer program, and the processor is configured to execute the computer program to implement the above-mentioned vehicle tire pressure matching method.

[0036] In some embodiments, the robot further includes an image acquisition module, a sensor module, a joint drive module, a robot drive module, a scanning module, and a communication module;

[0037] The image acquisition module is configured to collect the vehicle image in real time and transmit it to the processor;

[0038] The sensor module is configured to collect the pose information and environmental information of the robot and transmit them to the processor;

[0039] The joint drive module is configured to control the movement of each joint of the robot according to the joint drive signal of the processor;

[0040] The robot drive module is configured to control the movement of the robot according to the robot drive signal of the processor;

[0041] The scanning module is configured to scan the identifier of the vehicle and transmit it to the server;

[0042] The communication module is configured to upload each tire pressure sensor information and the device identification information of the vehicle to the server.

[0043] The embodiments of the present application have the following beneficial effects:

[0044] The vehicle tire pressure matching method of the embodiment of the present application is applied to a mobile robot, including: controlling the robot to move to the position area where the vehicle is located; when the corresponding tire of the vehicle is recognized in the vehicle image collected in real time, obtaining the tire pose information of the vehicle, and controlling the movement of the robot and performing the tire pressure information acquisition operation according to the tire pose information to obtain the corresponding tire pressure sensor information; uploading each tire pressure sensor information and the device identification information of the vehicle to the server; so that the server transmits the tire pressure configuration file to the electronic control system of the vehicle to complete the tire pressure matching task, wherein the tire pressure configuration file is generated based on the device identification information and each tire pressure sensor information. The mobile robot automatically identifies the vehicle and its tires, obtains the tire pressure sensor information of the vehicle according to the tire pose information and transmits it to the server, enabling the server to automatically match the device identification information and tire pressure sensor information of the vehicle, without manual participation, ensuring data accuracy while greatly improving the matching efficiency. Description of the Drawings

[0045] To more clearly illustrate the technical solutions of the embodiments of the present application, the accompanying drawings required for the embodiments will be briefly introduced below. It should be understood that the following accompanying drawings only show some embodiments of the present application and should not be regarded as a limitation of the scope. For those of ordinary skill in the art, other related accompanying drawings can be obtained based on these drawings without creative efforts.

[0046] Figure 1 Fig. 4 shows a first flow schematic diagram of the vehicle tire pressure matching method according to the embodiment of the present application;

[0047] Figure 2 Fig. 8 shows a second flow schematic diagram of the vehicle tire pressure matching method according to the embodiment of the present application;

[0048] Figure 3 Fig. 12 shows a third flow schematic diagram of the vehicle tire pressure matching method according to the embodiment of the present application;

[0049] Figure 4 Fig. 16 shows a fourth flow schematic diagram of the vehicle tire pressure matching method according to the embodiment of the present application;

[0050] Figure 5 Fig. 20 shows a fifth flow schematic diagram of the vehicle tire pressure matching method according to the embodiment of the present application;

[0051] Figure 6 Fig. 24 shows a sixth flow schematic diagram of the vehicle tire pressure matching method according to the embodiment of the present application;

[0052] Figure 7 Fig. 28 shows a structural schematic diagram of the vehicle tire pressure matching system according to the embodiment of the present application. Detailed implementation manners

[0053] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments.

[0054] Generally, the components of the embodiments of the present application described and shown in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents the selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application.

[0055] In the following, the terms "comprising", "having" and their cognates that can be used in various embodiments of the present application are only intended to represent specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be construed as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or precluding the possibility of adding one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and cannot be construed as indicating or implying relative importance.

[0056] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art to which various embodiments of the present application pertain. The terms (such as those defined in a commonly used dictionary) will be interpreted as having the same meaning as their contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning unless clearly defined in various embodiments of the present application.

