Vehicle moving method and device, computer equipment, storage medium and program product

Abstract

The invention relates to a vehicle moving method and device, computer equipment, a storage medium and a program product. The method comprises the steps of obtaining a motion image of a reference object on a to-be-overhauled vehicle in the process that the to-be-overhauled vehicle moves towards an overhaul position, determining horizontal displacement of the reference object in the horizontal direction and vertical displacement of the reference object in the vertical direction according to the motion image, and determining the overhaul position of the to-be-overhauled vehicle according to the horizontal displacement and the vertical displacement. And the actual displacement of the to-be-overhauled vehicle from the initial position to the current position is determined, and the to-be-overhauled vehicle is moved to the overhauling position according to the displacement deviation between the actual displacement and the preset displacement. According to the scheme, the actual displacement of the vehicle to be overhauled from the initial position to the current position can be accurately determined according to the horizontal displacement of the reference object in the horizontal direction and the vertical displacement of the reference object in the vertical direction, and then the displacement deviation between the actual displacement and the preset displacement can be accurately determined; therefore, the to-be-overhauled vehicle can be efficiently moved to the overhauling position, and the overhauling efficiency of the vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of machine vision technology, and particularly to a vehicle moving method, device, computer device, storage medium, and program product. Background Art

[0002] Heavy-haul railway vehicles carry huge weights and loads, and various components of the vehicles will be subjected to strong impact forces and wear during operation. Regular maintenance of the vehicles is of great significance for vehicle operation safety, extending the service life of the vehicles, reducing operating costs, etc.

[0003] In the related art, it is usually necessary to manually drive the vehicle to be repaired to a designated position for maintenance. During the process of manually driving the vehicle to be repaired to the designated position, there is a problem of inaccurate parking position, and it is necessary to manually stop the vehicle repeatedly, resulting in low vehicle maintenance efficiency. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide a vehicle moving method, device, computer device, storage medium, and program product that can improve vehicle maintenance efficiency.

[0005] In a first aspect, this application provides a vehicle moving method, including:

[0006] During the process of the vehicle to be repaired moving towards the maintenance position, obtain the motion image of a reference object on the vehicle to be repaired; wherein, one end of the reference object is movably connected to the vehicle to be repaired, and the other end swings as the vehicle to be repaired moves;

[0007] According to the motion image, determine the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction;

[0008] According to the horizontal displacement and the vertical displacement, determine the actual displacement of the vehicle to be repaired from the initial position to the current position;

[0009] According to the displacement deviation between the actual displacement and the preset displacement, move the vehicle to be repaired to the maintenance position; wherein, the preset displacement is the displacement between the initial position and the maintenance position.

[0010] In one embodiment, according to the horizontal displacement and the vertical displacement, determining the actual displacement of the vehicle to be repaired from the initial position to the current position includes:

[0011] According to the horizontal displacement and the vertical displacement, determine the actual swing angle of the reference object;

[0012] According to the pre-constructed correlation between the swing angle and the vehicle acceleration, and the actual swing angle of the reference object, determine the actual acceleration of the vehicle to be repaired;

[0013] Determine the actual displacement of the vehicle to be repaired from the initial position to the current position according to the actual acceleration of the vehicle to be repaired.

[0014] In one embodiment, the method further includes:

[0015] Construct the correlation relationship between the swing angle and the vehicle acceleration according to the reference length, the vehicle acceleration variable, and the swing angle variable of the reference object; wherein, the reference length is the length between the end of the reference object and the connection point; the connection point is the connection point between the reference object and the vehicle to be repaired.

[0016] In one embodiment, constructing the correlation relationship between the swing angle and the vehicle acceleration according to the reference length, the vehicle acceleration variable, and the swing angle variable of the reference object includes:

[0017] Determine the second derivative of the swing angle variable of the reference object, the first ratio of the first product to the reference length, and the second ratio of the second product to the reference length; wherein, the first product is the product of the vehicle acceleration variable and the cosine function value of the swing angle variable, and the second product is the product of the gravitational acceleration and the sine function value of the swing angle variable;

[0018] Construct the motion function of the reference object according to the first ratio, the second ratio, and the second derivative of the swing angle variable of the reference object; wherein, the motion function is used to describe the correlation relationship between the swing angle and the vehicle acceleration.

[0019] In one embodiment, moving the vehicle to be repaired to the repair position according to the displacement deviation between the actual displacement and the preset displacement includes:

[0020] When the displacement deviation is greater than the preset threshold, determine the current position of the vehicle to be repaired based on the navigation positioning system;

[0021] Control the vehicle to be repaired to move a distance of the displacement deviation in the direction from the current position to the repair position.

[0022] In one embodiment, the reference object is a link device, and the link device includes a rod body and a sphere. One end of the rod body is movably connected to the vehicle to be repaired, and the other end of the rod body is fixedly connected to the sphere.

[0023] In a second aspect, the present application further provides a vehicle moving device, including:

[0024] An acquisition module, configured to acquire the motion image of the reference object on the vehicle to be repaired during the process of moving the vehicle to be repaired to the repair position; wherein, one end of the reference object is movably connected to the vehicle to be repaired, and the other end swings as the vehicle to be repaired moves.

