Vehicle position control method and device, electronic equipment and storage medium

Abstract

The invention discloses a vehicle position control method and device, electronic equipment and a storage medium, and relates to the field of industrial production.The method is configured on a first automatic guided vehicle and comprises the steps that a first identification image of a first marker is obtained through a first camera; wherein the first camera is configured on the first automated guided vehicle; the first marker is arranged on the second automated guided vehicle; obtaining a first centroid coordinate and first size information of the first marker according to the first identification image, and obtaining a first spatial position error according to the first centroid coordinate and the first size information; and adjusting the position of the first automated guided vehicle according to the first spatial position error. According to the technical scheme of the embodiment of the invention, the position error adjustment of the automated guided vehicle is realized, the positioning precision of the automated guided vehicle is improved, and the automated guided vehicle is adjusted based on the position of the adjacent automated guided vehicle, so that the position synchronism of the multiple automated guided vehicles in a collaborative operation scene is ensured, and the stability of the dragging process is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of industrial production, and in particular, to a vehicle position control method and device, an electronic device, and a storage medium. BACKGROUND

[0002] With the continuous development of vehicle control technology, automated guided vehicles (AGV) are widely used in logistics transportation and warehousing fields, greatly improving the efficiency of cargo handling.

[0003] In the prior art, in the face of the carrying demand of large objects, multiple automated guided vehicles are often needed to jointly perform the handling task. In order to avoid deviation in the carrying process, the position error of the automated guided vehicle is usually corrected by GPS positioning, laser radar, millimeter wave radar and other ranging methods.

[0004] However, such a correction method still has a large position error due to the low positioning accuracy of existing devices, and the relative position error between adjacent automated guided vehicles may be magnified due to the adjustment of the position of each automated guided vehicle. SUMMARY

[0005] The present application provides a vehicle position control method, device, electronic device and storage medium to solve the problem of low positioning accuracy of automated guided vehicles.

[0006] According to an aspect of the present application, a vehicle position control method is provided, configured in a first automated guided vehicle, comprising:

[0007] acquiring a first identification image of a first identification object by a first camera; wherein the first camera is configured in the first automated guided vehicle; and the first identification object is configured in a second automated guided vehicle;

[0008] acquiring first centroid coordinates and first size information of the first identification object according to the first identification image, and acquiring a first spatial position error according to the first centroid coordinates and the first size information;

[0009] adjusting the position of the first automated guided vehicle according to the first spatial position error.

[0010] According to another aspect of the present application, a vehicle position control device is provided, configured in a first automated guided vehicle, comprising:

[0011] an identification image acquisition module, configured to acquire a first identification image of a first identification object by a first camera; wherein the first camera is configured in the first automated guided vehicle; and the first identification object is configured in a second automated guided vehicle;

[0012] The spatial error obtaining module is configured to obtain first centroid coordinates and first size information of the first marker according to the first marker image, and obtain a first spatial position error according to the first centroid coordinates and the first size information.

[0013] The position adjustment executing module is configured to adjust the position of the first automated guided vehicle according to the first spatial position error.

[0014] According to another aspect of the present application, an electronic device is provided, which comprises:

[0015] at least one processor; and

[0016] a memory connected with the at least one processor in communication; wherein,

[0017] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the vehicle position control method according to any of the embodiments of the present application.

[0018] According to another aspect of the present application, a computer program product is provided, which comprises a computer program, and the computer program, when executed by a processor, implements the vehicle position control method according to any of the embodiments of the present application.

[0019] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to implement the vehicle position control method according to any of the embodiments of the present application when executed by the processor.

[0020] The technical solution of the embodiments of the present application is that the first automated guided vehicle obtains the first centroid coordinates and the first size information of the first marker on the second automated guided vehicle according to the first marker image obtained by the first automated guided vehicle, and obtains the first spatial position error according to the first centroid coordinates and the first size information, and then adjusts the position of the first automated guided vehicle according to the first spatial position error, thereby not only realizing the position error adjustment of the automated guided vehicle and improving the positioning accuracy of the automated guided vehicle, but also ensuring the position synchronization in the multi-automated guided vehicle cooperative working scenario and improving the stability of the towing process by adjusting the position of the automated guided vehicle based on the position of the adjacent automated guided vehicle.