[0057] The following will describe in detail some embodiments of the present application with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0058] Considering the problems in the prior art that relying on manual matching of the tire pressure sensor and the vehicle not only consumes a large amount of time and human resources, but also is prone to misoperation or inaccurate data recording, posing a potential danger to driving safety, etc. The present application provides a vehicle tire pressure matching method, system and mobile robot, which uses the mobile robot to automatically identify the vehicle and the tires of the vehicle, obtains the tire pressure sensor information of the vehicle according to the tire pose information and transmits it to the server, so that the server automatically matches the device identification information and the tire pressure sensor information of the vehicle, without manual participation, ensuring data accuracy while greatly improving the matching efficiency.

[0059] The following will describe the vehicle tire pressure matching method with reference to some specific embodiments.

[0060] Figure 1 A flowchart showing a vehicle tire pressure matching method according to an embodiment of the present application is shown. Exemplarily, the vehicle tire pressure matching method is applied to a mobile robot and executed by a processor in the robot. It can be understood that the robot can be any kind of movable robot. The robot can be a robot for vehicle diagnosis, the robot can also be a robot for vehicle repair, and the robot can also be only used for automatically matching the tire pressure of the vehicle.

[0061] The structure of the robot can be set according to the actual application situation. Exemplarily, the robot includes driving wheels, omnidirectional wheels, a mobile chassis, and a manipulator. Among them, the driving wheels and omnidirectional wheels are arranged under the chassis. The robot controls its movement by driving two driving wheels and uses the omnidirectional wheels to assist in steering and maintain the balance of the chassis. The driving wheels can be driven by a robot driving module such as a motor. The motor is connected to the driving wheels through a speed reducer. The speed reducer increases the output torque by reducing the output speed of the motor and can provide more stable and precise motion control by reducing the speed.

[0062] The length and joints of the manipulator can be set according to the actual application situation. Exemplarily, the manipulator can be set as a multi-joint one, and each joint is driven by a joint driving module such as a motor. Further, the motor is connected to each joint through a speed reducer to achieve precise angle control.

[0063] Exemplarily, the matching method includes S101 - S103:

[0064] S101, control the robot to move to the position area where the vehicle is located.

[0065] It can be understood that the robot can be used for tire pressure matching of a single vehicle or for tire pressure matching of multiple vehicles respectively. Exemplarily, the area where the vehicle without tire pressure matching is located can be set as the working area of the robot, and the robot patrols in its working area according to a preset path to identify and collect vehicle images.

[0066] S102, when the corresponding tire of the vehicle is recognized in the vehicle image collected in real time, obtain the tire pose information of the vehicle, and control the movement of the robot and perform the tire pressure information collection operation according to the tire pose information to obtain the corresponding tire pressure sensor information.

[0067] When the robot patrols in its working area, it can use an image collection module such as a camera to collect images around the robot and transmit them to a processor or an image processor for image processing. The camera is set at the front end of the robot, has a wide-angle field of view and high resolution, and can clearly collect images under different lighting conditions. Exemplarily, an image processor is used to process the images collected by the image collection module. The image processor first identifies whether it is a vehicle image. When the image processor identifies it as a vehicle image; it identifies whether there is a tire of the vehicle in the vehicle image. When the image processor recognizes the tire, it obtains the pose information of the tire and sends the pose information of the tire to the processor, so that the processor controls the movement of the robot and performs the tire pressure information collection operation according to the tire pose information, thereby obtaining the tire pressure sensor information of the tire.

[0068] Exemplarily, the image processor analyzes the vehicle image using a target recognition algorithm to obtain the vehicle tire pose information. For example, the image processor analyzes the vehicle image using the You Only Look Once algorithm to obtain information such as the position, size, and attitude of the tire; or, the image processor can also analyze the vehicle image using the Faster R–CNN algorithm to obtain information such as the position, size, and attitude of the tire. Using the target recognition algorithm enables the robot to accurately obtain the tire pose information, initially ensuring the accuracy of tire pressure matching.