[0025] The first determination module is configured to determine the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction according to the motion image;

[0026] The second determination module is configured to determine the actual displacement of the vehicle to be repaired from the initial position to the current position according to the horizontal displacement and the vertical displacement;

[0027] The moving module is configured to move the vehicle to be repaired to the repair position according to the displacement deviation between the actual displacement and the preset displacement; wherein, the preset displacement is the displacement between the initial position and the repair position.

[0028] In a third aspect, the present application further provides a computer device, including a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0029] During the process of moving the vehicle to be repaired to the repair position, obtain the motion image of the reference object on the vehicle to be repaired; wherein, one end of the reference object is movably connected to the vehicle to be repaired, and the other end swings as the vehicle to be repaired moves;

[0030] According to the motion image, determine the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction;

[0031] According to the horizontal displacement and the vertical displacement, determine the actual displacement of the vehicle to be repaired from the initial position to the current position;

[0032] According to the displacement deviation between the actual displacement and the preset displacement, move the vehicle to be repaired to the repair position; wherein, the preset displacement is the displacement between the initial position and the repair position.

[0033] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0034] During the process of moving the vehicle to be repaired to the repair position, obtain the motion image of the reference object on the vehicle to be repaired; wherein, one end of the reference object is movably connected to the vehicle to be repaired, and the other end swings as the vehicle to be repaired moves;

[0035] According to the motion image, determine the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction;

[0036] According to the horizontal displacement and the vertical displacement, determine the actual displacement of the vehicle to be repaired from the initial position to the current position;

[0037] According to the displacement deviation between the actual displacement and the preset displacement, move the vehicle to be repaired to the repair position; wherein, the preset displacement is the displacement between the initial position and the repair position.

[0038] Fifth aspect, the present application also provides a computer program product, including a computer program, which when executed by a processor implements the following steps:

[0039] During the process of the vehicle to be repaired moving towards the repair position, obtain the motion image of the reference object on the vehicle to be repaired; wherein, one end of the reference object is movably connected to the vehicle to be repaired, and the other end swings as the vehicle to be repaired moves;

[0040] According to the motion image, determine the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction;

[0041] According to the horizontal displacement and the vertical displacement, determine the actual displacement of the vehicle to be repaired from the initial position to the current position;

[0042] According to the displacement deviation between the actual displacement and the preset displacement, move the vehicle to be repaired to the repair position; wherein, the preset displacement is the displacement between the initial position and the repair position.

[0043] The above vehicle moving method, device, computer device, storage medium and program product obtain the motion image of the reference object on the vehicle to be repaired during the process of the vehicle to be repaired moving towards the repair position; one end of the reference object is movably connected to the vehicle to be repaired, and the other end swings as the vehicle to be repaired moves; and then according to the motion image, determine the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction; and according to the horizontal displacement and the vertical displacement, determine the actual displacement of the vehicle to be repaired from the initial position to the current position; according to the displacement deviation between the actual displacement and the preset displacement, move the vehicle to be repaired to the repair position; the preset displacement is the displacement between the initial position and the repair position. The above solution can accurately determine the actual displacement of the vehicle to be repaired from the initial position to the current position according to the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction, and then can accurately determine the displacement deviation between the actual displacement and the preset displacement, so that the vehicle to be repaired can be efficiently moved to the repair position, improving the repair efficiency of the vehicle. Description of the Drawings

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments of the present application or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0045] Figure 1 It is a schematic flowchart of the vehicle moving method in one embodiment;

[0046] Figure 2Schematic flowchart for determining the actual displacement of a vehicle to be repaired in an embodiment;

[0047] Figure 3 Schematic structural diagram of a reference object in an embodiment;

[0048] Figure 4 Schematic diagram of force analysis of a reference object in an embodiment;

[0049] Figure 5 Schematic flowchart for moving a vehicle to be repaired to a repair position in an embodiment;

[0050] Figure 6 Schematic flowchart of a vehicle moving method in another embodiment;

[0051] Figure 7 Schematic block diagram of a vehicle moving device in an embodiment;

[0052] Figure 8 Internal structure diagram of a computer device in an embodiment. Detailed implementation manners

[0053] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the following further detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0054] The vehicle moving method provided by the embodiments of the present application can be applied to an application scenario of repairing vehicles on a railway. This method can be executed by a server or by a terminal with a certain computing power.

[0055] Among them, the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal can be, but is not limited to, various personal computers, laptop computers, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, projection devices, etc. The portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The head-mounted device can be a virtual reality (VR) device, an augmented reality (AR) device, a smart glasses, etc.

[0056] In an exemplary embodiment, as Figure 1 shown, a vehicle moving method is provided. Taking this method applied to a server as an example for illustration, the method includes the following steps:

[0057] S101. During the process of the vehicle to be repaired moving towards the repair position, obtain the motion image of the reference object on the vehicle to be repaired.