[0021] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0023] Figure 1A is a front view of a vehicle position control method according to an embodiment of the present application;

[0024] Figure 1B is a top view of a vehicle position control method according to an embodiment of the present application;

[0025] Figure 1C is a flow chart of a vehicle position control method according to an embodiment of the present application;

[0026] Figure 1D is a schematic diagram of a first identification image before binarization according to an embodiment of the present application;

[0027] Figure 1E is a schematic diagram of a first identification image after binarization according to an embodiment of the present application;

[0028] Figure 1F is a schematic diagram of the position between a first automated guided vehicle and a second automated guided vehicle according to an embodiment of the present application;

[0029] Figure 1G is a schematic diagram of a spatially offset straight line according to an embodiment of the present application;

[0030] Figure 2 is a flow chart of another vehicle position control method according to an embodiment of the present application;

[0031] Figure 3 is a flow chart of still another vehicle position control method according to an embodiment of the present application;

[0032] Figure 4 is a flow chart of yet another vehicle position control method according to an embodiment of the present application;

[0033] Figure 5A is a flow chart of still another vehicle position control method according to an embodiment of the present application;

[0034] Figure 5B is a schematic diagram of a towed array composed of four automated guided vehicles according to an embodiment of the present application;

[0035] Figure 6Fig. 6 is a structural schematic diagram of a vehicle position control device according to an embodiment of the present application;

[0036] Figure 7 Fig. 7 is a structural schematic diagram of an electronic device implementing a vehicle position control method according to an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the personnel in the technical field better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0038] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0039] Figure 1A and Figure 1B Fig. 1 is a schematic diagram of a scene to which a vehicle position control method according to an embodiment of the present application is applicable; wherein, Figure 1A is a front view, Figure 1B is a top view; as Figure 1A and Figure 1B shown, two automatic guided vehicles jointly complete the carrying of the towed object, the towed object is placed above the automatic guided vehicles, that is, in the z-axis direction perpendicular to the ground, the automatic guided vehicles support the towed object through the support bases at the upper end, and a certain interval distance is maintained between the two vehicles; wherein, the marker can be configured as a rectangle or a square.

[0040] If the automated guided vehicle moves along the y-axis direction (i.e. the y-axis direction is the moving direction at this time, and the x-axis direction is the horizontal direction), in fact, the positional relationship between the automated guided vehicle 2 and the automated guided vehicle 1 at this time is a front-rear relationship, i.e. the automated guided vehicle 2 is in front, and the automated guided vehicle 1 is behind, the rear end of the automated guided vehicle 2 is configured with a marker, and the front end of the automated guided vehicle 1 is configured with a camera; during the movement of the automated guided vehicle 2 and the automated guided vehicle 1, the automated guided vehicle 1 may have a positional error in the x-axis direction (i.e. the horizontal direction) relative to the front automated guided vehicle 2, and the automated guided vehicle 1 needs to adjust the positional error in the horizontal direction by using the vehicle position control method disclosed in the embodiment of the application, so as to align the automated guided vehicle 1 with the automated guided vehicle 2 in the horizontal direction.

[0041] If the automated guided vehicle moves along the x-axis direction (i.e. the x-axis direction is the moving direction at this time), in fact, the positional relationship between the automated guided vehicle 2 and the automated guided vehicle 1 at this time is a left-right relationship, i.e. the automated guided vehicle 2 is on the left, and the automated guided vehicle 1 is on the right, the right side of the automated guided vehicle 2 is configured with a marker, and the left side of the automated guided vehicle 1 is configured with a camera; during the movement of the automated guided vehicle 2 and the automated guided vehicle 1, the automated guided vehicle 1 may have a positional error in the x-axis direction (i.e. the moving direction) relative to the left automated guided vehicle 2, and the automated guided vehicle 1 needs to adjust the positional error in the moving direction by using the vehicle position control method disclosed in the embodiment of the application, so as to align the automated guided vehicle 1 with the automated guided vehicle 2 in the moving direction.

[0042] Embodiment one

[0043] Figure 1C A flowchart of a vehicle position control method provided for the embodiment one of the application, the embodiment can be applicable to the adjustment of the position of an automated guided vehicle based on a marker on an adjacent automated guided vehicle, the method can be executed by the vehicle position control device in any embodiment of the application, the vehicle position control device can be realized in the form of hardware and / or software, and the vehicle position control device can be configured in an electronic device inside the automated guided vehicle. As shown in the figure, the method comprises: Figure 1C

[0044] S101, acquiring a first marker image of a first marker by a first camera; wherein the first camera is configured in a first automated guided vehicle; and the first marker is configured in a second automated guided vehicle.

[0045] ​With the above technical solution as an example, the first automated guided vehicle, i.e., the automated guided vehicle 1, is configured with a camera (i.e., a first camera) at the front end or the left end thereof; the second automated guided vehicle, i.e., the automated guided vehicle 2, is configured with a marker (i.e., a first marker) at the rear end or the right end thereof; in the driving or static state, the first automated guided vehicle acquires image information (i.e., a first marker image) of the first marker on the adjacent second automated guided vehicle (i.e., the second automated guided vehicle located at the left side or the front of the first automated guided vehicle) through the first camera configured on the first automated guided vehicle.