[0069] Further, before the image processor analyzes the vehicle image, the original vehicle image collected in real time can be preprocessed first. For example, in one implementation, as Figure 2 shown, the preprocessing includes S201 - S203:

[0070] S201, based on the original vehicle image collected in real time, perform denoising processing on the original vehicle image to obtain the first image.

[0071] Specifically, an appropriate denoising algorithm can be selected according to the type of noise. For example, if the vehicle image contains salt-and-pepper noise, median filtering is used to remove it; if the vehicle image contains Gaussian noise, Gaussian filtering or wavelet transform is used.

[0072] S202, perform grayscale processing on the first image to obtain the second image.

[0073] Merge the RGB three-channel color image after denoising processing into a single grayscale value. For example, take the average of the values of the RGB three channels as the grayscale value; or take the maximum value of the RGB three channels as the grayscale value, etc.

[0074] S203, perform edge enhancement processing on the second image to obtain the vehicle image.

[0075] Use the Laplace algorithm or the Sobel operator method to perform edge enhancement on the second image.

[0076] By performing denoising processing, grayscale processing, and edge enhancement processing on the original vehicle image, the image quality can be improved, the accuracy of feature extraction can be enhanced, and the recognition of the tire pose information by the image processor can be made more accurate and reliable.

[0077] It can be understood that the pose information of a single tire can be obtained according to the vehicle image, the movement of the robot can be controlled according to the pose information of the single tire, and the tire pressure information collection operation can be performed. After obtaining the tire pressure sensor information of the current tire, then identify the next tire, obtain the pose information of the next tire, and control the movement of the robot according to the pose information of the next tire to obtain the tire pressure sensor information of the next tire until the tire pressure sensor information of all the tires of the vehicle is obtained.

[0078] At least two tire pose information can also be obtained according to the vehicle image, the movement of the robot can be controlled according to the pose information of at least two tires, and a tire pressure information acquisition operation is performed on at least two tires to obtain the tire pressure sensor information of at least two tires at one time. Exemplarily, in one implementation, as Figure 3 shown, the robot obtains the tire pressure sensor information of each tire respectively, including the following sub-steps:

[0079] S301, when one of the vehicle's tires is recognized in the vehicle image collected in real time, obtain the current tire pose information, control the robot to move to the first preset position of the current tire according to the current tire pose information, and perform a tire pressure information acquisition operation to obtain the tire pressure sensor information of the current tire.

[0080] The image processor analyzes the vehicle image using the target recognition algorithm to obtain the pose information of the current tire. According to the pose information of the current tire, the movement path of the robot is formulated to control the movement of the robot. Further, the robot also includes sensor modules such as lidar and / or inertial measurement unit. The movement path of the robot is formulated using the environmental information collected by the sensor module and the pose information of the current tire, and the robot is controlled to move to the first preset position of the current tire according to the movement path. After the robot performs the tire pressure information acquisition operation, the tire pressure sensor information of the current tire can be obtained. Specifically, the tire pressure sensor information should at least include the pressure of the current tire, the position of the current tire in the vehicle, and the device identification information of the tire pressure sensor. For example, the pressure of the current tire is 22Kpa, the current tire is in the right front position of the vehicle, and the device identification information of the tire sensor is ABCDEF123456. Further, the tire pressure sensor information can also include the temperature of the current tire.

[0081] For example, in one implementation, as Figure 4 shown, S301 includes the following sub-steps:

[0082] S401, obtain the robot pose information and environmental information.

[0083] Use the inertial measurement unit to obtain information such as the position and attitude of the robot, use the lidar to scan the surrounding environment, construct an environmental map, and detect obstacles to obtain the robot environmental information.

[0084] S402, formulate the movement path of the robot according to the robot pose information, environmental information, and current tire pose information.

[0085] Based on the position, posture, and environment of the robot, as well as the position, size, and posture of the current tire, formulate the movement path of the robot. It can avoid the interference of obstacles to the robot and ensure that the robot moves accurately and flexibly to the first preset position of the current tire.

[0086] S403. Control the robot to move to the first preset position of the current tire according to the movement path.