[0058] Exemplarily, the vehicle to be repaired can be a vehicle running on a railway. For example, heavy-haul railway vehicles carry a huge weight and load, and various components of the vehicle will be subjected to strong impact forces and wear during operation, and regular maintenance is required.

[0059] During the process of repairing the vehicle to be repaired, it is necessary to drive the vehicle to be repaired to the repair position, and then repair the vehicle to be repaired according to the requirements and procedures of the repair. In order to accurately park the vehicle to be repaired at the repair position, the distance between the current position of the vehicle to be repaired and the repair position can be judged, and then the vehicle can be controlled to move according to the determined distance to achieve accurate parking at the repair position.

[0060] Based on this, a reference object can be deployed on the vehicle to be repaired, wherein one end of the reference object is movably connected to the vehicle to be repaired, and the other end swings as the vehicle to be repaired moves; in this way, the acceleration of the vehicle to be repaired can be determined according to the swinging condition of the reference object, and then the actual displacement of the vehicle to be repaired can be determined to determine whether there is a displacement deviation.

[0061] Optionally, during the process of the vehicle to be repaired moving towards the repair position, the motion image of the reference object on the vehicle to be repaired can be collected by a camera device, and the motion image collected by the camera device can be obtained. Among them, the camera device can be pre-deployed around the reference object or can be an external camera device, and can collect the motion image of the reference object at a preset frequency.

[0062] S102. According to the motion image, determine the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction.

[0063] Exemplarily, visual recognition technology can be used to analyze the motion image to determine the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction. For example, a computer vision library can be used to analyze the motion image. The motion image can be imported into the computer vision library, and the first frame image can be read and its initial position can be recorded. Each frame of the image can be traversed, the reference object can be detected and tracked, its position in the current frame can be calculated, and compared with the initial position to obtain the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction.

[0064] S103. According to the horizontal displacement and the vertical displacement, determine the actual displacement of the vehicle to be repaired from the initial position to the current position.

[0065] Exemplarily, the swing angle of the reference object can be determined based on the horizontal displacement and the vertical displacement of the reference object. Furthermore, based on the corresponding relationship between the swing angle of the reference object and the displacement of the vehicle to be repaired, the actual displacement of the vehicle to be repaired from the initial position to the current position can be determined. Among them, the corresponding relationship between the swing angle of the reference object and the displacement of the vehicle to be repaired can be calibrated based on historical data or obtained through training of a neural network model.

[0066] S104. Move the vehicle to be repaired to the repair position according to the displacement deviation between the actual displacement and the preset displacement.

[0067] Exemplarily, the preset displacement is the displacement between the initial position and the repair position of the vehicle to be repaired. The displacement deviation between the actual displacement and the preset displacement can be calculated, and the vehicle to be repaired can be moved by the distance of the displacement deviation from the current position, so as to move the vehicle to be repaired to the repair position.

[0068] In the above vehicle moving method, during the process of moving the vehicle to be repaired to the repair position, obtain the motion image of the reference object on the vehicle to be repaired; one end of the reference object is movably connected to the vehicle to be repaired, and the other end swings as the vehicle to be repaired moves; furthermore, based on the motion image, determine the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction; and based on the horizontal displacement and the vertical displacement, determine the actual displacement of the vehicle to be repaired from the initial position to the current position; move the vehicle to be repaired to the repair position according to the displacement deviation between the actual displacement and the preset displacement; the preset displacement is the displacement between the initial position and the repair position. In the above solution, based on the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction, the actual displacement of the vehicle to be repaired from the initial position to the current position can be accurately determined. Furthermore, the displacement deviation between the actual displacement and the preset displacement can be accurately determined, so that the vehicle to be repaired can be efficiently moved to the repair position, improving the repair efficiency of the vehicle.

[0069] In some alternative implementation manners, refer to Figure 2 , Figure 2 A flow schematic diagram for determining the actual displacement of the vehicle to be repaired is provided, which specifically includes the following steps:

[0070] S201. Determine the actual swing angle of the reference object based on the horizontal displacement and the vertical displacement.

[0071] Exemplarily, assume that the horizontal displacement of the reference object is D x , and the vertical displacement is D y , the actual swing angle of the reference object can be , then the actual swing angle of the reference object can be determined based on the horizontal displacement and the vertical displacement. For example, it can be determined by the following formula (1):

[0072] (1)

[0073] S202. Determine the actual acceleration of the vehicle to be repaired according to the pre - constructed correlation between the swing angle and the vehicle acceleration, and the actual swing angle of the reference object.

[0074] Exemplarily, the correlation between the swing angle of the reference object and the vehicle acceleration can be pre - constructed. For example, the correlation between the swing angle of the reference object and the vehicle acceleration can be calibrated according to the historical swing angles of the reference object and the corresponding historical vehicle accelerations, that is, the correlation between the swing angle of the reference object and the vehicle acceleration is the corresponding relationship between the swing angle of the reference object and the vehicle acceleration; or the historical swing angles of the reference object and the corresponding historical vehicle accelerations can be input into a neural network model for learning the correlation, and then the correlation between the swing angle of the reference object and the vehicle acceleration can be obtained; or a functional formula between the swing angle and the vehicle acceleration can be constructed according to the motion equation, that is, the constructed functional formula is the correlation between the swing angle and the vehicle acceleration.

