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

Abstract

The present application relates to a vehicle movement method, device, computer equipment, storage medium and program product. The method includes: in the process of the vehicle to be inspected moving to the inspection position, obtaining a motion image of a reference object on the vehicle to be inspected, and then determining the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction based on the motion image, and determining the actual displacement of the vehicle to be inspected from the initial position to the current position based on the horizontal displacement and the vertical displacement, and moving the vehicle to be inspected to the inspection position based on the displacement deviation between the actual displacement and the preset displacement. The above scheme can accurately determine the actual displacement of the vehicle to be inspected from the initial position to the current position based on 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 inspected can be efficiently moved to the inspection position, thereby improving the vehicle inspection efficiency.

Description

Technical Field

[0001] The present application relates to the field of machine vision technology, and in particular to a vehicle movement method, apparatus, computer equipment, storage medium, and program product. Background Art

[0002] Heavy-duty railway vehicles carry enormous weight and loads, subjecting their components to intense impact and wear during operation. Regular maintenance is crucial for operational safety, extending vehicle life, and reducing operating costs.

[0003] In the related art, it is usually necessary to manually drive the vehicle to a designated location for maintenance. During the process of manually driving the vehicle to the designated location, there is a problem of inaccurate parking, which requires repeated manual parking, resulting in low vehicle maintenance efficiency. Summary of the Invention

[0004] Based on this, it is necessary to provide a vehicle movement method, device, computer equipment, storage medium and program product to address the above technical problems, which can improve vehicle maintenance efficiency.

[0005] In a first aspect, the present application provides a vehicle movement method, comprising:

[0006] As the vehicle to be inspected moves toward the inspection location, a moving image of a reference object on the vehicle to be inspected is acquired; wherein one end of the reference object is movably connected to the vehicle to be inspected, and the other end thereof swings as the vehicle to be inspected moves;

[0007] Determine the horizontal displacement and vertical displacement of the reference object according to the motion image;

[0008] Determine the actual displacement of the vehicle to be inspected from its initial position to its current position based on the horizontal displacement and vertical displacement;

[0009] The vehicle to be inspected is moved to the inspection 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 inspection position.

[0010] In one embodiment, determining the actual displacement of the vehicle to be inspected from an initial position to a current position based on the horizontal displacement and the vertical displacement includes:

[0011] Determine the actual swing angle of the reference object based on the horizontal displacement and the vertical displacement;

[0012] Determine the actual acceleration of the vehicle to be inspected based on the pre-established correlation between the swing angle and the vehicle acceleration and the actual swing angle of the reference object;

[0013] The actual displacement of the vehicle to be inspected from the initial position to the current position is determined according to the actual acceleration of the vehicle to be inspected.

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

[0015] Based on the reference length, the vehicle acceleration variable, and the swing angle variable of the reference object, a correlation relationship between the swing angle and the vehicle acceleration is constructed; among them, 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 inspected.

[0016] In one embodiment, establishing a correlation between the swing angle and the vehicle acceleration based on the reference length, the vehicle acceleration variable, and the swing angle variable of the reference object includes:

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

[0018] A motion function of the reference object is constructed according to the first ratio, the second ratio, and the second-order 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.

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

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

[0021] Control the displacement deviation distance of the vehicle to be repaired from its current position to the repair position.

[0022] 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 inspected, 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, comprising:

[0024] An acquisition module is used to acquire a moving image of a reference object on the vehicle to be inspected while the vehicle to be inspected moves toward the inspection location; wherein one end of the reference object is movably connected to the vehicle to be inspected, and the other end thereof swings as the vehicle to be inspected moves;

[0025] A first determining module is used to determine a horizontal displacement and a vertical displacement of a reference object according to the motion image;

[0026] The second determining module is used to determine the actual displacement of the vehicle to be inspected from the initial position to the current position based on the horizontal displacement and the vertical displacement;

[0027] The moving module is used to move the vehicle to be inspected to the inspection 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 inspection position.