[0046] S102, acquire first centroid coordinates and first size information of the first marker according to the first marker image, and acquire a first spatial position error according to the first centroid coordinates and the first size information.

[0047] After the first marker image is acquired (as shown in Figure 1D , a binarization processing is performed on the first marker image (as shown in Figure 1E ); wherein the binarization processing is to set the gray value of the pixel points on the image to 0 or 255, so that the entire image presents a visual effect of only black and white. Obviously Figure 1E , the first marker image after the binarization processing in Figure 1D , the first marker is more obviously distinguished from the background image, so as to facilitate the extraction of the feature information of the first marker; then according to the first marker image after the binarization processing, the first centroid coordinates and the first size information of the first marker can be directly acquired through the image recognition technology; wherein the first centroid coordinates and the first size information are both in the form of pixels.

[0048] Due to the field angle characteristics of the camera, the marker photographed by the camera will present the characteristics of being large near and small far, that is, the closer the distance between the camera and the marker, the larger the size information of the marker acquired; the farther the distance between the camera and the marker, the smaller the size information of the marker acquired; therefore, the interval distance between the camera and the marker can be determined according to the acquired size information of the marker, for example, by recording the mapping relationship between the size information and the interval distance through a distance-size mapping table, or recording the calculation rule for calculating the interval distance based on the size information; wherein since the camera and the marker are both embedded in the automated guided vehicle and located outside the vehicle body of the automated guided vehicle, the interval distance between the camera and the marker is actually the interval distance between the two automated guided vehicles.

[0049] In addition, as shown in Figure 1FAs shown, the first automatic guided vehicle and the second automatic guided vehicle can be placed in alignment in advance, and the interval distance between the first automatic guided vehicle and the second automatic guided vehicle is changed continuously while keeping the two vehicles in alignment, so that the standard identification image of the first identification object is acquired by the first camera at different interval distances, and the standard centroid coordinates and size information of the first identification object are acquired by the standard identification image; then the size information and the standard centroid coordinates establish a corresponding mapping relationship; wherein the standard centroid coordinates are the centroid coordinates when there is no spatial position deviation (i.e. in the alignment state) at the current interval distance, and the standard centroid coordinates are also represented in the form of pixels.

[0050] The standard size mapping table records the mapping relationship (i.e. the first mapping relationship) between different size information and standard centroid coordinates, so that after the first size information of the first identification object is acquired, the first target size information closest to the value is acquired in the standard size mapping table according to the first size information, and then the standard centroid coordinates corresponding to the first target size information are taken as the target standard centroid coordinates corresponding to the first size information, and finally the centroid coordinate error can be acquired according to the target standard centroid coordinates and the first centroid coordinates (i.e. the current centroid coordinates), and the centroid coordinate error is also represented in the form of pixels.

[0051] Similarly, when the first automatic guided vehicle and the second automatic guided vehicle are placed in alignment in advance, the first automatic guided vehicle can be moved by a preset unit distance (e.g. 1 mm) along the x-axis direction at different interval distances until the first automatic guided vehicle moves to a preset specified distance (e.g. 20 mm), and after the first automatic guided vehicle is moved by the preset unit distance along the x-axis direction at the current interval distance, the offset identification image of the first identification object is acquired by the first camera, the offset centroid coordinates of the first identification object are acquired by the offset identification image, and the spatial centroid coordinates are recorded synchronously according to the actual movement distance along the x-axis direction; wherein the offset centroid coordinates are represented in the form of pixels, and the spatial centroid coordinates are represented in the form of length unit (e.g. mm).

[0052] Thus, the mapping relationship between the spatial centroid coordinates and the offset centroid coordinates is acquired, and based on the mapping relationship between the spatial centroid coordinates and the offset centroid coordinates of the multiple groups acquired by the multiple offsets, a straight line reflecting the correlation between the spatial centroid coordinates and the offset centroid coordinates, i.e. the spatial offset straight line, can be acquired, as shown in Figure 1G As shown, the slope of the spatial offset straight line reflects the numerical relationship between the spatial centroid coordinates and the offset centroid coordinates, i.e. the numerical relationship between the real distance in the spatial environment and the pixel distance.

[0053] The slope size mapping table records the mapping relationship (i.e., the second mapping relationship) between different size information and the slope of the spatial offset straight line; thus, as described in the above technical solution, after the first size information of the first marker is acquired, first, the pixel-formatted centroid coordinate error is acquired based on the standard size mapping table according to the first size information and the first centroid coordinate; second, the matched slope value of the spatial offset straight line is acquired based on the slope size mapping table according to the first size information; and finally, the spatial coordinate error expressed in length units can be acquired according to the centroid coordinate error and the slope value, and the spatial coordinate error is actually the error of the centroid in the spatial position, i.e., the spatial position error (i.e., the first spatial position error).