[0075] Furthermore, according to the pre - constructed correlation between the swing angle and the vehicle acceleration, and the actual swing angle of the reference object, the vehicle acceleration corresponding to the actual swing angle in the correlation can be selected, that is, the actual acceleration of the vehicle to be repaired.

[0076] S203. Determine the actual displacement of the vehicle to be repaired from the initial position to the current position according to the actual acceleration of the vehicle to be repaired.

[0077] Exemplarily, it can be determined that during the process of the vehicle to be repaired moving from the initial position to the repair position, the actual acceleration a(t) at each moment, and then the actual speed v(t) of the vehicle can be determined according to the actual acceleration a(t). For example, it can be determined by the following formula (2):

[0078] (2)

[0079] where v0 is the initial speed of the vehicle to be repaired, and t is time.

[0080] Furthermore, the actual displacement x(t) of the vehicle can be determined according to the actual speed of the vehicle. For example, the actual displacement of the vehicle can be determined by the following formula (3):

[0081] (3)

[0082] where x0 is the initial displacement.

[0083] In the embodiments of the present application, according to the horizontal displacement and vertical displacement of the reference object, the actual swing angle of the reference object is determined. Then, based on the pre-constructed correlation between the swing angle and the vehicle acceleration, the actual displacement of the vehicle to be repaired from the initial position to the current position is gradually determined, making the determined actual displacement more accurate and facilitating the accurate parking of the vehicle to be repaired at the repair position.

[0084] In some alternative implementation manners, the correlation between the swing angle and the vehicle acceleration can be constructed based on the reference length, the vehicle acceleration variable, and the swing angle variable of the reference object. Wherein, the reference length is the length between the end of the reference object and the connection point; the connection point is the connection point between the reference object and the vehicle to be repaired.

[0085] Exemplarily, the correlation between the swing angle and the vehicle acceleration can be constructed by analyzing the forces acting on the reference object and combining the dynamic equations of the reference object in the horizontal and vertical directions. It is also possible to obtain historical reference length data, historical vehicle acceleration data, and historical swing angle data of the reference object, and perform data calibration to construct the correlation between the swing angle and the vehicle acceleration.

[0086] In the embodiments of the present application, the correlation between the swing angle and the vehicle acceleration is constructed based on the reference length, the vehicle acceleration variable, and the swing angle variable of the reference object. Then, based on the reference length and the swing angle of the reference object, the vehicle acceleration is determined, and further the actual displacement of the vehicle is determined, making the determined actual displacement more accurate.

[0087] In some alternative implementation manners, referring to Figure 3 , Figure 3 a schematic structural diagram of a reference object is provided, Figure 3 showing that the reference object is a linkage device 100. The linkage device includes a rod body 300 and a sphere 200. One end of the rod body is movably connected to the vehicle to be repaired, and the other end of the rod body is fixedly connected to the sphere. Exemplarily, one or more linkage devices can be deployed on the vehicle to be repaired, and cameras can be deployed around the linkage device to obtain the motion images of the linkage device.

[0088] In some alternative implementation manners, taking the reference object as a linkage device as an example, the process of constructing the correlation between the swing angle and the vehicle acceleration is described.

[0089] Exemplarily, referring to Figure 4 , Figure 4 a schematic diagram of the force analysis of the reference object is provided, Figure 4 showing that the swing angle of the reference object is , the reference object is subjected to a tensile force T, a gravitational force Mg, and a force Ma in the horizontal direction 车 , where a 车is the vehicle acceleration, and g is the acceleration due to gravity.

[0090] The second derivative of the swing angle variable of the reference object can be determined first , the first ratio of the first product to the reference length , and the second ratio of the second product to the reference length ; where the first product is the product of the vehicle acceleration variable and the cosine function value of the swing angle variable , and the second product is the product of the acceleration due to gravity and the sine function value of the swing angle variable . Where L is the reference length, and in the embodiment of the present application, L is the rod length.

[0091] Furthermore, the motion function of the reference object can be constructed according to the first ratio, the second ratio, and the second derivative of the swing angle variable of the reference object; where the motion function is used to describe the correlation between the swing angle and the vehicle acceleration.

[0092] Exemplarily, the second derivative of the swing angle variable of the reference object, the first ratio of the first product to the reference length, and the second ratio of the second product to the reference length can be determined in the following manner; and the motion function of the reference object can be constructed according to the first ratio, the second ratio, and the second derivative of the swing angle variable of the reference object. The motion function is used to describe the correlation between the swing angle and the vehicle acceleration.