[0087] It can be understood that the first preset position can be set according to the actual application situation, and the first preset position should facilitate the robot to perform the operation of collecting tire pressure information of the current tire.

[0088] S404. Control the manipulator of the robot to trigger the tire pressure sensor of the current tire to collect the information of the tire pressure sensor of the current tire.

[0089] It can be understood that the operation of the robot to collect tire pressure information refers to the operation of controlling the manipulator of the robot to trigger the tire pressure sensor of the current tire. The robot calculates the movement angles and sequences of each joint of the manipulator according to the position and posture information of the valve stem of the current tire, etc., and controls the joints through the motor so that the manipulator can accurately align with the valve stem and trigger the tire pressure sensor of the current tire. It can be understood that a triggering device of the tire pressure sensor can be set at the end of the manipulator, and electromagnetic drive is used to enable the triggering device to accurately trigger the tire pressure sensor. Further, during the triggering process, the manipulator can real-time feedback the position and posture information to the processor, so that the processor can adjust and correct the manipulator according to the position and posture information of the manipulator.

[0090] For example, in one implementation, as Figure 5 shown, S404 includes the following sub-steps:

[0091] S501. Obtain the valve stem pose information of the current tire.

[0092] The image processor obtains the position and posture information of the valve stem of the current tire according to the vehicle image.

[0093] S502. Formulate the movement angles and movement sequences of each joint of the manipulator according to the valve stem pose information.

[0094] Calculate the movement angles and movement sequences of each joint of the manipulator according to the position information and posture information of the valve stem.

[0095] S503. Control each joint of the manipulator according to the movement angles and movement sequences of each joint of the manipulator, and real-time obtain the manipulator pose information.

[0096] Drive each joint to move through the motor and real-time obtain the position information and posture information of the manipulator.

[0097] S504. Adjust the movement of the joints according to the manipulator pose information, so that the triggering device of the manipulator moves to the second preset position of the valve stem to trigger the tire pressure sensor of the current tire.

[0098] According to the attitude information and position information of the manipulator, adjust the movement of the joints through the motor, so that the triggering device at the end of the manipulator is aligned with the valve stem to trigger the tire pressure sensor of the current tire. As other embodiments, the triggering device can also be installed at other positions on the manipulator other than the end.

[0099] After the tire pressure sensor is triggered, it can transmit the pressure of the current tire, the position of the current tire on the vehicle, and the device identification information of the tire pressure sensor to the processor. After the processor decodes and verifies the information, it can be stored and displayed.

[0100] Furthermore, a tire pressure data acquisition module can be set to collect the tire pressure sensor information, verify and decode the information, ensuring the accuracy and integrity of the information, and then transmit the verified and decoded information to the processor. For example, the tire pressure data acquisition module uses a low-frequency protocol or a high-frequency protocol to communicate wirelessly with the tire pressure sensor through a communication module for data interaction.

[0101] S302. After the tire pressure information acquisition operation of the current tire is completed, control the robot to continue moving. After identifying the next tire, repeat the tire pressure sensor information acquisition operation until the tire pressure sensor information of all tires of the vehicle is obtained.

[0102] After the tire pressure sensor information of the current tire is collected, control the robot to continue patrolling in the working area. After identifying the next tire of the vehicle, obtain the pose information of the next tire according to the vehicle image, and control the movement of the robot according to the pose information of the next tire and execute the tire pressure information acquisition operation to obtain the tire pressure sensor information of the next tire.

[0103] After the tire pressure sensor information of the next tire is collected, control the robot to continue patrolling in the working area. After identifying the next-next tire of the vehicle, obtain the pose information of the next-next tire according to the vehicle image, and control the movement of the robot according to the pose information of the next-next tire and execute the tire pressure information acquisition operation to obtain the tire pressure sensor information of the next-next tire until the tire pressure sensor information of all tires of the vehicle is obtained.

