An automatic transfer control system based on visual measurement

Abstract

This invention relates to an automatic transfer control system based on vision measurement, belonging to the field of automatic control technology. The system includes: a transfer device, a transfer platform, a docking pose measurement device, and a computer; the transfer platform includes a source transfer platform and a target transfer platform; the docking pose measurement device includes a camera and multiple rangefinders; the camera, multiple rangefinders, and the computer are mounted on the transfer device; the camera sends the acquired imaging information of the source and target transfer platforms to the computer, and the multiple rangefinders send the distance information between the source and target transfer platforms and the transfer device to the computer; the computer calculates the relative pose between the source and target transfer platforms and the transfer device based on the imaging information and distance information, and controls the transfer device to move the transferred object from the source transfer platform to the target transfer platform based on the relative pose.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology, and in particular to an automatic transfer control system and method based on vision measurement. Background Technology

[0002] The main task of the automatic transfer control system is to quickly transfer the extracted material from the original transfer platform to the target transfer platform. A lifting device is used to precisely lower the extracted material from above into the target transfer platform. Due to the large load and size of the extracted material, and the need for extremely precise control of the lifting device's descent into the transfer platform during docking, manual operation is prone to danger and carries high uncertainty. The main challenges of automatic transfer are: the positional relationship between the transfer platform and the transfer equipment is highly uncertain when parked, resulting in large dispersion in the working range of the transfer equipment and placing high demands on the measurement system; the confined space when the extracted material is lowered into the transfer platform from above makes collisions easy; the large load of the extracted material causes deformation of the transfer equipment before and after lifting; and the precise relative positional relationship between the target mounting plane and the transfer platform makes it difficult to reflect the angle between them. Summary of the Invention

[0003] Based on the above analysis, the embodiments of the present invention aim to provide an automatic transfer control system and method based on vision measurement to solve the problem of insufficient accuracy of the measurement system in the existing automatic transfer task docking process.

[0004] On one hand, embodiments of the present invention provide an automatic transfer control system based on vision measurement, the system comprising: transfer equipment, transfer platform, docking pose measurement device, and computer; the transfer platform includes a source transfer platform and a target transfer platform;

[0005] The docking pose measurement device includes a camera and multiple rangefinders;

[0006] The camera, multiple rangefinders, and computer are mounted on the transfer equipment;

[0007] The camera sends the acquired imaging information of the original transfer platform and the target transfer platform to the computer. Multiple rangefinders send the distance information between the original transfer platform, the target transfer platform and the transfer equipment to the computer. The computer calculates the relative pose between the original transfer platform, the target transfer platform and the transfer equipment based on the imaging information and the distance information, and controls the transfer equipment to move the transferred object from the original transfer platform to the target transfer platform based on the relative pose.

[0008] Furthermore, the computer calculates the X, Y, Z coordinates, pitch angle, and roll angle of the transfer device relative to the original transfer platform and the target transfer platform based on the image point coordinates, camera parameters, and object point coordinates in the imaging information sent by the camera; the computer calculates the yaw angle of the transfer device relative to the original transfer platform and the target transfer platform based on the distance information between the original transfer platform, the target transfer platform, and the transfer device sent by multiple rangefinders, as well as the distance information between the rangefinders.

[0009] Furthermore, the transfer equipment includes a motion mechanism; the computer is used to coordinate and schedule the motion mechanism according to the X, Y, Z coordinates, pitch angle, roll angle, and yaw angle, so as to realize the automatic transfer of the transferred object from the original transfer platform to the target transfer platform.

[0010] Furthermore, the docking posture measurement device also includes multiple laser pointers, which are used to project four sets of laser pointer lines onto the ground at the location where the transfer platform should dock; two sets of laser pointer lines are horizontal lines, used to guide the distance between the transfer platform and the transfer equipment; the other two sets of laser pointer lines are vertical lines, used to guide the relative front-to-back position between the transfer platform and the transfer equipment and the position of the central axis of the side surface of the transfer platform, respectively.