[0093] Among them, the component force T of the tension T in the horizontal direction X x , the component force T in the vertical direction Y y :

[0094] (4)

[0095] (5)

[0096] The displacement of the reference object in the horizontal direction X , the displacement D in the vertical direction Y y :

[0097] (6)

[0098] (7)

[0099] The dynamic equations of the reference object in the horizontal direction X and the vertical direction Y:

[0100] (8)

[0101] (9)

[0102] Among them, M is the mass of the reference object, The second derivative of is D y which is the second derivative of

[0103] It can be obtained from the above formula that:

[0104] (10)

[0105] (11)

[0106] Eliminating T, from equations (10) and (11), we can get:

[0107] (12)

[0108] (13)

[0109] Taking the second derivative of equations (6) and (7) respectively, we can get:

[0110] (14)

[0111] (15)

[0112] Wherein, is the second derivative of is the first derivative of

[0113] Combining equations (13), (14) and (15), we can get:

[0114] (16)

[0115] After arranging equation (16), we can get

[0116] (17)

[0117] After further arranging, we can get

[0118] (18)

[0119] When the swing angle is relatively small,

[0120] (19)

[0121] (20)

[0122] (21)

[0123] Furthermore, equation (18) can be expressed as

[0124] (22)

[0125] That is, Equation (22) can be used to describe the correlation between the swing angle and the vehicle acceleration.

[0126] In the embodiments of the present application, by constructing the motion function of the reference object and using the motion function to describe the correlation between the swing angle and the vehicle acceleration, it is convenient to gradually determine the actual displacement of the vehicle to be repaired according to the swing angle of the reference object.

[0127] In some alternative implementation manners, refer to Figure 5 , Figure 5 which provides a schematic flow chart for moving the vehicle to be repaired to the repair position, specifically including the following steps:

[0128] S501, when the displacement deviation is greater than the preset threshold, determine the current position of the vehicle to be repaired based on the navigation and positioning system.

[0129] Exemplarily, the preset threshold can be set in advance according to the repair needs. For example, the preset threshold can be set to 0.5 meters. When the displacement deviation is greater than the preset threshold, it is necessary to move the vehicle to be repaired to the repair position.

[0130] Exemplarily, the navigation and positioning system can be used to determine the current position of the vehicle to be repaired, where the navigation system includes but is not limited to the Global Positioning System (GPS). The repair position can be determined in advance or determined according to the navigation and positioning system.

[0131] S502, control the vehicle to be repaired to move a distance equal to the displacement deviation in the direction from the current position to the repair position.

[0132] Furthermore, the vehicle to be repaired can be controlled to move a distance equal to the displacement deviation in the direction from the current position to the repair position. Exemplarily, taking the scenario where the vehicle to be repaired travels in a straight line as an example, the vehicle to be repaired can be controlled to move linearly a distance equal to the displacement deviation in the direction from the current position to the repair position to reach the repair position.

[0133] In the embodiments of the present application, when the displacement deviation is greater than the preset threshold, the navigation and positioning system is used to determine the current position of the vehicle to be repaired, so as to facilitate controlling the moving direction of the vehicle and being able to control the moving distance of the vehicle according to the displacement deviation, thereby enabling the vehicle to be repaired to be accurately parked at the repair position.

[0134] In some alternative implementation manners, refer to Figure 6 , Figure 6The flowchart of another vehicle movement method is provided, which specifically includes the following steps:

[0135] S601, during the process of the vehicle to be repaired moving towards the repair position, obtain the motion image of the reference object on the vehicle to be repaired.

[0136] S602, based on the motion image, determine the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction.

[0137] S603, based on the horizontal displacement and the vertical displacement, determine the actual swing angle of the reference object.

[0138] S604, based on the pre - constructed correlation between the swing angle and the vehicle acceleration, and the actual swing angle of the reference object, determine the actual acceleration of the vehicle to be repaired.

[0139] S605, based on the actual acceleration of the vehicle to be repaired, determine the actual displacement of the vehicle to be repaired from the initial position to the current position.

[0140] S606, when the displacement deviation between the actual displacement and the preset displacement is greater than the preset threshold, determine the current position of the vehicle to be repaired based on the navigation and positioning system.

[0141] S607, control the vehicle to be repaired to move a distance equal to the displacement deviation in the direction from the current position to the repair position.

[0142] In the embodiments of the present application, the time of manual operation is reduced, and the overall vehicle repair efficiency is improved. Compared with the need for manual driving of the vehicle to be repaired to the designated position for repair, the dependence on manual labor is reduced, the labor cost is lowered. At the same time, due to the improvement of the repair efficiency, the operation interruption time caused by repair can also be reduced, thereby reducing the overall operation cost. And it can reduce accidents caused by human errors and reduce the fluctuation of the repair quality caused by human factors, improving the accuracy and reliability of the repair work.

[0143] It should be understood that although each step in the flowchart involved in the above - mentioned embodiments is shown in sequence according to the indication of the arrow, these steps do not necessarily need to be executed in the order indicated by the arrow. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowchart involved in the above - mentioned embodiments may include multiple steps or multiple stages. These steps or stages do not necessarily need to be executed at the same moment, but can be executed at different moments. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0144] Based on the same inventive concept, an embodiment of the present application further provides a vehicle movement device for implementing the vehicle movement method involved above. The solution provided by this device for solving problems is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the vehicle movement device provided below can refer to the limitations on the vehicle movement method in the foregoing, and will not be elaborated herein.