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

[0029] As the vehicle to be inspected moves toward the inspection location, a moving image of a reference object on the vehicle to be inspected is acquired; wherein one end of the reference object is movably connected to the vehicle to be inspected, and the other end thereof swings as the vehicle to be inspected moves;

[0030] Determine the horizontal displacement and vertical displacement of the reference object according to the motion image;

[0031] Determine the actual displacement of the vehicle to be inspected from its initial position to its current position based on the horizontal displacement and vertical displacement;

[0032] The vehicle to be inspected is moved to the inspection 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 inspection position.

[0033] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the following steps:

[0034] As the vehicle to be inspected moves toward the inspection location, a moving image of a reference object on the vehicle to be inspected is acquired; wherein one end of the reference object is movably connected to the vehicle to be inspected, and the other end thereof swings as the vehicle to be inspected moves;

[0035] Determine the horizontal displacement and vertical displacement of the reference object according to the motion image;

[0036] Determine the actual displacement of the vehicle to be inspected from its initial position to its current position based on the horizontal displacement and vertical displacement;

[0037] The vehicle to be inspected is moved to the inspection 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 inspection position.

[0038] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the following steps:

[0039] As the vehicle to be inspected moves toward the inspection location, a moving image of a reference object on the vehicle to be inspected is acquired; wherein one end of the reference object is movably connected to the vehicle to be inspected, and the other end thereof swings as the vehicle to be inspected moves;

[0040] Determine the horizontal displacement and vertical displacement of the reference object according to the motion image;

[0041] Determine the actual displacement of the vehicle to be inspected from its initial position to its current position based on the horizontal displacement and vertical displacement;

[0042] The vehicle to be inspected is moved to the inspection 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 inspection position.

[0043] The above-mentioned vehicle movement method, device, computer equipment, storage medium and program product obtains a motion image of a reference object on the vehicle to be inspected during the process of the vehicle to be inspected moving to the inspection position; one end of the reference object is movably connected to the vehicle to be inspected, and the other end swings as the vehicle to be inspected moves; then, based on the motion image, the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction are determined; and based on the horizontal displacement and the vertical displacement, the actual displacement of the vehicle to be inspected from the initial position to the current position is determined; based on the displacement deviation between the actual displacement and the preset displacement, the vehicle to be inspected is moved to the inspection position; the preset displacement is the displacement between the initial position and the inspection position. The above-mentioned scheme can accurately determine the actual displacement of the vehicle to be inspected from the initial position to the current position based on the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction, and can then accurately determine the displacement deviation between the actual displacement and the preset displacement, so that the vehicle to be inspected can be efficiently moved to the inspection position, thereby improving the vehicle inspection efficiency. BRIEF 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 briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0045] Figure 1 1 is a flow chart of a vehicle movement method according to an embodiment;

[0046] Figure 2A schematic diagram of a process for determining the actual displacement of a vehicle to be inspected in one embodiment;

[0047] Figure 3 is a schematic structural diagram of a reference object in one embodiment;

[0048] Figure 4 A schematic diagram of force analysis of a reference object in one embodiment;

[0049] Figure 5 1. A schematic diagram of a process for moving a vehicle to be inspected to an inspection location in one embodiment;

[0050] Figure 6 is a flow chart of a vehicle moving method according to another embodiment;

[0051] Figure 7 is a structural block diagram of a vehicle moving device in one embodiment;

[0052] Figure 8 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of this application more clear, the following is a further detailed description with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0054] The vehicle movement method provided in the embodiment of the present application can be applied to the application scenario of repairing vehicles on railways. The method can be executed by a server or a terminal with a certain computing power.

[0055] The server can be a standalone physical server, a server cluster or distributed system consisting of multiple physical servers, or a cloud server providing cloud computing services. Terminals can include, but are not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, smart car devices, and projectors. Portable wearable devices can include smart watches, smart bracelets, and head-mounted devices. Head-mounted devices can include virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, and more.

[0056] In an exemplary embodiment, Figure 1 As shown, a vehicle movement method is provided, which is described by taking the application of the method to a server as an example, and includes the following steps:

[0057] S101 , while a vehicle to be inspected is moving toward an inspection position, a motion image of a reference object on the vehicle to be inspected is acquired.