[0011] Furthermore, the original transfer platform and the target transfer platform are equipped with targets on the side opposite to the transfer equipment; the central axis of the target coincides with the central axis of the side surface of the original transfer platform and the target transfer platform; the target is equipped with multiple measurement marks, the measurement marks include glass beads with a diameter of tens of micrometers, and a reflective surface made of directional reflective material is provided at the focal point behind the glass beads.

[0012] Furthermore, the multiple rangefinders include a first to a fourth rangefinder; the first and second rangefinders are installed on the upper edge of the side surface of the transfer equipment facing the original transfer platform, and the two are separated by a preset distance; the third and fourth rangefinders are installed on the upper edge of the side surface of the transfer equipment facing the target transfer platform, and the two are separated by a preset distance.

[0013] Furthermore, the camera includes a first camera and a second camera; the first camera is positioned on the upper edge of the side surface of the transfer device facing the original transfer platform, directly opposite the center of the target on the original transfer platform; the second camera is positioned on the upper edge of the side surface of the transfer device facing the target transfer platform, directly opposite the center of the target on the target transfer platform.

[0014] On the other hand, embodiments of the present invention provide an automatic transfer control method, the method comprising the following steps:

[0015] S1. The laser pointer indicates the placement positions of the original transfer platform and the target transfer platform. The original transfer platform and the target transfer platform are then placed at the indicated positions.

[0016] S2. The camera images the original transfer platform and the target transfer platform respectively, and sends the imaging information to the computer. Multiple rangefinders measure the distances of the original transfer platform and the target transfer platform relative to the transfer equipment and send them to the computer.

[0017] S3. The computer calculates the pose of the transfer device relative to the original transfer platform and the target transfer platform based on the camera imaging information and the distance information sent by multiple rangefinders.

[0018] S4. The computer adjusts the pose of the motion mechanism of the transfer device relative to the original transfer platform to align the motion mechanism with the pose of the original transfer platform. Then, the extracted material is lifted, and the pose of the motion mechanism is adjusted according to the pose of the transfer device relative to the target transfer platform to achieve preliminary alignment between the pose of the motion mechanism and the pose of the target transfer platform.

[0019] S5. The camera collects imaging information of the target transfer platform again and sends it to the computer. The rangefinder measures the distance between the target transfer platform and the transfer equipment again and sends it to the computer. Based on this, the computer calculates the pose of the transfer equipment relative to the target transfer platform again.

[0020] S6. The computer adjusts the pose of the motion mechanism based on the recalculated pose of the transfer device relative to the target transfer platform to achieve precise alignment between the motion mechanism and the target transfer platform, and then lowers the transferred object onto the target transfer platform.

[0021] Furthermore, the yaw angle α of the transfer equipment relative to the original transfer platform is calculated using the following formula:

[0022]

[0023] Where y1 and y2 are the distances between the original transfer platform side surface and the opposite transfer equipment side surface measured by the first and second rangefinders, respectively, and L is the distance between the first and second rangefinders.

[0024] The formula for calculating the yaw angle α' of the transfer equipment relative to the target transfer platform is:

[0025]

[0026] Where y3 and y4 are the distances between the side surface of the target transfer platform and the side surface of the transfer equipment directly opposite it, as measured by the third and fourth rangefinders, respectively, and L' is the distance between the third and fourth rangefinders.

[0027] Furthermore, the computer obtains the pose of the transfer device relative to the original transfer platform and the target transfer platform by solving the following equations, including:

[0028]

[0029] Where x and y are the coordinates of the image points of multiple measurement marks on the target acquired by the camera; x0 and y0 are the offsets in the x and y directions between the camera station and the center point of the image plane, respectively; f is the principal distance of the camera; X S Y S Z S These are the spatial coordinates of the camera station in the target coordinate system; X A Y A Z A The spatial coordinates of multiple measurement marks on the target in the target coordinate system; a i b i c i ,i=1,2,3 are the rotation factors in the rotation transformation matrix between the target coordinate system and the camera coordinate system;

[0030] Based on the image point coordinates of multiple measurement marks on the target, the x and y offsets between the camera station and the center point of the image plane, the camera's principal distance, and the spatial coordinates of the multiple measurement marks on the target in the target coordinate system, the spatial coordinates X of the camera station in the target coordinate system are obtained. S Y S Z S Pitch angle and roll angle are the X, Y, and Z coordinates of the transfer equipment relative to the original transfer platform and the target transfer platform, respectively.