[0145] In an exemplary embodiment, as Figure 7 shown, a vehicle movement device is provided, including:

[0146] An acquisition module 10, configured to acquire a motion image of a reference object on a vehicle to be repaired during the process of the vehicle to be repaired moving towards a repair position; wherein, one end of the reference object is movably connected to the vehicle to be repaired, and the other end swings as the vehicle to be repaired moves;

[0147] A first determination module 20, configured to determine a horizontal displacement of the reference object in the horizontal direction and a vertical displacement in the vertical direction according to the motion image;

[0148] A second determination module 30, configured to determine an actual displacement of the vehicle to be repaired from an initial position to a current position according to the horizontal displacement and the vertical displacement;

[0149] A movement module 40, configured to move the vehicle to be repaired to the repair position according to a displacement deviation between the actual displacement and a preset displacement; wherein, the preset displacement is the displacement between the initial position and the repair position.

[0150] The above vehicle movement device acquires a motion image of a reference object on a vehicle to be repaired during the process of the vehicle to be repaired moving towards a repair position; one end of the reference object is movably connected to the vehicle to be repaired, and the other end swings as the vehicle to be repaired moves; then determines a horizontal displacement of the reference object in the horizontal direction and a vertical displacement in the vertical direction according to the motion image; and determines an actual displacement of the vehicle to be repaired from an initial position to a current position according to the horizontal displacement and the vertical displacement; and moves the vehicle to be repaired to the repair position according to a displacement deviation between the actual displacement and a preset displacement; the preset displacement is the displacement between the initial position and the repair position. The above solution can accurately determine the actual displacement of the vehicle to be repaired from the initial position to the current position according to the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction, and further can accurately determine the displacement deviation between the actual displacement and the preset displacement, so that the vehicle to be repaired can be efficiently moved to the repair position, improving the repair efficiency of the vehicle.

[0151] In one of the embodiments, the second determination module 30 is specifically configured to:

[0152] Determine the actual swing angle of the reference object based on the horizontal displacement and the vertical displacement; determine the actual acceleration of the vehicle to be repaired according to the pre-constructed correlation between the swing angle and the vehicle acceleration and the actual swing angle of the reference object; determine the actual displacement of the vehicle to be repaired from the initial position to the current position according to the actual acceleration of the vehicle to be repaired.

[0153] In one embodiment, the device further includes a construction module for:

[0154] Construct the correlation between the swing angle and the vehicle acceleration according to the reference length, the vehicle acceleration variable, and the swing angle variable of the reference object; wherein, the reference length is the length between the end of the reference object and the connection point; the connection point is the connection point between the reference object and the vehicle to be repaired.

[0155] In one embodiment, the construction module is specifically used for:

[0156] Determine the second derivative of the swing angle variable of the reference object, the first ratio of the first product to the reference length, and the second ratio of the second product to the reference length; wherein, the first product is the product of the vehicle acceleration variable and the cosine function value of the swing angle variable, and the second product is the product of the gravitational acceleration and the sine function value of the swing angle variable; construct the motion function of the reference object according to the first ratio, the second ratio, and the second derivative of the swing angle variable of the reference object; wherein, the motion function is used to describe the correlation between the swing angle and the vehicle acceleration.

[0157] In one embodiment, the moving module 40 is specifically used for:

[0158] In the case where the displacement deviation is greater than the preset threshold, determine the current position of the vehicle to be repaired based on the navigation positioning system; control the vehicle to be repaired to move the distance of the displacement deviation in the direction from the current position to the repair position.

[0159] In one embodiment, the reference object is a connecting rod device, and the connecting rod device includes a rod body and a sphere. One end of the rod body is movably connected to the vehicle to be repaired, and the other end of the rod body is fixedly connected to the sphere.

[0160] Each module in the above vehicle moving device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor in the computer device in the form of hardware or independent of the processor, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0161] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as Figure 8As shown. The computer device includes a processor, a memory, an input / output (I / O) interface, and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store moving image data. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a vehicle movement method.

[0162] Those skilled in the art can understand that Figure 8 the structure shown in is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0163] In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the following steps are implemented:

[0164] During the process of the vehicle to be repaired moving towards the repair position, obtain the moving image of the reference object on the vehicle to be repaired; wherein, one end of the reference object is movably connected to the vehicle to be repaired, and the other end swings as the vehicle to be repaired moves;

[0165] According to the moving image, determine the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction;

[0166] According to the horizontal displacement and the vertical displacement, determine the actual displacement of the vehicle to be repaired from the initial position to the current position;

[0167] According to the displacement deviation between the actual displacement and the preset displacement, move the vehicle to be repaired to the repair position; wherein, the preset displacement is the displacement between the initial position and the repair position.

[0168] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0169] Determine the actual swing angle of the reference object according to the horizontal displacement and the vertical displacement; determine the actual acceleration of the vehicle to be repaired according to the pre-constructed correlation between the swing angle and the vehicle acceleration and the actual swing angle of the reference object; determine the actual displacement of the vehicle to be repaired from the initial position to the current position according to the actual acceleration of the vehicle to be repaired.

