CN110488832A - A kind of vision looks for hole method, apparatus, equipment and storage medium - Google Patents
A kind of vision looks for hole method, apparatus, equipment and storage medium Download PDFInfo
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- CN110488832A CN110488832A CN201910796249.0A CN201910796249A CN110488832A CN 110488832 A CN110488832 A CN 110488832A CN 201910796249 A CN201910796249 A CN 201910796249A CN 110488832 A CN110488832 A CN 110488832A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000004438 eyesight Effects 0.000 title claims abstract description 25
- 238000005520 cutting process Methods 0.000 claims abstract description 185
- 238000003384 imaging method Methods 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 2
- 230000015654 memory Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/66—Analysis of geometric attributes of image moments or centre of gravity
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
Abstract
The embodiment of the invention discloses a kind of visions to look for hole method, apparatus, equipment and storage medium, can be applied to intelligent carrier, it includes: to obtain image by imaging sensor that vision, which looks for hole method,；The right cutting and corresponding left jack of supporting plate of the left cutting and right jack of supporting plate corresponding with right cutting of left cutting, intelligent carrier including intelligent carrier in image；Calculate the first nodal point of left cutting and right cutting；Calculate the second central point of supporting plate left jack and the right jack of supporting plate；Offset parameter is determined according to first nodal point and the second central point；Intelligent carrier movement is controlled according to offset parameter, is aligned to move rear left cutting with the left jack of supporting plate, right cutting is aligned with the right jack of supporting plate.The cutting that the embodiment of the present invention realizes intelligent carrier is accurately inserted into supporting plate jack, and intelligent carrier is allow to hold up cargo.
Description
Technical field
The present embodiments relate to Visual identification technologies more particularly to a kind of vision to look for hole method, apparatus, equipment and storage
Medium.
Background technique
It is more and more in order to reduce manual labor's cost with flourishing for automatic technology and machine vision technique
The ground such as factory floor, warehouse the operations such as transported goods, freighted using intelligent carrier, unloaded.
At this stage, the intelligent carrier in many of market, these intelligent carriers pass through laser using simply hole mode is looked for
Or flight time telemetry (Time of flight, TOF) realizes the positioning of jack according to the depth information of jack position.
In the prior art to look for hole mode, there are the cuttings of intelligent carrier to be accurately inserted into supporting plate jack
Problem.
Summary of the invention
The embodiment of the present invention provides a kind of vision and looks for hole method, apparatus, equipment and storage medium, to realize intelligent carrier
Cutting be accurately inserted into supporting plate jack, so that intelligent carrier is held up cargo.
In a first aspect, the embodiment of the invention provides a kind of visions to look for hole method, it is applied to intelligent carrier, this method packet
It includes: image is obtained by imaging sensor；Include in image the left cutting of intelligent carrier, the right cutting of intelligent carrier, with
The left corresponding left jack of supporting plate of cutting and the right jack of supporting plate corresponding with right cutting；
Calculate the first nodal point of left cutting and right cutting；Calculate the second center of supporting plate left jack and the right jack of supporting plate
Point；
Offset parameter is determined according to first nodal point and the second central point；
Intelligent carrier movement is controlled according to offset parameter, is aligned to move rear left cutting with the left jack of supporting plate, is right slotting
Item is aligned with the right jack of supporting plate.
Second aspect, the embodiment of the invention also provides a kind of visions to look for aperture apparatus, is applied to intelligent carrier, the device
It include: image collection module: for obtaining image by imaging sensor；It include left cutting, the intelligence of intelligent carrier in image
The right cutting and corresponding left jack of supporting plate of the left cutting and right jack of supporting plate corresponding with right cutting of energy carrier；
Center point calculation module: for calculating the first nodal point of left cutting and right cutting；Calculate the left jack of supporting plate and support
Second central point of the right jack of plate；
Offset parameter determining module: for determining offset parameter according to first nodal point and the second central point；
Intelligent carrier mobile module: it for controlling intelligent carrier movement according to offset parameter, is inserted to move rear left
Item is aligned with the left jack of supporting plate, right cutting is aligned with the right jack of supporting plate.
The third aspect, the embodiment of the invention also provides a kind of equipment, which includes:
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes that the vision as described in any embodiment of the present invention looks for hole method.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program realizes that the vision as described in any embodiment of the present invention looks for hole method when the program is executed by processor.
The technical solution of the embodiment of the present invention obtains image by imaging sensor, calculates separately left cutting and right cutting
First nodal point, the second central point of the left jack of supporting plate and the right jack of supporting plate；It is true according to first nodal point and the second central point
Determine offset parameter, it is mobile finally to control intelligent carrier according to offset parameter, so that it is directed at left cutting with the left jack of supporting plate, it is right
Cutting is aligned with the right jack of supporting plate, by being inserted into the cutting of intelligent carrier accurately in supporting plate jack, to realize intelligence
Energy carrier can accurately hold up cargo.