[0031] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0032] 1. The present invention provides an automatic transfer control system based on vision measurement, comprising: a transfer device, a transfer platform, a docking pose measurement device, and a computer; the transfer platform includes a source transfer platform and a target transfer platform; the docking pose measurement device includes a camera and multiple rangefinders; the camera, multiple rangefinders, and the computer are mounted on the transfer device; the camera transmits the acquired imaging information of the source and target transfer platforms to the computer, and the multiple rangefinders transmit the distance information between the source and target transfer platforms and the transfer device to the computer; the computer calculates the relative pose between the source and target transfer platforms and the transfer device based on the imaging information and distance information, and controls the transfer device to move the transferred object from the source transfer platform to the target transfer platform based on the relative pose. This achieves accurate measurement of the relative pose between the source and target transfer platforms and the transfer device, making the docking process accurate and simple during transfer, and ensuring that the transferred object safely and accurately falls onto the target transfer platform.

[0033] 2. The automatic transfer control system based on vision measurement of the present invention includes a docking posture measurement device comprising multiple laser pointers. These laser pointers project four sets of laser lines onto the ground at the designated docking position of the transfer platform. Two sets of laser lines are horizontal, used to guide the distance between the transfer platform and the transfer equipment; the other two sets are vertical, used to guide the relative front-to-back position of the transfer platform and the transfer equipment, and the position of the central axis on the side surface of the transfer platform, respectively. The central axis position is used for installing a target. The transfer platform docks according to the positions of the laser pointers to ensure that the relative position of the two docks meets the requirements of the transfer operation, achieving initial alignment. This avoids the drawback of large dispersion in the operating range of the transfer equipment due to the large uncertainty in the posture relationship.

[0034] 3. The automatic transfer control method of this invention uses a combination of a rangefinder and a camera. By installing rangefinders on the front and rear sides of the transfer equipment, the yaw angle is measured and the parking distance is assisted, reducing the requirement for the accuracy of the visual target installation plane and also reducing costs. The camera measures the coordinates of multiple measurement marks on the target as image points on the camera's image plane. Based on the three-point alignment of the multiple measurement marks on the target, the camera station, and the image points, the spatial coordinates of the camera station in the target coordinate system are calculated. This yields the relative position coordinates between the transfer equipment and the original and target transfer platforms. Combined with the camera's intrinsic and extrinsic parameters, the pitch and roll angles between the transfer equipment and the original and target transfer platforms are calculated. While monocular cameras have advantages in measuring the distance and forward / backward position deviation between the transfer platform and the transfer equipment, accuracy in yaw angle measurement is difficult to guarantee. By fusing the camera and rangefinder, the relative pose between the transfer equipment and the transfer platform can be accurately calculated.

[0035] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0036] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0037] Figure 1 This is a schematic diagram of the structure of an automatic transfer control system based on vision measurement according to the present invention;

[0038] Figure 2 This is a schematic diagram of a laser pointer marking in an automatic transfer control system based on vision measurement according to the present invention.

[0039] Figure label:

[0040] 1, 2, 3, 4 - Laser pointers;

[0041] 5-First rangefinder;

[0042] 6-Second rangefinder;

[0043] 7-Third rangefinder;

[0044] 8-Fourth distance measuring instrument. Detailed Implementation

[0045] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0046] One specific embodiment of the present invention discloses an automatic transfer control system based on vision measurement, such as... Figure 1 As shown. The system includes: a transfer device, a transfer platform, a docking pose measurement device, and a computer; the transfer platform includes a source transfer platform and a target transfer platform;

[0047] The docking pose measurement device includes a camera and multiple rangefinders;

[0048] The camera, multiple rangefinders, and computer are mounted on the transfer equipment;

[0049] The camera sends the acquired imaging information of the original transfer platform and the target transfer platform to the computer. Multiple rangefinders send the distance information between the original transfer platform, the target transfer platform and the transfer equipment to the computer. The computer calculates the relative pose between the original transfer platform, the target transfer platform and the transfer equipment based on the imaging information and the distance information, and controls the transfer equipment to move the transferred object from the original transfer platform to the target transfer platform based on the relative pose.