[0058] Illustratively, the vehicle to be inspected may be a vehicle running on a railway, for example, a heavy-load railway vehicle carries a huge weight and load, and various components of the vehicle are subjected to strong impact and wear during operation, requiring regular maintenance.

[0059] During the inspection of a vehicle, it is necessary to drive the vehicle to the inspection location and then perform the inspection according to the inspection requirements and procedures. In order to accurately park the vehicle at the inspection location, the distance between the current location of the vehicle and the inspection location can be determined, and the vehicle can be controlled to move according to the determined distance to achieve accurate parking at the inspection location.

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

[0061] Optionally, while the vehicle to be inspected is moving toward the inspection location, a camera device may be used to capture a moving image of a reference object on the vehicle to be inspected, and the moving image captured by the camera device may be obtained. The camera device may be pre-deployed around the reference object or may be an external camera device capable of capturing moving images of the reference object at a preset frequency.

[0062] S102 : Determine a horizontal displacement and a vertical displacement of a reference object according to the motion image.

[0063] Exemplarily, visual recognition technology can be used to analyze the motion image to determine the horizontal displacement and vertical displacement of the reference object. 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 of the image is read, its initial position is recorded, and each frame is traversed to detect and track the reference object. Its position in the current frame is calculated and compared with the initial position to obtain the horizontal displacement and vertical displacement of the reference object.

[0064] S103, determining the actual displacement of the vehicle to be inspected from the initial position to the current position based on the horizontal displacement and the vertical displacement.

[0065] For example, the reference object's swing angle can be determined based on its horizontal and vertical displacements. Furthermore, the actual displacement of the vehicle to be inspected from its initial position to its current position can be determined based on the corresponding relationship between the reference object's swing angle and the vehicle's displacement. The corresponding relationship between the reference object's swing angle and the vehicle's displacement can be obtained by calibration based on historical data or by training a neural network model.

[0066] S104: Moving the vehicle to be inspected to an inspection position according to a displacement deviation between the actual displacement and the preset displacement.

[0067] For example, the preset displacement is the displacement between the initial position of the vehicle to be inspected and the inspection position. The displacement deviation between the actual displacement and the preset displacement can be calculated, and the vehicle to be inspected is moved from the current position by the displacement deviation to achieve the movement of the vehicle to be inspected to the inspection position.

[0068] The above-mentioned vehicle moving method obtains a motion image of a reference object on the vehicle to be inspected during the process of the vehicle to be inspected moving to the inspection position; one end of the reference object is movably connected to the vehicle to be inspected, and the other end swings as the vehicle to be inspected moves; then, based on the motion image, the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction are determined; and based on the horizontal displacement and the vertical displacement, the actual displacement of the vehicle to be inspected from the initial position to the current position is determined; based on the displacement deviation between the actual displacement and the preset displacement, the vehicle to be inspected is moved to the inspection position; the preset displacement is the displacement between the initial position and the inspection position. The above-mentioned scheme can accurately determine the actual displacement of the vehicle to be inspected from the initial position to the current position based on the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction, and can then accurately determine the displacement deviation between the actual displacement and the preset displacement, so that the vehicle to be inspected can be efficiently moved to the inspection position, thereby improving the vehicle inspection efficiency.

[0069] In some optional implementations, see Figure 2 , Figure 2 A schematic flow chart of determining the actual displacement of a vehicle to be inspected is provided, which specifically includes the following steps:

[0070] S201, determining the actual swing angle of the reference object according to the horizontal displacement and the vertical displacement.

[0071] For example, assuming that the horizontal displacement of the reference object is D x , 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 vertical displacement, for example, by the following formula (1):

[0072] (1)

[0073] S202 : determining the actual acceleration of the vehicle to be inspected based on the pre-established correlation between the swing angle and the vehicle acceleration and the actual swing angle of the reference object.

[0074] For example, the correlation between the swing angle of the reference object and the vehicle acceleration can be pre-established. For example, a calibration can be performed based on the historical swing angle of the reference object and the corresponding historical vehicle acceleration to obtain the correlation between the swing angle of the reference object and the vehicle acceleration, 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; the historical swing angle of the reference object and the corresponding historical vehicle acceleration can also be input into a neural network model to learn the correlation relationship, thereby obtaining the correlation between the swing angle of the reference object and the vehicle acceleration; and a functional expression between the swing angle and the vehicle acceleration can also be constructed based on the motion equation, that is, the constructed functional expression is the correlation between the swing angle and the vehicle acceleration.