Detailed description of the invention
Fig. 1 is the flow chart that one of the embodiment of the present invention one vision looks for hole method；
Fig. 2 is the schematic diagram of the first nodal point of the left cutting and right cutting in the embodiment of the present invention one；
Fig. 3 is the schematic diagram of the second central point of the left jack of supporting plate and the right jack of supporting plate in the embodiment of the present invention one；
Fig. 4 is the structural schematic diagram that one of the embodiment of the present invention two vision looks for aperture apparatus；
Fig. 5 is the structural schematic diagram of one of the embodiment of the present invention three equipment.
Specific embodiment
The embodiment of the present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this
Locate described specific embodiment and is used only for explaining the embodiment of the present invention, rather than the restriction to the embodiment of the present invention.In addition also
It should be noted that only parts related to embodiments of the present invention are shown rather than entire infrastructure for ease of description, in attached drawing.
Embodiment one
Fig. 1 is the flow chart that one of the embodiment of the present invention one vision looks for hole method, and the present embodiment can be applied to intelligence
Carrier, this method can be looked for aperture apparatus to execute by vision, which can be realized by way of software and/or hardware,
And be integrated in the equipment for executing this method, the equipment for executing this method in the present embodiment can be computer, tablet computer
And/or any one intelligent terminal such as mobile phone.Specifically, this method specifically comprises the following steps: with reference to Fig. 1
S110, image is obtained by imaging sensor；It include left cutting, the intelligence carrier of intelligent carrier in image
The right cutting and corresponding left jack of supporting plate of the left cutting and right jack of supporting plate corresponding with right cutting.
Specifically, shooting image by the imaging sensor installed on intelligent carrier, wherein intelligent carrier can be
The fork truck or automatic guided vehicle (Automated Guided Vehicle, AGV) that the ground such as factory floor, warehouse use.Wherein,
Imaging sensor can be CCD camera, obtain image by the camera of CCD camera.The image that imaging sensor obtains
In include the intelligent corresponding left jack of supporting plate of left cutting, right cutting and the left cutting of carrier and supporting plate corresponding with right cutting
Right jack.It should be noted that the left cutting being related in the embodiment of the present invention, right cutting, the left jack of supporting plate and the supporting plate right side are inserted
" left side " and " right side " in the words such as hole is merely for convenience and purposes of illustration of the embodiment of the present invention, can also use the words generation such as " first ", " second "
It replaces.
Illustratively, before obtaining image by imaging sensor, intelligence can also be obtained by distance detection device and removed
The distance between vehicle and shelf are transported, wherein distance detection device can be range sensor or laser range finder etc. and can measure
The sensor of the distance between object.
After obtaining the distance between intelligent carrier and shelf by distance detection device, by intelligent carrier and shelf
The distance between be compared with the first threshold of setting, wherein first threshold can for 20cm may be 30cm.Work as intelligence
When the distance between carrier and shelf are greater than first threshold, intelligent carrier continuation is advanced forward；When intelligent carrier with
When the distance between shelf are less than first threshold, intelligent carrier stop motion opens imaging sensor, and obtains image.
S120, the first nodal point for calculating left cutting and right cutting；Calculate the second of the left jack of supporting plate and the right jack of supporting plate
Central point.
Specifically, calculating the first nodal point of left cutting and right cutting firstly the need of the left cutting region of calibration and right cutting area
Domain determines left cutting region and right cutting region, will be determined as left insert comprising the minimum circumscribed rectangle including left cutting in image
Strip area will be determined as right cutting region comprising the minimum circumscribed rectangle including right cutting in image.Then left insert is calculated separately
The vertex on the vertex of strip area and right cutting region, and left cutting region vertex is denoted as left cutting vertex, right cutting region top
Point is denoted as the vertex of right cutting.The midpoint on left cutting vertex and right cutting vertex is calculated, and the point is denoted as first nodal point.
Illustratively, 210 in Fig. 2 in black region be left cutting schematic diagram, minimum circumscribed rectangle be left cutting
Black region in region 210,220 is the schematic diagram of right cutting, and minimum circumscribed rectangle is right cutting region 220；It determines left
Cutting region 210 and right cutting region 220, obtain the coordinate (x of the upper right angular vertex of left cutting region rectangle1,y1) and right cutting
Coordinate (the x of region top left corner apex2,y2), and the upper right angular vertex of left cutting region rectangle is denoted as left cutting vertex, the right side is inserted
The top left corner apex of strip area rectangle is denoted as right cutting vertex, then, the coordinate on left cutting vertex is (x1,y1), right cutting vertex
Coordinate is (x2,y2), by the midpoint of left cutting and right cutting vertexIt is denoted as first nodal point.