[0050] Specifically, the computer on the transfer equipment controls the laser pointers 1-4 to emit laser lines at preset positions, collects information from the rangefinder and camera, calculates the relative pose between the transfer platform and the transfer equipment, completes the automated transfer process planning, coordinates and schedules the motion mechanism, and realizes automated transfer operation.

[0051] The docking posture measurement device also includes multiple laser pointers 1-4, which are used to project four sets of laser pointer lines onto the ground at the location where the transfer platform should dock; two sets of laser pointer lines are horizontal lines, used to guide the distance between the transfer platform and the transfer equipment; the other two sets of laser pointer lines are vertical lines, used to guide the relative front-to-back position between the transfer platform and the transfer equipment and the position of the central axis of the side surface of the transfer platform, respectively.

[0052] Specifically, the transfer platform is positioned according to the four sets of laser indicator lines, making the operation of the motion mechanism on the transfer equipment more continuous.

[0053] The original transfer platform and the target transfer platform have targets on the side opposite to the transfer equipment; the central axis of the target coincides with the central axis of the side surface of the original transfer platform and the target transfer platform; the target is provided with multiple measurement marks, the measurement marks include glass beads with a diameter of tens of micrometers, and a reflective surface made of directional reflective material is provided at the focal point behind the glass beads.

[0054] Specifically, the target is used in conjunction with a camera to assist in measuring the distance, pitch angle, and roll angle (i.e., the pitch and roll angles between the target plane and the transfer equipment) in the X direction (the positive X direction is the horizontal direction to the right with the target center as the origin on the target plane), Y direction (the positive Y direction is the direction perpendicular to the target plane and inward with the target center as the origin), and Z direction (which conforms to a right-handed coordinate system with the X and Y directions). The target is equipped with multiple glass beads. Due to the difference in refractive index between glass and air, light rays are focused at a point behind the glass beads. A reflective surface is attached to the focal point, reflecting the incident light beam along the incident direction. Because of the unique reflective properties of the directional reflective material, it is used to create artificial markers for precision measurement, which can obtain "quasi-binary images," facilitating image processing and improving measurement accuracy.

[0055] The camera includes a first camera and a second camera; the first camera is positioned on the upper edge of the side surface of the transfer device facing the original transfer platform, directly opposite the center of the target on the original transfer platform; the second camera is positioned on the upper edge of the side surface of the transfer device facing the target transfer platform, directly opposite the center of the target on the target transfer platform.

[0056] Specifically, such as Figure 1 As shown, one camera is installed on each of the left and right sides of the transfer device.

[0057] The computer calculates the X, Y, Z coordinates, pitch angle, and roll angle of the transfer equipment relative to the original transfer platform and the target transfer platform based on the image point coordinates, camera parameters, and object point coordinates in the imaging information sent by the camera. The computer also calculates the yaw angle of the transfer equipment relative to the original transfer platform and the target transfer platform based on the distance information between the original transfer platform, the target transfer platform, and the transfer equipment sent by multiple rangefinders, as well as the distance information between the rangefinders.

[0058] Specifically, the computer obtains the pose of the transfer device relative to the original transfer platform and the target transfer platform by solving the following equations, including:

[0059]

[0060] Where x and y are the coordinates of the image points of multiple measurement marks on the target acquired by the camera; x0 and y0 are the offsets in the x and y directions between the camera station and the center point of the image plane, respectively; f is the principal distance of the camera; X S Y S Z S These are the spatial coordinates of the camera station in the target coordinate system; X A Y A Z A The spatial coordinates of multiple measurement marks on the target in the target coordinate system; a i b i c i The rotation factor in the rotation transformation matrix between the target coordinate system and the camera coordinate system;

[0061] Based on the coordinates of the image points of multiple measurement marks on multiple targets, the offsets of the camera station from the center point of the image plane in the x and y directions, the principal distance of the camera, and the spatial coordinates of the multiple measurement marks on the target in the target coordinate system, solve the above equations (1) and (2) to obtain the spatial coordinates X of the camera station in the target coordinate system. S Y S Z S The X, Y, and Z coordinates of the transfer device relative to the original transfer platform and the target transfer platform, as well as the pitch and roll angles.