[0075] Furthermore, based on the pre-established 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 screened out, that is, the actual acceleration of the vehicle to be inspected.

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

[0077] For example, the actual acceleration a(t) of the vehicle to be inspected at each moment in the process of moving from the initial position to the inspection position can be determined, and then the actual speed v(t) of the vehicle can be determined based on the actual acceleration a(t). For example, it can be determined by the following formula (2):

[0078] (2)

[0079] Among them, v0 is the initial speed of the vehicle to be inspected, and t is the time.

[0080] Furthermore, the actual displacement x(t) of the vehicle can be determined based on 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 an embodiment of the present application, the actual swing angle of the reference object is determined based on the horizontal displacement and vertical displacement of the reference object, and then the actual displacement of the vehicle to be inspected from the initial position to the current position is gradually determined based on the pre-constructed correlation between the swing angle and the vehicle acceleration, so that the determined actual displacement is more accurate, which facilitates the accurate parking of the vehicle to be inspected at the inspection position.

[0084] In some optional implementations, a correlation between the swing angle and the vehicle acceleration can be established based on a reference length, a vehicle acceleration variable, and a swing angle variable of the reference object. The reference length is the length between the end of the reference object and the connection point, and the connection point is the point of connection between the reference object and the vehicle to be inspected.

[0085] For example, a force analysis of a reference object can be performed, combined with the object's horizontal and vertical dynamic equations, to establish a correlation between the swing angle and vehicle acceleration. Alternatively, historical reference length data, historical vehicle acceleration data, and historical reference object swing angle data can be obtained and calibrated to establish a correlation between the swing angle and vehicle acceleration.

[0086] In an embodiment of the present application, a correlation relationship 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, and then the vehicle acceleration is determined based on the reference length and the swing angle of the reference object, and then the actual displacement of the vehicle is determined, so that the determined actual displacement is more accurate.

[0087] In some optional implementations, see Figure 3 , Figure 3 A schematic diagram of the structure of a reference object is provided. Figure 3 The reference object shown is a linkage device 100, which includes a rod 300 and a sphere 200. One end of the rod is movably connected to the vehicle to be inspected, while the other end is fixedly connected to the sphere. For example, one or more linkage devices can be deployed on the vehicle to be inspected, and cameras can be deployed around the linkage devices to capture moving images of the linkage devices.

[0088] In some optional implementations, a reference object is used as a connecting rod device as an example to illustrate the process of establishing a correlation between the swing angle and the vehicle acceleration.

[0089] For example, see Figure 4 , Figure 4 A schematic diagram of force analysis of a reference object is provided. Figure 4 The swing angle of the reference object is shown to be , the reference object is subjected to tension T, gravity Mg, and horizontal force Ma 车 , where a 车is the vehicle acceleration, and g is the acceleration due to gravity.

[0090] The second derivative of the reference object's sway angle variable can be determined first , the first ratio of the first product to the reference length , and a second ratio of the second product to the reference length ; Among them, the first product is the product of the cosine function value of the vehicle acceleration variable and the swing angle variable The second product is the product of the gravitational acceleration and the sine function value of the swing angle variable Wherein, L is the reference length. In the embodiment of the present application, L is the length of the rod.

[0091] Furthermore, a motion function of the reference object can be constructed based on the first ratio, the second ratio and the second-order 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.

[0092] For example, the second derivative of the reference object's swing angle variable, a first ratio of the first product to the reference length, and a second ratio of the second product to the reference length can be determined by the following method: A motion function of the reference object is constructed based on the first ratio, the second ratio, and the second derivative of the reference object's swing angle variable. The motion function is used to describe the correlation between the swing angle and the vehicle acceleration.

[0093] Among them, the component of the tension T in the horizontal direction X is T 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 , 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 vertical direction Y are:

[0100] (8)

[0101] (9)

[0102] Where M is the mass of the reference object, for The second derivative of D y The second derivative of .