[0104] S103. Upload the information of each tire pressure sensor and the device identification information of the vehicle to the server; so that the server transmits the tire pressure configuration file to the electronic control system of the vehicle to complete the tire pressure matching task, where the tire pressure configuration file is generated based on the device identification information and the information of each tire pressure sensor.

[0105] It is understandable that the device identification information includes a vehicle identifier. The device identification information of the vehicle can be collected by the robot, or can also be directly input into the robot.

[0106] For example, in one implementation, as Figure 6 shown, after S101, the device identification information of the vehicle is obtained through the following sub-steps:

[0107] S601, obtain the vehicle position information and the position information of the vehicle identifier according to the vehicle image.

[0108] The image processor analyzes the vehicle image using the target recognition algorithm to obtain information such as the position and size of the vehicle, as well as the position and size of the vehicle identifier.

[0109] S602, control the movement of the robot and perform the vehicle identification collection operation according to the vehicle position information and the position information of the vehicle identifier to obtain the vehicle identifier.

[0110] According to the information such as the position and size of the vehicle, as well as the position and size of the vehicle identifier, formulate the movement path of the robot, and control the robot to move around the vehicle according to the movement path of the robot. Use image acquisition modules such as cameras and optical lenses to scan the VIN code of the vehicle. Using the image recognition algorithm, the processor can obtain the vehicle identifier according to the scanned VIN code.

[0111] Exemplarily, the camera for scanning the VIN code of the vehicle can be set on the robotic arm of the robot. The processor controls the telescoping and rotation of the robotic arm according to each position information, so that the camera can accurately scan the VIN code of the vehicle.

[0112] It is understandable that the robot can first obtain the device identification information of the vehicle and then obtain the information of each tire pressure sensor, or can also first obtain the information of each tire pressure sensor of the vehicle and then obtain the device identification information of the vehicle.

[0113] Use the communication module to transmit the information of each tire pressure sensor and the device identification information of the vehicle to the server. The communication module can be a Bluetooth module, or can also be a WIFI module, or can also be a 5G module, etc. Through the communication module, ensure stable and high-speed data transmission between the robot and the server.

[0114] The server matches the information of each tire pressure sensor with the device identification information of the vehicle, generates a tire pressure configuration file, and transmits the tire pressure configuration file to the vehicle, so that the vehicle associates the information of each tire pressure sensor with the position of the corresponding tire, thereby completing the tire pressure matching of the vehicle.

[0115] It is understandable that the server can directly transmit the tire pressure configuration file to the electronic control system of the vehicle, or the server can also transmit the tire pressure configuration file to the robot, which then forwards it to the electronic control system of the vehicle. Further, the robot can store the tire pressure configuration file and transmit it through the communication module or display it using the display screen.

[0116] In this embodiment, a mobile robot is used to automatically identify the tires and the vehicle of the vehicle, move to the tire position to trigger the tire pressure sensor to obtain tire pressure sensor information, and move to the vehicle position to scan the VIN code to obtain the device identification information of the vehicle. Without manual participation, the requirements for the skill levels of relevant personnel are reduced, the matching efficiency is greatly improved, and human resources are saved.

[0117] Moreover, the sensor module, joint drive module, and robot startup module are used to achieve precise control of the robot, improving the accuracy of the data. The server is used to automatically match the device identification information and tire pressure sensor information of the vehicle, improving the success rate of tire pressure matching.

[0118] As Figure 7 shown, based on the method of the above embodiment, this embodiment provides a vehicle tire pressure matching system. Exemplarily, the matching system 100 includes:

[0119] A mobile control module 110 that controls the robot to move to the location area where the vehicle is located;

[0120] A tire pressure information acquisition module 120 that, when identifying the corresponding tire of the vehicle in the vehicle image collected in real time, obtains the tire pose information of the vehicle, and controls the robot to move and perform tire pressure information acquisition operations according to the tire pose information to obtain the corresponding tire pressure sensor information;

[0121] A data upload module 130 that uploads each tire pressure sensor information and the device identification information of the vehicle to the server; so that the server transmits the tire pressure configuration file to the electronic control system of the vehicle to complete the tire pressure matching task, where the tire pressure configuration file is generated based on the device identification information and each tire pressure sensor information.