[0170] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0171] Construct the correlation between the swing angle and the vehicle acceleration according to the reference length, the vehicle acceleration variable and the swing angle variable of the reference object; wherein, the reference length is the length between the end of the reference object and the connection point; the connection point is the connection point between the reference object and the vehicle to be repaired.

[0172] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0173] Determine the second derivative of the swing angle variable of the reference object, the first ratio of the first product to the reference length, and the second ratio of the second product to the reference length; wherein, the first product is the product of the vehicle acceleration variable and the cosine function value of the swing angle variable, and the second product is the product of the gravitational acceleration and the sine function value of the swing angle variable; construct the motion function of the reference object according to the first ratio, the second ratio and the second derivative of the swing angle variable of the reference object; wherein, the motion function is used to describe the correlation between the swing angle and the vehicle acceleration.

[0174] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0175] In the case where the displacement deviation is greater than the preset threshold, determine the current position of the vehicle to be repaired based on the navigation positioning system; control the vehicle to be repaired to move a distance of the displacement deviation in the direction from the current position to the repair position.

[0176] In one embodiment, the reference object is a link device, and the link device includes a rod body and a sphere, one end of the rod body is movably connected to the vehicle to be repaired, and the other end of the rod body is fixedly connected to the sphere.

[0177] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0178] During the movement of the vehicle to be repaired towards the repair position, obtain the motion image of the reference object on the vehicle to be repaired; wherein, one end of the reference object is movably connected to the vehicle to be repaired, and the other end swings as the vehicle to be repaired moves.

[0179] Determine the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction according to the motion image;

[0180] Determine the actual displacement of the vehicle to be repaired from the initial position to the current position according to the horizontal displacement and the vertical displacement;

[0181] Move the vehicle to be repaired to the repair position according to the displacement deviation between the actual displacement and the preset displacement; wherein, the preset displacement is the displacement between the initial position and the repair position.

[0182] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0183] Determine the actual swing angle of the reference object according to the horizontal displacement and the vertical displacement; determine the actual acceleration of the vehicle to be repaired according to the pre-constructed correlation between the swing angle and the vehicle acceleration and the actual swing angle of the reference object; determine the actual displacement of the vehicle to be repaired from the initial position to the current position according to the actual acceleration of the vehicle to be repaired.

[0184] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0185] Construct the correlation between the swing angle and the vehicle acceleration according to the reference length, the vehicle acceleration variable and the swing angle variable of the reference object; wherein, the reference length is the length between the end of the reference object and the connection point; the connection point is the connection point between the reference object and the vehicle to be repaired.

[0186] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0187] Determine the second derivative of the swing angle variable of the reference object, the first ratio of the first product to the reference length, and the second ratio of the second product to the reference length; wherein, the first product is the product of the vehicle acceleration variable and the cosine function value of the swing angle variable, and the second product is the product of the gravitational acceleration and the sine function value of the swing angle variable; construct the motion function of the reference object according to the first ratio, the second ratio and the second derivative of the swing angle variable of the reference object; wherein, the motion function is used to describe the correlation between the swing angle and the vehicle acceleration.

[0188] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0189] In the case where the displacement deviation is greater than the preset threshold, determine the current position of the vehicle to be repaired based on the navigation positioning system; control the vehicle to be repaired to move a distance of the displacement deviation in the direction from the current position to the repair position.

[0190] In one embodiment, the reference object is a connecting rod device, which includes a rod body and a sphere. One end of the rod body is movably connected to the vehicle to be repaired, and the other end of the rod body is fixedly connected to the sphere.

[0191] In one embodiment, a computer program product is provided, including a computer program, which when executed by a processor, implements the following steps:

[0192] During the process of the vehicle to be repaired moving towards the repair position, obtain the motion image of the reference object on the vehicle to be repaired; wherein, one end of the reference object is movably connected to the vehicle to be repaired, and the other end swings as the vehicle to be repaired moves;

[0193] According to the motion image, determine the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction;

[0194] According to the horizontal displacement and the vertical displacement, determine the actual displacement of the vehicle to be repaired from the initial position to the current position;

[0195] According to the displacement deviation between the actual displacement and the preset displacement, move the vehicle to be repaired to the repair position; wherein, the preset displacement is the displacement between the initial position and the repair position.

[0196] In one embodiment, when the computer program is executed by a processor, it also implements the following steps:

[0197] According to the horizontal displacement and the vertical displacement, determine the actual swing angle of the reference object; according to the pre-constructed correlation between the swing angle and the vehicle acceleration, and the actual swing angle of the reference object, determine the actual acceleration of the vehicle to be repaired; according to the actual acceleration of the vehicle to be repaired, determine the actual displacement of the vehicle to be repaired from the initial position to the current position.

[0198] In one embodiment, when the computer program is executed by a processor, it also implements the following steps:

[0199] According to the reference length, the vehicle acceleration variable, and the swing angle variable of the reference object, construct the correlation between the swing angle and the vehicle acceleration; wherein, the reference length is the length between the end of the reference object and the connection point; the connection point is the connection point between the reference object and the vehicle to be repaired.