[0103] From the above formula we can get:

[0104] (10)

[0105] (11)

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

[0107] (12)

[0108] (13)

[0109] By taking the second-order derivatives of equations (6) and (7) respectively, we can obtain:

[0110] (14)

[0111] (15)

[0112] in, for The second derivative of for The first derivative of .

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

[0114] (16)

[0115] Arranging formula (16) we can get:

[0116] (17)

[0117] Further sorting can be obtained.

[0118] (18)

[0119] When the swing angle is relatively small,

[0120] (19)

[0121] (20)

[0122] (twenty one)

[0123] Then formula (18) can be expressed as,

[0124] (twenty two)

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

[0126] In an embodiment of the present application, a motion function of a reference object is constructed and used to describe the correlation between the swing angle and the vehicle acceleration, so that the actual displacement of the vehicle to be inspected can be gradually determined based on the swing angle of the reference object.

[0127] In some optional implementations, see Figure 5 , Figure 5 A schematic diagram of a process for moving a vehicle to be repaired to a repair location is provided, which specifically includes the following steps:

[0128] S501: When the displacement deviation is greater than a preset threshold, the current position of the vehicle to be inspected is determined based on the navigation and positioning system.

[0129] For example, a preset threshold value may be set in advance according to maintenance needs, for example, the preset threshold value may be set to 0.5 meters. When the displacement deviation is greater than the preset threshold value, the vehicle to be maintained needs to be moved to the maintenance position.

[0130] For example, a navigation system may be used to determine the current location of the vehicle to be inspected, wherein the navigation system includes but is not limited to the Global Positioning System (GPS). The inspection location may be predetermined or determined based on the navigation system.

[0131] S502, controlling the vehicle to be inspected to move from the current position toward the inspection position by a distance corresponding to the displacement deviation.

[0132] Furthermore, the vehicle to be inspected can be controlled to move a displacement deviation distance from its current position toward the inspection location. For example, in a scenario where the vehicle to be inspected is traveling in a straight line, the vehicle to be inspected can be controlled to move a displacement deviation distance from its current position toward the inspection location to reach the inspection location.

[0133] In an embodiment of the present application, when the displacement deviation is greater than a preset threshold, a navigation and positioning system is used to determine the current position of the vehicle to be inspected, so as to control the direction of the vehicle's movement, and the distance of the vehicle's movement can be controlled according to the displacement deviation, so that the vehicle to be inspected can be accurately parked at the inspection position.

[0134] In some optional implementations, see Figure 6 , Figure 6A flow chart of another vehicle movement method is provided, which specifically includes the following steps:

[0135] S601 , while the vehicle to be inspected is moving toward the inspection position, a moving image of a reference object on the vehicle to be inspected is acquired.

[0136] S602: Determine a horizontal displacement and a vertical displacement of a reference object according to the motion image.

[0137] S603: Determine the actual swing angle of the reference object according to the horizontal displacement and the vertical displacement.

[0138] S604: Determine the actual acceleration of the vehicle to be inspected based on the pre-established correlation between the swing angle and the vehicle acceleration and the actual swing angle of the reference object.

[0139] S605 , determining the actual displacement of the vehicle to be inspected from the initial position to the current position according to the actual acceleration of the vehicle to be inspected.

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

[0141] S607, controlling the vehicle to be inspected to move from the current position toward the inspection position by a distance corresponding to the displacement deviation.

[0142] The embodiments of the present application reduce manual operation time and improve overall vehicle maintenance efficiency. Compared to manually driving the vehicle to a designated location for maintenance, this reduces reliance on manual labor and lowers labor costs. Furthermore, due to the improved maintenance efficiency, operational interruption time due to maintenance can be reduced, thereby reducing overall operating costs. Furthermore, accidents caused by human error and fluctuations in maintenance quality caused by human factors can be reduced, thereby improving the accuracy and reliability of maintenance work.

[0143] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0144] Based on the same inventive concept, embodiments of the present application further provide a vehicle movement device for implementing the aforementioned vehicle movement method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more vehicle movement device embodiments provided below can be found in the above-described limitations of the vehicle movement method and will not be further elaborated here.