[0054] S103, adjusting the position of the first automatic guided vehicle according to the first spatial position error.

[0055] After the error of the centroid of the first marker in the spatial position is acquired, the error is sent to the main controller of the first automatic guided vehicle, and then the steering wheel is controlled to rotate through the main controller to correct the position error of the automatic guided vehicle, so as to finally complete the position control of the automatic guided vehicle.

[0056] The technical solution of the embodiment of the application, the first automatic guided vehicle acquires the first centroid coordinate and the first size information of the first marker by the acquired first marker image of the first marker on the second automatic guided vehicle, and acquires the first spatial position error according to the first centroid coordinate and the first size information, and then adjusts the position of the first automatic guided vehicle according to the first spatial position error, not only realizes the position error adjustment of the automatic guided vehicle and improves the positioning accuracy of the automatic guided vehicle, but also ensures the position synchronization in the multi-automatic guided vehicle collaborative working scene and improves the stability of the towing process.

[0057] Embodiment two

[0058] Figure 2 The flowchart of the vehicle position control method provided by the embodiment two of the application, the relationship between the embodiment and the above-mentioned embodiment is that the first centroid coordinate and the first size information of the first marker are acquired through the row element accumulation result or the column element accumulation result based on the binarized first marker image. As shown in the figure, the method comprises the following steps. Figure 2

[0059] S201, acquiring a first marker image of a first marker through a first camera; wherein the first camera is configured on a first automatic guided vehicle; and the first marker is configured on a second automatic guided vehicle.

[0060] ​S202, based on the accumulated results of the row elements, a target row vector is obtained from the first identification image after the binarization processing, and based on the target row vector and a preset row threshold, a centroid horizontal coordinate and length information of the first identification object are obtained; or based on the accumulated results of the column elements, a target column vector is obtained from the first identification image after the binarization processing, and based on the target column vector and a preset column threshold, a centroid moving coordinate and width information of the first identification object are obtained.

[0061] The first identification image after the binarization processing is actually an n*m order image matrix; wherein n and m are both natural numbers greater than or equal to 1; taking the above technical solution as an example, if the two automated guided vehicles move along the y-axis direction, the first automated guided vehicle needs to adjust the horizontal position error at this time; at this time, the first identification image is element accumulated in the row direction to obtain a 1*m order target row vector; each element in the target row vector actually represents the accumulated pixel value of a column of pixel points in the first identification image; each element in the target row vector is compared with a preset row threshold respectively; wherein the preset row threshold is greater than 0.

[0062] The elements in the target row vector whose values are greater than the preset row threshold are obtained, and the elements that appear continuously in the selected elements are taken as the associated elements of the first identification object, and the number of the associated elements is the centroid horizontal coordinate of the first identification image; at the same time, each associated element in the target row vector is multiplied by the column identifier corresponding to the associated element itself, and the sum of the product operation results is taken as the numerator, and the sum of the associated elements in the target row vector is taken as the denominator, and the ratio of the above numerator and denominator is the length information (i.e. pixel length) of the first identification image; in this way, the isolated noise points or outliers are avoided to be mistaken as the associated elements of the first identification image, so as to improve the accuracy of the obtained pixel length and centroid horizontal coordinate.

[0063] Similarly, if the two automated guided vehicles move along the x-axis direction, the first automated guided vehicle needs to adjust the position error of the moving direction at this time; at this time, the first identification image is element accumulated in the column direction to obtain an n*1 order target column vector; each element in the target column vector actually represents the accumulated pixel value of a row of pixel points in the first identification image; each element in the target column vector is compared with a preset column threshold respectively; wherein the preset column threshold is greater than 0.

[0064] The element values of the target column vector greater than the preset column threshold value are obtained, and the elements appearing continuously in the alternative elements are used as the associated elements of the first identification object, and the number of the associated elements is the centroid moving coordinate (i.e. the coordinate of the centroid in the moving direction) of the first identification image; meanwhile, each associated element in the target column vector is multiplied by the column identification corresponding to the associated element itself, and the sum of the product operation results is used as the numerator, and the sum of the associated elements in the target column vector is used as the denominator, and the ratio of the numerator and the denominator is the width information (i.e. the pixel width) of the first identification image; thus, the isolated noise points or outliers are avoided to be mistaken as the associated elements of the first identification image, so as to improve the accuracy of the pixel width and the centroid moving coordinate.

[0065] S203, obtaining the horizontal direction error according to the centroid horizontal coordinate and the length information of the first identification object, or obtaining the moving direction error according to the centroid moving coordinate and the width information of the first identification object.

[0066] S204, adjusting the position of the first automatic guided vehicle according to the horizontal direction error or the moving direction error.