[0200] In one embodiment, when the computer program is executed by a processor, it also implements the following steps:

[0201] Determine the second derivative of the swing angle variable of the reference object, the first ratio of the first product to the reference length, and the second ratio of the second product to the reference length; wherein, the first product is the product of the vehicle acceleration variable and the cosine function value of the swing angle variable, and the second product is the product of the gravitational acceleration and the sine function value of the swing angle variable; construct the motion function of the reference object according to the first ratio, the second ratio and the second derivative of the swing angle variable of the reference object; wherein, the motion function is used to describe the correlation between the swing angle and the vehicle acceleration.

[0202] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0203] In the case where the displacement deviation is greater than the preset threshold, determine the current position of the vehicle to be repaired based on the navigation positioning system; control the vehicle to be repaired to move a distance of the displacement deviation in the direction from the current position to the repair position.

[0204] In one embodiment, the reference object is a linkage device, and the linkage device includes a rod body and a sphere. One end of the rod body is movably connected to the vehicle to be repaired, and the other end of the rod body is fixedly connected to the sphere.

[0205] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data that have been consented to by the user or fully consented to by all parties, and the collection, use and processing of relevant data need to comply with relevant regulations.

[0206] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, artificial intelligence (AI) processors, etc., without limitation.

[0207] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in the present application.

[0208] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A vehicle movement method, characterized in that, The method includes: During the process of the vehicle to be repaired moving towards the repair position, obtaining a motion image of a reference object on the vehicle to be repaired; wherein, one end of the reference object is movably connected to the vehicle to be repaired, and the other end swings as the vehicle to be repaired moves; According to the motion image, determining the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction; According to the horizontal displacement and the vertical displacement, determining the actual displacement of the vehicle to be repaired from the initial position to the current position; According to the displacement deviation between the actual displacement and the preset displacement, moving the vehicle to be repaired to the repair position; wherein, the preset displacement is the displacement between the initial position and the repair position.

2. The method according to claim 1, characterized in that, The determining the actual displacement of the vehicle to be repaired from the initial position to the current position according to the horizontal displacement and the vertical displacement includes: According to the horizontal displacement and the vertical displacement, determining the actual swing angle of the reference object; According to the pre-constructed correlation between the swing angle and the vehicle acceleration, and the actual swing angle of the reference object, determining the actual acceleration of the vehicle to be repaired; According to the actual acceleration of the vehicle to be repaired, determining the actual displacement of the vehicle to be repaired from the initial position to the current position.

3. The method according to claim 2, characterized in that, The method further includes: According to the reference length, the vehicle acceleration variable, and the swing angle variable of the reference object, constructing the correlation between the swing angle and the vehicle acceleration; wherein, the reference length is the length between the end of the reference object and the connection point; the connection point is the connection point between the reference object and the vehicle to be repaired.

4. The method according to claim 3, characterized in that, The constructing the correlation between the swing angle and the vehicle acceleration according to the reference length, the vehicle acceleration variable, and the swing angle variable of the reference object includes: Determining the second derivative of the swing angle variable of the reference object, the first ratio of the first product to the reference length, and the second ratio of the second product to the reference length; wherein, the first product is the product of the vehicle acceleration variable and the cosine function value of the swing angle variable, and the second product is the product of the gravitational acceleration and the sine function value of the swing angle variable; According to the first ratio, the second ratio, and the second derivative of the swing angle variable of the reference object, constructing the motion function of the reference object; wherein, the motion function is used to describe the correlation between the swing angle and the vehicle acceleration.

5. The method according to claim 1, characterized in that, The moving the vehicle to be repaired to the repair position according to the displacement deviation between the actual displacement and the preset displacement includes: When the displacement deviation is greater than the preset threshold, determining the current position of the vehicle to be repaired based on the navigation positioning system; Controlling the vehicle to be repaired to move a distance of the displacement deviation in the direction from the current position to the repair position.

6. The method according to any one of claims 1 - 5, characterized in that, The reference object is a connecting rod device, and the connecting rod device includes a rod body and a sphere. One end of the rod body is movably connected to the vehicle to be repaired, and the other end of the rod body is fixedly connected to the sphere.

7. A vehicle movement device, characterized in that, The device includes: An acquisition module, configured to acquire a motion image of a reference object on the vehicle to be repaired during the movement of the vehicle to be repaired to the repair position; wherein one end of the reference object is movably connected to the vehicle to be repaired, and the other end swings as the vehicle to be repaired moves; A first determination module, configured to determine a horizontal displacement of the reference object in the horizontal direction and a vertical displacement in the vertical direction according to the motion image; A second determination module, configured to determine an actual displacement of the vehicle to be repaired from the initial position to the current position according to the horizontal displacement and the vertical displacement; A movement module, configured to move the vehicle to be repaired to the repair position according to a displacement deviation between the actual displacement and a preset displacement; wherein the preset displacement is the displacement between the initial position and the repair position.

8. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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