[0145] In an exemplary embodiment, Figure 7 As shown, a vehicle moving device is provided, comprising:

[0146] The acquisition module 10 is used to acquire a moving image of a reference object on the vehicle to be inspected while the vehicle to be inspected moves toward the inspection location; wherein one end of the reference object is movably connected to the vehicle to be inspected, and the other end thereof swings as the vehicle to be inspected moves;

[0147] A first determining module 20 is configured to determine a horizontal displacement and a vertical displacement of a reference object according to the motion image;

[0148] The second determining module 30 is used to determine the actual displacement of the vehicle to be inspected from the initial position to the current position based on the horizontal displacement and the vertical displacement;

[0149] The moving module 40 is used to move the vehicle to be inspected to the inspection 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 inspection position.

[0150] The above-mentioned vehicle moving device obtains a motion image of a reference object on the vehicle to be inspected during the process of the vehicle to be inspected moving to the inspection position; one end of the reference object is movably connected to the vehicle to be inspected, and the other end swings as the vehicle to be inspected moves; then, based on the motion image, the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction are determined; and based on the horizontal displacement and the vertical displacement, the actual displacement of the vehicle to be inspected from the initial position to the current position is determined; based on the displacement deviation between the actual displacement and the preset displacement, the vehicle to be inspected is moved to the inspection position; the preset displacement is the displacement between the initial position and the inspection position. The above-mentioned scheme can accurately determine the actual displacement of the vehicle to be inspected from the initial position to the current position based on the horizontal displacement of the reference object in the horizontal direction and the vertical displacement in the vertical direction, and can then accurately determine the displacement deviation between the actual displacement and the preset displacement, so that the vehicle to be inspected can be efficiently moved to the inspection position, thereby improving the vehicle inspection efficiency.

[0151] In one embodiment, the second determining module 30 is specifically configured to:

[0152] Based on the horizontal displacement and vertical displacement, the actual swing angle of the reference object is determined; based on the pre-established correlation between the swing angle and the vehicle acceleration, and the actual swing angle of the reference object, the actual acceleration of the vehicle to be inspected is determined; based on the actual acceleration of the vehicle to be inspected, the actual displacement of the vehicle to be inspected from the initial position to the current position is determined.

[0153] In one embodiment, the apparatus further comprises a building block for:

[0154] Based on the reference length, the vehicle acceleration variable, and the swing angle variable of the reference object, a correlation relationship between the swing angle and the vehicle acceleration is constructed; among them, 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 inspected.

[0155] In one embodiment, the building block is specifically configured to:

[0156] Determine the second derivative of the swing angle variable of the reference object, a first ratio of a first product to a reference length, and a second ratio of a second product to the reference length; wherein the first product is the product of a vehicle acceleration variable and a cosine function value of the swing angle variable, and the second product is the product of a gravitational acceleration and a sine function value of the swing angle variable; construct a motion function of the reference object based on 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 mobile module 40 is specifically configured to:

[0158] When the displacement deviation is greater than a preset threshold, the current position of the vehicle to be inspected is determined based on the navigation and positioning system; the vehicle to be inspected is controlled to move from the current position to the inspection position by the distance of the displacement deviation.

[0159] 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 inspected, and the other end of the rod body is fixedly connected to the sphere.

[0160] Each module in the aforementioned vehicle mobility device may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a memory in the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[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 shown in FIG. Figure 8As shown. The computer device includes a processor, a memory, an input / output (I / O) interface and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. 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 motion image data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a vehicle movement method is implemented.

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

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

[0164] As the vehicle to be inspected moves toward the inspection location, a moving image of a reference object on the vehicle to be inspected is acquired; wherein one end of the reference object is movably connected to the vehicle to be inspected, and the other end thereof swings as the vehicle to be inspected moves;

[0165] Determine the horizontal displacement and vertical displacement of the reference object according to the motion image;

[0166] Determine the actual displacement of the vehicle to be inspected from its initial position to its current position based on the horizontal displacement and vertical displacement;

[0167] The vehicle to be inspected is moved to the inspection 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 inspection position.