The second central point for calculating the left jack of supporting plate and the right jack of supporting plate passes through left cutting vertex and right cutting vertex first
The left jack identification region of supporting plate and the right jack identification region of supporting plate are calculated separately out, specifically, can be with left cutting vertex and the right side
Centered on cutting vertex, respectively with the rectangle of certain certain side length, wherein the size of rectangle is not fixed and invariable, Ke Yigen
The size of rectangle is arbitrarily adjusted according to demand, for example, the width a in left cutting region and right cutting region can be equal to 2w, wherein w is
The width of the left jack of supporting plate and the right jack of supporting plate；The height b in left cutting region and right cutting region can be equal to 6h, and wherein h is
The height of the left jack of supporting plate and the right jack of supporting plate.Then respectively in the left receptacle area of supporting plate and the right receptacle area of supporting plate determined
It is interior accurately to identify the left jack of supporting plate and the right jack of supporting plate, and calculate the left jack center point of supporting plate and the right jack center of supporting plate
Point；Finally, calculating the left jack center point of supporting plate and the right jack center point of supporting plate, and the midpoint is denoted as the second central point.
Illustratively, in Fig. 3 310 be left cutting region, 320 be right cutting region, 330 be the left receptacle area of supporting plate, 340
It is the left jack of supporting plate for the right receptacle area of supporting plate, 331, internal point is the left jack center point of supporting plate, and 341 insert for the supporting plate right side
Hole, internal point are the right jack center point of supporting plate, and 350 be the second central point.Firstly, with left cutting vertex and right cutting vertex
Centered on, determine the left receptacle area 330 of supporting plate and the right receptacle area 340 of supporting plate；Then, in the left receptacle area 330 of supporting plate and support
The left jack 331 of supporting plate and the right jack 341 of supporting plate are identified in the right receptacle area 340 of plate, and the left jack center point of supporting plate is calculated
Coordinate (x3,y3) and the right jack center point of supporting plate coordinate (x4,y4), by the left jack center point (x of supporting plate3,y3) and the supporting plate right side
Jack center point (x4,y4) midpointIt is denoted as the second central point.
S130, offset parameter is determined according to first nodal point and the second central point.
Specifically, obtaining first nodal point by S120With the second central pointIt calculates separately the abscissa of first nodal point and the second central point and the deviation of ordinate, and passes through the
The deviation of the abscissa and ordinate of one central point and the second central point determine left cutting and right cutting to the left, to the right, upwards or
The distance that person moves down, that is, pass throughThe deviation of first nodal point and the second central point abscissa is calculated, is led to
It crossesCalculate the deviation of first nodal point and the second central point ordinate.Pass throughIt determines left
Cutting and right cutting are to the left or the distance that moves right, wherein ifLeft cutting and right cutting to
It moves left；IfLeft cutting and right cutting move right；Pass throughDetermine left insert
The distance that item and right cutting move up, wherein ifLeft cutting and right cutting are upward
It is mobile；IfLeft cutting and right cutting move down.
S140, intelligent carrier movement is controlled according to offset parameter, be aligned to move rear left cutting with the left jack of supporting plate,
Right cutting is aligned with the right jack of supporting plate.
Specifically, according to determination in S130WithControl the shifting of intelligent carrier
Dynamic direction and mobile distance, to realize that mobile rear left cutting is accurately inserted into the left jack of supporting plate, right cutting is accurately inserted
Enter in the right jack of supporting plate.
The technical solution of the present embodiment obtains image by imaging sensor, calculates separately the of left cutting and right cutting
One central point, the second central point of the left jack of supporting plate and the right jack of supporting plate；It is determined according to first nodal point and the second central point inclined
It is mobile finally to control intelligent carrier according to offset parameter for shifting parameter, so that it is directed at left cutting with the left jack of supporting plate, right cutting
It is aligned with the right jack of supporting plate, by being inserted into the cutting of intelligent carrier accurately in supporting plate jack, is removed to realize intelligence
Fortune vehicle can accurately hold up cargo.
Embodiment two
Fig. 4 is the structural schematic diagram that one of the embodiment of the present invention two vision looks for aperture apparatus, which can be applied to
Intelligent carrier, the device can be realized by the way of software and/or hardware.As shown in figure 4, the device includes: that image obtains
Modulus block 410, center point calculation module 420, offset parameter determining module 430 and intelligent carrier mobile module 440.
Wherein, image collection module 410: for obtaining image by imaging sensor；It include intelligent carrier in image
Left cutting, intelligent carrier the left jack of right cutting supporting plate corresponding with left cutting and supporting plate corresponding with the right cutting right side it is slotting
Hole；
Center point calculation module 420: for calculating the first nodal point of left cutting and right cutting；Calculate the left jack of supporting plate and
Second central point of the right jack of supporting plate；
Offset parameter determining module 430: for determining offset parameter according to first nodal point and the second central point；
Intelligent carrier mobile module 440: for controlling intelligent carrier movement according to offset parameter, to move rear left
Cutting is aligned with the left jack of supporting plate, right cutting is aligned with the right jack of supporting plate.