[0122] It can be understood that the system of this embodiment corresponds to the control method of the above embodiment, and the optional items in the above embodiment also apply to this embodiment, so they will not be repeated here.

[0123] This application also provides a mobile robot. Exemplarily, the robot includes a processor and a memory, where the memory stores a computer program, and the processor runs the computer program to enable the device to execute the above vehicle tire pressure matching method or the functions of each module in the above vehicle tire pressure matching system.

[0124] In one embodiment, the robot further includes an image acquisition module, a sensor module, a joint drive module, a robot drive module, a scanning module, and a communication module;

[0125] The image acquisition module is configured to collect vehicle images in real time and transmit them to the processor;

[0126] The sensor module is configured to collect the pose information and environmental information of the robot and transmit them to the processor;

[0127] The joint drive module is configured to control the movement of each joint of the robot according to the joint drive signal of the processor;

[0128] The robot drive module is configured to control the movement of the robot according to the robot drive signal of the processor;

[0129] The scanning module is configured to scan the identifier of the vehicle and transmit it to the server;

[0130] The communication module is configured to upload the information of each tire pressure sensor and the device identification information of the vehicle to the server.

[0131] The mobile robot can automatically identify the tire and move to the tire position to trigger the tire pressure sensor, without manual participation, greatly improving the matching efficiency and saving human resources.

[0132] Wherein, the processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., which can implement or execute the various methods, S, and logic block diagrams disclosed in the embodiments of the present application.

[0133] The memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electric Erasable Programmable Read-Only Memory (EEPROM), etc. Among them, the memory is used to store computer programs, and after receiving the execution instruction, the processor can execute the computer program accordingly.

[0134] This application also provides a computer-readable storage medium for storing the computer programs used in the above terminal device. For example, the computer-readable storage medium can include, but is not limited to: various media such as USB flash drives, mobile hard disks, Read-Only Memory (ROM), Random Access Memory (RAM), magnetic disks, or optical discs that can store program codes.

[0135] In several embodiments provided by this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architectures, functions, and operations of the devices, methods, and computer program products according to multiple embodiments of this application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the blocks can occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the structure diagram and / or flowchart, as well as the combination of blocks in the structure diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0136] In addition, in each embodiment of this application, the various functional modules or units can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0137] When the above-described functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this 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 for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0138] As described above, the above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, and all of them should be covered by the protection scope of the present application.

Claims

1. A vehicle tire pressure matching method, characterized in that: Applied to a mobile robot, the matching method includes: Controlling the robot to move to the area where the vehicle is located; When a corresponding tire of the vehicle is identified in the vehicle image collected in real time, the tire posture information of the vehicle is obtained, and the robot is controlled to move and perform tire pressure information collection operations according to the tire posture information to obtain corresponding tire pressure sensor information; Upload the tire pressure sensor information and the device identification information of the vehicle to the server; so that the server transmits the tire pressure profile to the electronic control system of the vehicle to complete the tire pressure matching task, wherein the tire pressure profile is generated based on the device identification information and the tire pressure sensor information.

2. The vehicle tire pressure matching method according to claim 1, characterized in that: The device identification information includes a vehicle identifier, and after controlling the robot to move to the location area of ​​the vehicle, the tire pressure matching method further includes: Acquire vehicle location information and location information of the vehicle identifier according to the vehicle image; The robot is controlled to move and perform a vehicle identification acquisition operation according to the vehicle position information and the position information of the vehicle identifier, so as to obtain the vehicle identifier of the vehicle.