[0168] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0169] Based on the horizontal displacement and vertical displacement, the actual swing angle of the reference object is determined; based on the pre-established correlation between the swing angle and the vehicle acceleration, and the actual swing angle of the reference object, the actual acceleration of the vehicle to be inspected is determined; based on the actual acceleration of the vehicle to be inspected, the actual displacement of the vehicle to be inspected from the initial position to the current position is determined.

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

[0171] Based on the reference length, the vehicle acceleration variable, and the swing angle variable of the reference object, a correlation relationship between the swing angle and the vehicle acceleration is constructed; among them, 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 inspected.

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

[0173] Determine the second derivative of the swing angle variable of the reference object, a first ratio of a first product to a reference length, and a second ratio of a second product to the reference length; wherein the first product is the product of a vehicle acceleration variable and a cosine function value of the swing angle variable, and the second product is the product of a gravitational acceleration and a sine function value of the swing angle variable; construct a motion function of the reference object based on 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 processor further implements the following steps:

[0175] When the displacement deviation is greater than a preset threshold, the current position of the vehicle to be inspected is determined based on the navigation and positioning system; the vehicle to be inspected is controlled to move from the current position to the inspection position by the distance of the displacement deviation.

[0176] 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 inspected, 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. When the computer program is executed by a processor, the following steps are implemented:

[0178] As the vehicle to be inspected moves toward the inspection location, a moving image of a reference object on the vehicle to be inspected is acquired; wherein one end of the reference object is movably connected to the vehicle to be inspected, and the other end thereof swings as the vehicle to be inspected moves;

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

[0180] Determine the actual displacement of the vehicle to be inspected from its initial position to its current position based on the horizontal displacement and vertical displacement;

[0181] The vehicle to be inspected is moved to the inspection 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 inspection position.

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

[0183] Based on the horizontal displacement and vertical displacement, the actual swing angle of the reference object is determined; based on the pre-established correlation between the swing angle and the vehicle acceleration, and the actual swing angle of the reference object, the actual acceleration of the vehicle to be inspected is determined; based on the actual acceleration of the vehicle to be inspected, the actual displacement of the vehicle to be inspected from the initial position to the current position is determined.

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

[0185] Based on the reference length, the vehicle acceleration variable, and the swing angle variable of the reference object, a correlation relationship between the swing angle and the vehicle acceleration is constructed; among them, 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 inspected.

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

[0187] Determine the second derivative of the swing angle variable of the reference object, a first ratio of a first product to a reference length, and a second ratio of a second product to the reference length; wherein the first product is the product of a vehicle acceleration variable and a cosine function value of the swing angle variable, and the second product is the product of a gravitational acceleration and a sine function value of the swing angle variable; construct a motion function of the reference object based on 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 a processor, the following steps are further implemented:

[0189] When the displacement deviation is greater than a preset threshold, the current position of the vehicle to be inspected is determined based on the navigation and positioning system; the vehicle to be inspected is controlled to move from the current position to the inspection position by the distance of the displacement deviation.

[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 inspected, and the other end of the rod body is fixedly connected to the sphere.

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

[0192] As the vehicle to be inspected moves toward the inspection location, a moving image of a reference object on the vehicle to be inspected is acquired; wherein one end of the reference object is movably connected to the vehicle to be inspected, and the other end thereof swings as the vehicle to be inspected moves;

[0193] Determine the horizontal displacement and vertical displacement of the reference object according to the motion image;

[0194] Determine the actual displacement of the vehicle to be inspected from its initial position to its current position based on the horizontal displacement and vertical displacement;

[0195] The vehicle to be inspected is moved to the inspection 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 inspection position.

[0196] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0197] Based on the horizontal displacement and vertical displacement, the actual swing angle of the reference object is determined; based on the pre-established correlation between the swing angle and the vehicle acceleration, and the actual swing angle of the reference object, the actual acceleration of the vehicle to be inspected is determined; based on the actual acceleration of the vehicle to be inspected, the actual displacement of the vehicle to be inspected from the initial position to the current position is determined.

[0198] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0199] Based on the reference length, the vehicle acceleration variable, and the swing angle variable of the reference object, a correlation relationship between the swing angle and the vehicle acceleration is constructed; among them, 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 inspected.