[0067] The technical scheme of the embodiment of the application obtains the target row vector based on the row element accumulation result of the first identification image after the binarization processing, and obtains the centroid horizontal coordinate and the length information of the first identification object according to the target row vector and the preset row threshold value; or obtains the target column vector based on the column element accumulation result, and obtains the centroid moving coordinate and the width information of the first identification object according to the target column vector and the preset row threshold value, so as to avoid the isolated noise points or outliers to be mistaken as the associated elements of the first identification image, and thus improve the accuracy of the first centroid coordinate and the first size information of the first identification object.

[0068] Embodiment three

[0069] Figure 3 A flowchart of a vehicle position control method provided by the embodiment three of the application, the relationship between the embodiment and the above-mentioned embodiments is that the first space position error is obtained based on the standard size change curve. As shown in the figure, the method comprises: Figure 3

[0070] S301, obtaining the first mapping relationship between the standard centroid coordinate and the size information of the first identification object under different interval distances, and obtaining the standard size change curve according to each first mapping relationship.

[0071] ​As described in the above technical solution, the standard size mapping table records different size information and the first mapping relationship of the standard centroid coordinates, and the corresponding standard size change curve is drawn according to each first mapping relationship; wherein, the standard size change curve is a curve reflecting the numerical relationship between the standard centroid coordinates and the size information, and in the drawing process of the standard size change curve, the numerical correction of each data point can be performed by interpolation, fitting or the like, so as to improve the accuracy of the standard size change curve.

[0072] S302, obtain a first identification image of a first identification object through a first camera; wherein, the first camera is arranged on a first automatic guided vehicle; and the first identification object is arranged on a second automatic guided vehicle.

[0073] S303, obtain first centroid coordinates and first size information of the first identification object according to the first identification image.

[0074] S304, obtain a matching target standard centroid coordinate according to the standard size change curve and the first size information, and obtain a centroid coordinate error according to the target standard centroid coordinate and the first centroid coordinate.

[0075] S305, obtain a first space position error according to the first size information and the centroid coordinate error.

[0076] Compared with the above technical solution, by obtaining the matching target standard centroid coordinate through the standard size mapping table, when the completely matching first target size information cannot be obtained, only the approximate value can be obtained by the approximate matching method, thereby increasing the error of the target standard centroid coordinate; and the standard size change curve completely reflects or predicts the target standard centroid coordinate under different size information, each first size information can obtain the matching first target size information, and then the accurate target standard centroid coordinate can be obtained according to the first target size information, and then the accuracy of the calculation result is improved when the first space position error is calculated based on the target standard centroid coordinate.

[0077] S306, adjust the position of the first automatic guided vehicle according to the first space position error.

[0078] The technical solution of the embodiment of the application obtains the first mapping relationship between the size information of the first identification object and the standard centroid coordinates under different interval distances in advance, obtains the standard size change curve according to each first mapping relationship, and then obtains the first space position error based on the standard size change curve, which greatly improves the accuracy of the calculation result of the first space position error, avoids the large error of the calculation result of the first space position error caused by the approximate target standard centroid coordinate, and greatly improves the position control precision of the automatic guided vehicle.

[0079] Embodiment Four

[0080] Figure 4 A flow chart of a vehicle position control method provided for Embodiment Four of the present application, the relationship between this embodiment and the above-mentioned embodiments is that the first spatial position error is obtained based on the slope size change curve. As shown in the figure, the method comprises: Figure 4

[0081] S401, obtaining a second mapping relationship between the size information of the first marker and the slope of the spatial offset straight line at different interval distances, and obtaining a slope size change curve according to each second mapping relationship.

[0082] As described in the above technical solution, the slope size mapping table records the mapping relationship between different size information and the slope of the spatial offset straight line, i.e. the second mapping relationship, and the corresponding slope size change curve is drawn according to each second mapping relationship; wherein the slope size change curve reflects the numerical relationship between the slope of the spatial offset straight line and the size information, and in the drawing process of the slope size change curve, the numerical correction of each data point can be performed by interpolation, fitting and other methods to improve the accuracy of the slope size change curve.

[0083] S402, obtaining a first marker image of the first marker through a first camera; wherein the first camera is configured on a first automatic guided vehicle; and the first marker is configured on a second automatic guided vehicle.

[0084] S403, obtaining the first centroid coordinate and the first size information of the first marker according to the first marker image.

[0085] S404, obtaining the centroid coordinate error according to the first size information and the first centroid coordinate.

[0086] S405, obtaining the first spatial position error according to the first size information, the centroid coordinate error and the slope size change curve.