[0062] Where, a1=cosφ·cosk-sinφ·sinω·sink;

[0063] a2=-cosφ·sink-sinφ·sinω·cosk;

[0064] a3 = -sinφ·cosω;

[0065] b1 = cosω·sink;

[0066] b2 = cosω·cosk;

[0067] b3 = -sinω;

[0068] c1=sinφ·cosk+cosφ·sinω·sink;

[0069] c2=-sinφ·sink+cosφ·sinω·cosk;

[0070] c3 = cosφ·cosω;

[0071] in, ω is the roll angle; k is the pitch angle; ω is the yaw angle.

[0072] In equations (1) and (2), the image point coordinates x and y of the multiple measurement marks on the target are known; the offsets x0 and y0 of the camera station from the center point of the image plane in the x and y directions are known; the principal distance f of the camera is known; and the spatial coordinates X of the multiple measurement marks on the target in the target coordinate system are known. A Y A Z A Given; for the three measurement marks, three equations can be listed from (1) and (2); X can be solved. S Y S Z S , k.

[0073] The transfer equipment includes a motion mechanism; the computer is used to coordinate and schedule the motion mechanism according to the X, Y, Z coordinates, pitch angle, roll angle, and yaw angle to realize the automatic transfer of the transferred object from the original transfer platform to the target transfer platform.

[0074] Multiple rangefinders include first to fourth rangefinders 5-8; the first rangefinder 5 and the second rangefinder 6 are installed on the upper edge of the side surface of the transfer equipment facing the original transfer platform, and the two are separated by a preset distance; the third rangefinder 7 and the fourth rangefinder 8 are installed on the upper edge of the side surface of the transfer equipment facing the target transfer platform, and the two are separated by a preset distance.

[0075] Specifically, two rangefinders are installed on each side of the transfer equipment to assist in measuring the parking distance between the transfer platform and the transfer equipment, as well as the parking yaw angle. Figure 1 As shown. The installation distance L between the first rangefinder 5 and the second rangefinder 6 should be as long as possible. The longer the distance L, the higher the accuracy of the reflected yaw angle. Similarly, the distance between the third and fourth rangefinders should also be as long as possible.

[0076] The yaw angle α of the transfer equipment relative to the original transfer platform is calculated using the following formula:

[0077]

[0078] Where y1 and y2 are the distances between the original transfer platform side surface and the opposite transfer equipment side surface measured by the first distance measuring instrument 5 and the second distance measuring instrument 6, respectively, and L is the distance between the first distance measuring instrument 5 and the second distance measuring instrument 6.

[0079] The formula for calculating the yaw angle α' of the transfer equipment relative to the target transfer platform is:

[0080]

[0081] Where y3 and y4 are the distances between the side surface of the target transfer platform and the side surface of the transfer equipment directly opposite it, as measured by the third and fourth rangefinders, respectively, and L' is the distance between the third and fourth rangefinders.

[0082] Another specific embodiment of the present invention discloses an automatic transfer control method based on the above-described automatic transfer control system, the method comprising steps S1-S6.

[0083] S1, laser pointers 1-4 indicate the placement positions of the original transfer platform and the target transfer platform, and the original transfer platform and the target transfer platform are parked in the indicated positions.

[0084] Specifically, such as Figure 2 As shown, the original reposting platform and the target reposting platform are parked according to the method described in the system embodiment of the present invention.

[0085] S2. The camera images the original transfer platform and the target transfer platform respectively, and sends the imaging information to the computer. Multiple rangefinders measure the distances of the original transfer platform and the target transfer platform relative to the transfer equipment and send the results to the computer.

[0086] Specifically, two targets are installed on the side surfaces of the original transfer platform and the target transfer platform, respectively, facing the transfer equipment; two cameras are installed on the transfer equipment, facing the targets; the system of equations for the image point on the camera, the camera station, and the object point on the target is established to obtain the coordinates of the camera station in the target coordinate system.