3. The vehicle tire pressure matching method according to claim 1, characterized in that: When the corresponding tire of the vehicle is identified in the vehicle image collected in real time, the tire posture information of the vehicle is obtained, and the robot is controlled to move and perform tire pressure information collection operation according to the tire posture information to obtain the tire pressure sensor information of the vehicle, including: When one of the tires of the vehicle is identified in the vehicle image collected in real time, current tire position information is obtained, and the robot is controlled to move to a first preset position of the current tire and perform a tire pressure information collection operation according to the current tire position information, so as to obtain tire pressure sensor information of the current tire; After the tire pressure information collection operation of the current tire is completed, the robot is controlled to continue moving so as to repeat the tire pressure sensor information acquisition operation after identifying the next tire until the tire pressure sensor information of each tire of the vehicle is acquired.

4. The vehicle tire pressure matching method according to claim 3, characterized in that: The step of controlling the robot to move to the first preset position of the current tire and performing a tire pressure information collection operation according to the current tire posture information to obtain tire pressure sensor information of the current tire includes: Obtain robot posture information and environment information; Formulate a moving path of the robot according to the robot posture information, environmental information and the current tire posture information; Control the robot to move to a first preset position of the current tire according to the moving path; The manipulator of the robot is controlled to trigger the tire pressure sensor of the current tire to collect the tire pressure sensor information of the current tire.

5. The vehicle tire pressure matching method according to claim 4, characterized in that: The controlling the manipulator of the robot to trigger the tire pressure sensor of the current tire comprises: Obtaining the valve position information of the current tire; Formulate the movement angle and movement sequence of each joint of the manipulator according to the valve mouth posture information; According to the movement angle and movement sequence of each joint of the manipulator, each joint of the manipulator is controlled, and the position information of the manipulator is obtained in real time; According to the manipulator posture information, the movement of the joint is adjusted so that the trigger device of the manipulator moves to the second preset position of the valve stem to trigger the tire pressure sensor of the current tire.

6. The vehicle tire pressure matching method according to claim 1, characterized in that: When the corresponding tire of the vehicle is identified in the vehicle image acquired in real time, obtaining the tire position information of the vehicle includes: The vehicle image is analyzed using a target recognition algorithm to obtain the tire posture information of the vehicle.

7. The vehicle tire pressure matching method according to claim 6, characterized in that: Before analyzing the vehicle image using the target recognition algorithm, the tire pressure matching method further includes: Based on the original vehicle image collected in real time, denoising the original vehicle image to obtain a first image; Performing grayscale processing on the first image to obtain a second image; Perform edge enhancement processing on the second image to obtain the vehicle image.

8. A vehicle tire pressure matching system, characterized in that: Applications in mobile robots, including: A mobile control module controls the robot to move to the location of the vehicle; A tire pressure information acquisition module, when a corresponding tire of the vehicle is identified in a vehicle image acquired in real time, acquires tire posture information of the vehicle, and controls the robot to move and perform tire pressure information acquisition operations according to the tire posture information, so as to acquire corresponding tire pressure sensor information; A data uploading module uploads the tire pressure sensor information and the device identification information of the vehicle to a server, so that the server transmits a tire pressure profile to the electronic control system of the vehicle to complete the tire pressure matching task, wherein the tire pressure profile is generated based on the device identification information and the tire pressure sensor information.

9. A mobile robot, characterized in that: The robot comprises: a processor and a memory, wherein the memory stores a computer program, and the processor is used to execute the computer program to implement the vehicle tire pressure matching method according to any one of claims 1 to 7.

10. The mobile robot according to claim 9, characterized in that: The robot also includes an image acquisition module, a sensor module, a joint drive module, a robot drive module, a scanning module and a communication module; The image acquisition module is used to acquire the vehicle image in real time and transmit it to the processor; The sensor module is used to collect the posture information and environmental information of the robot and transmit them to the processor; The joint driving module is used to control the movement of each joint of the robot according to the joint driving signal of the processor; The robot driving module is used to control the movement of the robot according to the robot driving signal of the processor; The scanning module is used to scan the identifier of the vehicle and transmit it to the server; The communication module is used to upload the tire pressure sensor information and the device identification information of the vehicle to the server.

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