[0087] Compared with the above technical solution, the slope of the matching spatial offset straight line is obtained through the slope size mapping table, which can only obtain approximate values through approximate matching when the completely matching second target size information cannot be obtained, thereby increasing the error of the slope of the spatial offset straight line. The slope size change curve completely reflects or predicts the slope value of the spatial offset straight line under different size information, each first size information can obtain the matching second target size information, and then obtain the accurate slope value, and then calculate the first spatial position error based on the slope value, thereby improving the accuracy of the calculation result.

[0088] ​S406, adjusting the position of the first automated guided vehicle according to the first spatial position error.

[0089] The technical scheme of the embodiment of the application greatly improves the accuracy of the calculation result of the first spatial position error, avoids the approximate calculation of the slope of the spatial offset straight line, and thus avoids the calculation result of the first spatial position error from having a large error, and greatly improves the position control precision of the automated guided vehicle.

[0090] Embodiment five

[0091] Figure 5A A flowchart of a vehicle position control method provided by the embodiment five of the application, the relationship between the embodiment and the above-mentioned embodiments is that the first automated guided vehicle needs to adjust the spatial position error based on the first marker of the second automated guided vehicle and the second marker of the third automated guided vehicle. As shown in the figure, the method comprises the following steps. Figure 5A

[0092] S501, acquiring a first marker image of a first marker by a first camera; wherein the first camera is arranged on a first automated guided vehicle; and the first marker is arranged on a second automated guided vehicle.

[0093] S502, acquiring first centroid coordinates and first size information of the first marker according to the first marker image, and acquiring a first spatial position error according to the first centroid coordinates and the first size information.

[0094] S503, acquiring a second marker image of a second marker by a second camera; wherein the second camera is arranged on the first automated guided vehicle; and the second marker is arranged on a third automated guided vehicle.

[0095] S504, acquiring second centroid coordinates and second size information of the second marker according to the second marker image, and acquiring a second spatial position error according to the second centroid coordinates and the second size information; wherein if the first spatial position error is a horizontal direction error, the second spatial position error is a moving direction error; and if the first spatial position error is a moving direction error, the second spatial position error is a horizontal direction error.

[0096] ​When multiple automated guided vehicles form a rectangular towing array, the automated guided vehicle in the upper left corner can be used as the reference automated guided vehicle along its moving direction, and this automated guided vehicle does not perform any position adjustment operations; each automated guided vehicle in the same row as the reference automated guided vehicle needs to use the camera installed on its left side to capture the identification image of the marker installed on the right side of the previous automated guided vehicle in the row sequence, and then adjust the position error in the moving direction according to the identification image; each automated guided vehicle in the same column as the reference automated guided vehicle needs to use the camera installed on its front end to capture the identification image of the marker installed on the rear end of the previous automated guided vehicle in the column sequence, and then adjust the horizontal position error according to the identification image.

[0097] The other automated guided vehicles in the towing array need to use the camera installed on their left side to capture the identification image of the marker installed on the right side of the previous automated guided vehicle in the row sequence, and then adjust the position error in the moving direction according to the identification image. They also need to use the camera installed on their front end to capture the identification image of the marker installed on the rear end of the previous automated guided vehicle in the column sequence, and then adjust the position error in the horizontal direction according to the identification image.

[0098] by Figure 5B Take the towing array composed of four automated guided vehicles in as an example, assuming that it moves along the y-axis direction; the fourth automated guided vehicle serves as the reference automated guided vehicle, and its left side and rear end are equipped with markers; the third automated guided vehicle located in the same row as the fourth automated guided vehicle, uses the camera installed on its left side to capture the identification image of the marker installed on the right side of the third automated guided vehicle, and then adjusts the position error in the moving direction (i.e., the y-axis direction) according to the identification image; the second automated guided vehicle located in the same column as the fourth automated guided vehicle, uses the camera installed at its front end to capture the identification image of the marker installed at the rear end of the fourth automated guided vehicle, and then adjusts the position error in the horizontal direction according to the identification image.

[0099] As for the first automated guided vehicle, it needs to use the camera installed on its left side to capture the identification image of the marker installed on the right side of the third automated guided vehicle in the row sequence, and then adjust the position error in the moving direction according to the identification image; it also needs to use the camera installed on its front end to capture the identification image of the marker installed on the rear end of the second automated guided vehicle in the column sequence, and then adjust the position error in the horizontal direction according to the identification image.

[0100] Optionally, in the embodiment of the present application, the vehicle position control method further comprises: adjusting the brightness of the third marker arranged on the first automated guided vehicle according to the ambient light intensity. Specifically, in addition to the automated guided vehicle at the lower right corner of the rectangular towed array, the other automated guided vehicles need to be arranged with one or more markers to provide reference for the position adjustment of the other automated guided vehicles. If the brightness of the marker is configured to a high value, the clarity of the marker image can be improved, and the marker can be significantly distinguished from the background image, but at the same time, it may affect the line of sight of the operator, and increase the energy consumption of the marker. Therefore, the brightness of the marker can be configured according to the intensity of the ambient light, so that the other automated guided vehicles can obtain clear marker images, and reduce the energy consumption of the marker and the impact on the line of sight of the operator.