[0087] The imaging information includes the coordinates of image points of multiple measurement marks on the target, camera parameters x0, y0, x0, y0 are the offsets in the x and y directions between the camera station and the center point of the image plane, respectively, and f is the principal distance of the camera. Simultaneously, the computer pre-acquires the spatial coordinates (X, Y) of the multiple measurement marks on the target in the target coordinate system. A Y A Z A .

[0088] Two rangefinders on the same side of the transfer equipment are installed on the front and rear sides respectively. They are used to measure the distance between the transfer platform and the front and rear sides of the transfer equipment and send the measurements to the computer. At the same time, the computer obtains the installation distance L of the two rangefinders in advance.

[0089] S3. The computer calculates the pose of the transfer device relative to the original transfer platform and the target transfer platform based on the camera imaging information and the distance information sent by multiple rangefinders.

[0090] The yaw angle α of the transfer device relative to the original transfer platform and the yaw angle α' of the transfer device relative to the target transfer platform are calculated according to formulas (3) and (4) in the system described in this embodiment of the invention.

[0091] The pose of the transfer device relative to the original transfer platform and the target transfer platform is calculated according to formulas (1) and (2) in the system described in this embodiment of the invention. The spatial coordinates X of the camera station in the target coordinate system are then determined. S Y S Z S Then, by combining the distance between the motion mechanism and the camera station and the structural dimensions of the transfer platform, the motion coordinates of the motion mechanism can be obtained.

[0092] S4. The computer adjusts the pose of the motion mechanism of the transfer device relative to the original transfer platform to align the motion mechanism with the pose of the original transfer platform. Then, the extracted material is lifted, and the pose of the motion mechanism is adjusted according to the pose of the transfer device relative to the target transfer platform to achieve preliminary alignment between the pose of the motion mechanism and the pose of the target transfer platform.

[0093] Before lifting the extracted object, the computer adjusts the spatial attitude of the motion mechanism to ensure it is directly above the extracted object on the original transfer platform, with its pitch, roll, and yaw angles matching those of the original platform, thus meeting the lifting requirements. The lifting device is then lowered and docked with the extracted object. Finally, the lifting device and the extracted object are lifted. The computer-controlled motion mechanism moves to the other side of the target transfer platform according to a pre-calculated target platform position, initially adjusting its spatial attitude according to pre-calculated attitude angles.

[0094] S5. The camera again acquires imaging information of the target transfer platform and sends it to the computer. The rangefinder again measures the distance information between the target transfer platform and the transfer equipment and sends it to the computer. Based on this, the computer calculates the pose of the transfer equipment relative to the target transfer platform again.

[0095] During the process of moving the hoisted object above the target transfer platform, the structure deforms under load. Once the hoisted object is directly above the transfer platform, the relative position is measured again for precise alignment.

[0096] S6. The computer adjusts the pose of the motion mechanism based on the recalculated pose of the transfer device relative to the target transfer platform to achieve precise alignment between the motion mechanism and the target transfer platform, and then lowers the transferred object onto the target transfer platform.

[0097] The computer-controlled motion mechanism is then fine-tuned to adjust the roll, pitch, and yaw angles to ensure that the roll, pitch, and yaw angles of the extracted object are consistent with those of the target transfer platform, thus achieving a spatial orientation that meets the requirements for lowering the suspended object. The lifting device is then released after being lowered and the extracted object is retrieved.