[0200] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0201] Determine the second derivative of the swing angle variable of the reference object, a first ratio of a first product to a reference length, and a second ratio of a second product to the reference length; wherein the first product is the product of a vehicle acceleration variable and a cosine function value of the swing angle variable, and the second product is the product of a gravitational acceleration and a sine function value of the swing angle variable; construct a motion function of the reference object based on 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 a processor, the following steps are further implemented:

[0203] When the displacement deviation is greater than a preset threshold, the current position of the vehicle to be inspected is determined based on the navigation and positioning system; the vehicle to be inspected is controlled to move from the current position to the inspection position by the distance of the displacement deviation.

[0204] 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 inspected, 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 used for analysis, stored data, displayed data, etc.) involved in this application are all information and data agreed upon by the user or fully agreed upon by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0206] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the 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-mentioned methods. In particular, any reference to memory, database, or other media used in the embodiments provided in this 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), magnetic 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 take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processors (GPUs), digital signal processors (DSPs), programmable logic devices (PLCs), artificial intelligence (AI) processors, and the like.

[0207] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, 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, they should be considered to be within the scope of this application.

[0208] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A vehicle moving method, characterized in that: The method comprises: As the vehicle to be inspected moves toward the inspection location, a moving image of a reference object on the vehicle to be inspected is acquired; wherein one end of the reference object is movably connected to the vehicle to be inspected, and the other end thereof swings as the vehicle to be inspected moves; determining a horizontal displacement and a vertical displacement of the reference object according to the motion image; determining an actual swing angle of the reference object according to the horizontal displacement and the vertical displacement; Determining the actual acceleration of the vehicle to be inspected based on a pre-established correlation between the swing angle and the vehicle acceleration and the actual swing angle of the reference object; determining an actual displacement of the vehicle to be inspected from an initial position to a current position according to an actual acceleration of the vehicle to be inspected; The vehicle to be inspected is moved to the inspection 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 inspection position.

2. The method according to claim 1, characterized in that The method further comprises: Based on the reference length, the vehicle acceleration variable and the swing angle variable of the reference object, a correlation relationship between the swing angle and the vehicle acceleration is constructed; 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 inspected.

3. The method according to claim 2, characterized in that The step of constructing a correlation between the swing angle and the vehicle acceleration based on the reference length, the vehicle acceleration variable, and the swing angle variable of the reference object includes: Determining a second derivative of a swing angle variable of the reference object, a first ratio of a first product to a reference length, and a second ratio of a second product to the reference length; wherein the first product is a product of a vehicle acceleration variable and a cosine function value of the swing angle variable, and the second product is a product of a gravitational acceleration and a sine function value of the swing angle variable; A motion function of the reference object is constructed according to the first ratio, the second ratio, and the second-order 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.

4. The method according to claim 1, wherein The step of moving the vehicle to be inspected to the inspection position according to the displacement deviation between the actual displacement and the preset displacement includes: When the displacement deviation is greater than a preset threshold, determining the current position of the vehicle to be inspected based on a navigation and positioning system; The vehicle to be inspected is controlled to move from the current position toward the inspection position by the distance of the displacement deviation.

5. The method according to any one of claims 1 to 4, characterized in that 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 inspected, and the other end of the rod body is fixedly connected to the sphere.

6. A vehicle moving device, characterized in that: The device comprises: an acquisition module, configured to acquire a moving image of a reference object on the vehicle to be inspected while the vehicle to be inspected is moving toward the inspection location; wherein one end of the reference object is movably connected to the vehicle to be inspected, and the other end thereof swings as the vehicle to be inspected moves; a first determining module, configured to determine a horizontal displacement and a vertical displacement of the reference object according to the motion image; a second determination module, configured to determine an actual swing angle of the reference object based on the horizontal displacement and the vertical displacement; determine an actual acceleration of the vehicle to be inspected based on a pre-established correlation between the swing angle and the vehicle acceleration and the actual swing angle of the reference object; and determine an actual displacement of the vehicle to be inspected from an initial position to a current position based on the actual acceleration of the vehicle to be inspected; A moving module is used to move the vehicle to be inspected to the inspection 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 inspection position.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

8. 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 5 are implemented.

9. 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 5 are implemented.

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