[0101] The technical scheme of the embodiment of the present application ensures that the reference automated guided vehicle and the other automated guided vehicles in the towed array maintain stable relative positions, and improves the operation stability of the towed array composed of multiple automated guided vehicles.

[0102] Embodiment six

[0103] Figure 6 is a structural block diagram of a vehicle position control device provided by the sixth embodiment of the present application, which specifically comprises:

[0104] The marker image acquisition module 601 is configured to acquire a first marker image of a first marker through a first camera; wherein the first camera is arranged on a first automated guided vehicle; and the first marker is arranged on a second automated guided vehicle;

[0105] The spatial error acquisition module 602 is configured to acquire first centroid coordinates and first size information of the first marker according to the first marker image, and acquire a first spatial position error according to the first centroid coordinates and the first size information.

[0106] The position adjustment execution module 603 is configured to adjust the position of the first automated guided vehicle according to the first spatial position error.

[0107] The technical scheme of the embodiment of the present application, the first automatic guided vehicle obtains the first identification image of the first identification object on the second automatic guided vehicle, obtains the first centroid coordinate and the first size information of the first identification object, and obtains the first spatial position error according to the first centroid coordinate and the first size information, and then adjusts the position of the first automatic guided vehicle according to the first spatial position error, not only realizing the position error adjustment of the automatic guided vehicle and improving the positioning accuracy of the automatic guided vehicle, but also ensuring the position synchronization in the multi-automatic guided vehicle collaborative work scene and improving the stability of the towing process by adjusting the position of the automatic guided vehicle based on the position of the adjacent automatic guided vehicle.

[0108] Optionally, the vehicle position control device is further configured to obtain a second identification image of a second identification object through a second camera; the second camera is arranged on the first automatic guided vehicle; the second identification object is arranged on a third automatic guided vehicle; second centroid coordinates and second size information of the second identification object are obtained according to the second identification image; and a second spatial position error is obtained according to the second centroid coordinates and the second size information; if the first spatial position error is a horizontal direction error, the second spatial position error is a moving direction error; if the first spatial position error is a moving direction error, the second spatial position error is a horizontal direction error; and the position of the first automatic guided vehicle is adjusted according to the first spatial position error and the second spatial position error.

[0109] Optionally, the spatial error obtaining module 602 is specifically configured to obtain a target row vector based on a row element accumulation result of the first identification image after the binarization processing, and obtain the centroid horizontal coordinate and the length information of the first identification object according to the target row vector and a preset row threshold; or obtain a target column vector based on a column element accumulation result of the first identification image after the binarization processing, and obtain the centroid moving coordinate and the width information of the first identification object according to the target column vector and the preset row threshold.

[0110] Optionally, the vehicle position control device is further configured to obtain a first mapping relationship between the standard centroid coordinates and the size information of the first identification object under different interval distances, and obtain a standard size change curve according to each first mapping relationship.

[0111] The spatial error obtaining module 602 is specifically further configured to obtain a matched target standard centroid coordinate according to the standard size change curve and the first size information, and obtain a centroid coordinate error according to the target standard centroid coordinate and the first centroid coordinate; and obtain the first spatial position error according to the first size information and the centroid coordinate error.

[0112] Optionally, the vehicle position control device is further configured to acquire a second mapping relationship between the size information of the first marker and the slope of the spatial offset straight line at different interval distances, and acquire a slope size change curve according to each of the second mapping relationships.

[0113] The spatial error acquisition module 602 is specifically configured to acquire a centroid coordinate error according to the first size information and the first centroid coordinate, and acquire a first spatial position error according to the first size information, the centroid coordinate error, and the slope size change curve.

[0114] Optionally, the vehicle position control device is further configured to adjust the brightness of a third marker arranged on the first automated guided vehicle according to the ambient light intensity.

[0115] The device described above can perform the vehicle position control method provided by any embodiment of the application, has the function modules and beneficial effects corresponding to the execution method. Technical details not described in detail in the embodiment can be referred to the vehicle position control method provided by any embodiment of the application.

[0116] Embodiment seven

[0117] Figure 7 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, electronic devices, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the application described and / or claimed in this document.

[0118] As shown in Figure 7 The electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor 11. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0119] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0120] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the vehicle position control method.