[0098] Compared with existing technologies, the automatic transfer control system based on vision measurement provided in this embodiment includes: a transfer device, a transfer platform, a docking pose measurement device, and a computer; the transfer platform includes a source transfer platform and a target transfer platform; the docking pose measurement device includes a camera and multiple rangefinders; the camera, multiple rangefinders, and the computer are mounted on the transfer device; the camera sends the acquired imaging information of the source and target transfer platforms to the computer, and the multiple rangefinders send the distance information between the source and target transfer platforms and the transfer device to the computer; the computer calculates the relative pose between the source and target transfer platforms and the transfer device based on the imaging information and distance information, and controls the transfer device to move the transferred object from the source transfer platform to the target transfer platform based on the relative pose. This achieves accurate measurement of the relative pose between the source and target transfer platforms and the transfer device, making the docking process accurate and simple during transfer, and ensuring that the transferred object safely and accurately lands on the target transfer platform. The vision-based automatic transfer control system provided in this embodiment includes a docking pose measurement device comprising multiple laser pointers 1-4. These laser pointers 1-4 project four sets of laser lines onto the ground at the designated docking position of the transfer platform. Two sets of horizontal laser lines guide the distance between the transfer platform and the transfer equipment; the other two sets of vertical laser lines guide the relative front-to-back position of the transfer platform and the transfer equipment, and the position of the central axis on the side surface of the transfer platform, respectively. The central axis position is used for target installation. The transfer platform docks according to the positions indicated by the laser pointers 1-4, ensuring that the relative position of the two docks meets the transfer operation requirements and achieving initial alignment. This avoids the drawback of large dispersion in the operating range of the transfer equipment due to the large uncertainty in pose relationship. The automatic transfer control method provided in this embodiment uses a combination of a rangefinder and a camera. By installing rangefinders on the front and rear sides of the transfer equipment to measure the yaw angle and assist in measuring the parking distance, the required accuracy of the visual target installation plane is reduced, thus lowering costs. The camera measures the coordinates of multiple measurement markers on the target as image points on the camera's image plane. Based on the linear relationship between the multiple measurement markers on the target, the camera station, and the image points, the spatial coordinates of the camera station in the target coordinate system are calculated. This allows the determination of the relative position coordinates between the transfer equipment and the original and target transfer platforms. Combining the camera's intrinsic and extrinsic parameters, the pitch and roll angles between the transfer equipment and the original and target transfer platforms are calculated. While monocular cameras are advantageous for measuring the distance and forward / backward position deviation between the transfer platform and the transfer equipment, their accuracy in yaw angle measurement is difficult to guarantee. By fusing the camera and rangefinder, the relative pose between the transfer equipment and the transfer platform can be accurately calculated.

[0099] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0100] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic transfer control system based on vision measurement, characterized in that, The system includes: a transfer device, a transfer platform, a docking pose measurement device, and a computer; the transfer platform includes a source transfer platform and a target transfer platform. The docking pose measurement device includes a camera and multiple rangefinders; The camera, multiple rangefinders, and computer are mounted on the transfer equipment; The camera sends the acquired imaging information of the original transfer platform and the target transfer platform to the computer. Multiple rangefinders send the distance information between the original transfer platform, the target transfer platform and the transfer equipment to the computer. The computer calculates the relative pose between the original transfer platform, the target transfer platform and the transfer equipment based on the imaging information and the distance information, and controls the transfer equipment to move the transferred object from the original transfer platform to the target transfer platform based on the relative pose.

2. The automatic transfer control system according to claim 1, characterized in that, The computer calculates the X, Y, Z coordinates, pitch angle, and roll angle of the transfer equipment relative to the original transfer platform and the target transfer platform based on the image point coordinates, camera parameters, and object point coordinates in the imaging information sent by the camera. The computer also calculates the yaw angle of the transfer equipment relative to the original transfer platform and the target transfer platform based on the distance information between the original transfer platform, the target transfer platform, and the transfer equipment sent by multiple rangefinders, as well as the distance information between the rangefinders.

3. The automatic transfer control system according to claim 2, characterized in that, The transfer equipment includes a motion mechanism; the computer is used to coordinate and schedule the motion mechanism according to the X, Y, Z coordinates, pitch angle, roll angle, and yaw angle to realize the automatic transfer of the transferred object from the original transfer platform to the target transfer platform.

4. The automatic transfer control system according to claim 1, characterized in that, The docking posture measurement device also includes multiple laser pointers, which are used to project four sets of laser pointer lines onto the ground at the location where the transfer platform should dock. Two sets of laser pointer lines are horizontal lines, used to guide the distance between the transfer platform and the transfer equipment. The other two sets of laser pointer lines are vertical lines, used to guide the relative front-to-back position between the transfer platform and the transfer equipment and the position of the central axis of the side surface of the transfer platform, respectively.

5. The automatic transfer control system according to claim 4, characterized in that, The original transfer platform and the target transfer platform have targets on the side opposite to the transfer equipment; the central axis of the target coincides with the central axis of the side surface of the original transfer platform and the target transfer platform; the target is provided with multiple measurement marks, the measurement marks include glass beads with a diameter of tens of micrometers, and a reflective surface made of directional reflective material is provided at the focal point behind the glass beads.