[0121] In some embodiments, the vehicle position control method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit. In some embodiments, part or all of the computer program can be loaded and / or installed onto the heterogeneous hardware accelerator via the ROM and / or the communication unit. When the computer program is loaded into the RAM and executed by the processor, one or more steps of the vehicle position control method described above can be performed. Alternatively, in other embodiments, the processor can be configured to perform the vehicle position control method by any other appropriate means, such as by means of firmware.

[0122] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0123] Computer programs for implementing the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as part of a standalone software package, or entirely on a remote machine or electronic device.

[0124] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal form, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0125] To provide for interaction with a user, the systems and techniques described here can be implemented on a heterogeneous hardware accelerator having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the heterogeneous hardware accelerator. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0126] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as data electronics), or a computing system that includes middleware components (e.g., application electronics), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0127] A computing system may include a client and an electronic device. The client and electronic device are generally remote from each other and typically interact via a communication network. The client-electronic device relationship is established by computer programs running on the respective computers and establishing a client-electronic device relationship. The electronic device may be a cloud electronic device, also known as a cloud computing electronic device or cloud host, a host product within a cloud computing service ecosystem that addresses the management difficulties and limited business scalability of traditional physical hosts and VPS services.

[0128] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0129] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A vehicle position control method, characterized in that: Configured on the first automated guided vehicle, including: Acquire a first identification image of a first identification object through a first camera; wherein the first camera is configured on a first automatic guided vehicle; and the first identification object is configured on a second automatic guided vehicle; Acquire first centroid coordinates and first size information of the first marker according to the first marker image, and acquire a first spatial position error according to the first centroid coordinates and the first size information; The position of the first automatic guided vehicle is adjusted according to the first spatial position error.

2. The method according to claim 1, characterized in that The vehicle position control method further includes: Acquire a second identification image of a second marker through a second camera; wherein the second camera is configured on the first automated guided vehicle; and the second marker is configured on the third automated guided vehicle; Obtaining second centroid coordinates and second size information of the second marker according to the second marker image, and obtaining a second spatial position error according to the second centroid coordinates and the second size information; wherein, if the first spatial position error is a horizontal direction error, the second spatial position error is a moving direction error; and if the first spatial position error is a moving direction error, the second spatial position error is a horizontal direction error; The adjusting the position of the first automatic guided vehicle according to the first spatial position error includes: The position of the first automatic guided vehicle is adjusted according to the first spatial position error and the second spatial position error.

3. The method according to claim 1, characterized in that The acquiring the first centroid coordinates and first size information of the first marker according to the first marker image includes any one of the following: Obtain a target row vector based on the row element accumulation result of the first marker image after binarization processing, and obtain the horizontal coordinates of the center of mass and length information of the first marker according to the target row vector and a preset row threshold; The target column vector is obtained based on the column element accumulation result of the first marker image after binarization processing, and the center of mass movement coordinates and width information of the first marker are obtained according to the target column vector and the preset row threshold.

4. The method according to claim 1, wherein The vehicle position control method comprises: Obtaining a first mapping relationship between the standard centroid coordinates and size information of the first marker at different interval distances, and obtaining a standard size change curve based on each of the first mapping relationships; The obtaining a first spatial position error according to the first centroid coordinates and the first size information includes: Obtaining a matching target standard centroid coordinate according to the standard size change curve and the first size information, and obtaining a centroid coordinate error according to the target standard centroid coordinate and the first centroid coordinate; A first spatial position error is obtained according to the first size information and the center of mass coordinate error.

5. The method according to claim 1, wherein The vehicle position control method comprises: Obtaining a second mapping relationship between the size information of the first marker and the slope of the spatial offset straight line at different interval distances, and obtaining a slope size change curve based on each of the second mapping relationships; The obtaining a first spatial position error according to the first centroid coordinates and the first size information includes: Obtaining a centroid coordinate error according to the first size information and the first centroid coordinate; A first spatial position error is acquired according to the first size information, the center of mass coordinate error, and the slope size change curve.

6. The method according to claim 1, characterized in that The vehicle position control method further includes: The brightness of the third marker disposed on the first automatic guided vehicle is adjusted according to the ambient light intensity.

7. A vehicle position control device, characterized in that: Configured on the first automated guided vehicle, including: A marker image acquisition module, configured to acquire a first marker image of a first marker through a first camera; wherein the first camera is configured on a first automated guided vehicle; and the first marker is configured on a second automated guided vehicle; a spatial error acquisition module, configured to acquire first centroid coordinates and first size information of the first marker according to the first marker image, and acquire a first spatial position error according to the first centroid coordinates and the first size information; A position adjustment execution module is used to adjust the position of the first automatic guided vehicle according to the first spatial position error.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the vehicle position control method according to any one of claims 1 to 6.

9. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the vehicle position control method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle position control method according to any one of claims 1 to 6 when executed.

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