6. The automatic transfer control system according to claim 5, characterized in that, Multiple rangefinders, including the first to the fourth rangefinder; the first and second rangefinders are installed on the upper edge of the side surface of the transfer equipment facing the original transfer platform, and the two are separated by a preset distance; The third and fourth rangefinders are installed on the upper edge of the side surface of the transfer equipment facing the target transfer platform, and the two are at a preset distance apart.

7. The automatic transfer control system according to claim 6, characterized in that, The camera includes a first camera and a second camera; the first camera is positioned on the upper edge of the side surface of the transfer device facing the original transfer platform, directly opposite the center of the target on the original transfer platform; the second camera is positioned on the upper edge of the side surface of the transfer device facing the target transfer platform, directly opposite the center of the target on the target transfer platform.

8. The automatic transfer control method of the automatic transfer control system according to any one of claims 1-7, characterized in that, The method includes the following steps: S1. The laser pointer indicates the placement positions of the original transfer platform and the target transfer platform. The original transfer platform and the target transfer platform are then placed at the indicated positions. S2. The camera images the original transfer platform and the target transfer platform respectively, and sends the imaging information to the computer. Multiple rangefinders measure the distances of the original transfer platform and the target transfer platform relative to the transfer equipment and send them to the computer. S3. The computer calculates the pose of the transfer device relative to the original transfer platform and the target transfer platform based on the camera imaging information and the distance information sent by multiple rangefinders. S4. The computer adjusts the pose of the motion mechanism of the transfer device relative to the original transfer platform to align the motion mechanism with the pose of the original transfer platform. Then, the extracted material is lifted, and the pose of the motion mechanism is adjusted according to the pose of the transfer device relative to the target transfer platform to achieve preliminary alignment between the pose of the motion mechanism and the pose of the target transfer platform. S5. The camera collects imaging information of the target transfer platform again and sends it to the computer. The rangefinder measures the distance between the target transfer platform and the transfer equipment again and sends it to the computer. Based on this, the computer calculates the pose of the transfer equipment relative to the target transfer platform again. S6. The computer adjusts the pose of the motion mechanism based on the recalculated pose of the transfer device relative to the target transfer platform to achieve precise alignment between the motion mechanism and the target transfer platform, and then lowers the transferred object onto the target transfer platform.

9. The automatic transfer control method according to claim 8, characterized in that, The yaw angle α of the transfer equipment relative to the original transfer platform is calculated using the following formula: Where y1 and y2 are the distances between the original transfer platform side surface and the opposite transfer equipment side surface measured by the first and second rangefinders, respectively, and L is the distance between the first and second rangefinders. The formula for calculating the yaw angle α' of the transfer equipment relative to the target transfer platform is: Where y3 and y4 are the distances between the side surface of the target transfer platform and the side surface of the transfer equipment directly opposite it, as measured by the third and fourth rangefinders, respectively, and L' is the distance between the third and fourth rangefinders.

10. The automatic transfer control method according to claim 8, characterized in that, The computer obtains the pose of the transfer device relative to the original transfer platform and the target transfer platform by solving the following equations, including: Where x and y are the coordinates of the image points of multiple measurement marks on the target acquired by the camera; x0 and y0 are the offsets in the x and y directions between the camera station and the center point of the image plane, respectively; f is the principal distance of the camera; X S Y S Z S These are the spatial coordinates of the camera station in the target coordinate system; X A Y A Z A The spatial coordinates of multiple measurement marks on the target in the target coordinate system; a i b i c i ,i=1,2,3 are the rotation factors in the rotation transformation matrix between the target coordinate system and the camera coordinate system; Based on the image point coordinates of multiple measurement marks on the target, the x and y offsets between the camera station and the center point of the image plane, the camera's principal distance, and the spatial coordinates of the multiple measurement marks on the target in the target coordinate system, the spatial coordinates X of the camera station in the target coordinate system are obtained. S Y S Z S Pitch angle and roll angle are the X, Y, and Z coordinates of the transfer equipment relative to the original transfer platform and the target transfer platform, respectively.

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