It optionally, further include apart from detection module before image collection module 410: for being obtained by distance detection device
Take the distance between intelligent carrier and shelf；Judge distance detection device detect intelligent the distance between carrier and shelf with
The relationship of first threshold.
Center point calculation module 420 includes first nodal point computing unit and the second center dot element, wherein the first center
Dot element: for demarcating left cutting region and right cutting region；The vertex in left cutting region and the vertex in right cutting region are calculated,
And left cutting region vertex is denoted as to the vertex of left cutting, right cutting region vertex is denoted as the vertex of right cutting；Calculate left cutting
The midpoint on vertex and right cutting vertex, and the midpoint is denoted as first nodal point.
First nodal point unit further includes region labeling subelement, for according in image include left cutting including minimum
Boundary rectangle determines left cutting region；Right cutting region is determined comprising the minimum circumscribed rectangle including right cutting according in image.
Second center dot element: for identifying the left jack of supporting plate in the left jack identification region of supporting plate and in the right jack of supporting plate
The right jack of region inner shoe, and calculate the central point of the left jack of supporting plate and the central point of the right jack of supporting plate；
The midpoint of the central point of the left jack of supporting plate and the central point of the right jack of supporting plate is calculated, and the midpoint is denoted as in second
Heart point.
Second center dot element further includes the second central point subelement: for calculating the left jack of supporting plate by left cutting vertex
Identification region；The right jack identification region of supporting plate is calculated by right cutting vertex.
Offset parameter determining module 430 further includes deviation computing unit: for calculating first nodal point and the second central point
The deviation of abscissa and the deviation of ordinate；
Determine left cutting and right cutting to the left or to the right according to the deviation of first nodal point and the second central point abscissa
Mobile distance；
Left cutting and right cutting are determined upwardly or downwardly according to the deviation of first nodal point and the second central point ordinate
Mobile distance, to realize that left cutting is aligned with the left jack of supporting plate, right cutting is aligned with the right jack of supporting plate.
Vision provided by the embodiment of the present invention is looked for aperture apparatus that vision provided by any embodiment of the invention can be performed and is looked for
Hole method has the corresponding functional module of execution method and beneficial effect.
Embodiment three
Fig. 5 is a kind of structural schematic diagram for equipment that the embodiment of the present invention three provides, as shown in figure 5, the equipment includes place
Manage device 50, memory 51, input unit 52 and output device 53；The quantity of processor 50 can be one or more in equipment,
In Fig. 5 by taking a processor 50 as an example；Processor 50, memory 51, input unit 52 and output device 53 in equipment can be with
It is connected by bus or other modes, in Fig. 5 for being connected by bus.
Memory 51 is used as a kind of computer readable storage medium, can be used for storing software program, journey can be performed in computer
Sequence and module, as the vision in the embodiment of the present invention looks for method corresponding program instruction/module in hole (for example, image obtains mould
Block 410, center point calculation module 420, offset parameter determining module 430 and intelligent carrier mobile module 440).Processor 50
It is each thereby executing equipment/terminal/server by running the software program, instruction and the module that are stored in memory 51
Kind functional application and data processing, that is, realize that above-mentioned vision looks for hole method.
Memory 51 can mainly include storing program area and storage data area, wherein storing program area can store operation system
Application program needed for system, at least one function；Storage data area, which can be stored, uses created data etc. according to terminal.This
Outside, memory 51 may include high-speed random access memory, can also include nonvolatile memory, for example, at least a magnetic
Disk storage device, flush memory device or other non-volatile solid state memory parts.In some instances, memory 51 can be further
Including the memory remotely located relative to processor 50, these remote memories can by network connection to equipment/terminal/
Server.The example of above-mentioned network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
Input unit 52 can be used for receiving the number or character information of input, and generate with the user setting of equipment and
The related key signals input of function control.Output device 52 may include that display screen etc. shows equipment.
Example IV
The embodiment of the present invention four also provides a kind of storage medium comprising computer executable instructions, and the computer can be held
Row instruction looks for hole method for executing a kind of vision when being executed by computer processor, this method comprises:
Image is obtained by imaging sensor；It inserts on the right side of left cutting, intelligent carrier including intelligent carrier in image
The item and corresponding left jack of supporting plate of the left cutting and right jack of supporting plate corresponding with right cutting；
Calculate the first nodal point of left cutting and right cutting；Calculate the second center of supporting plate left jack and the right jack of supporting plate
Point；
Offset parameter is determined according to first nodal point and the second central point；
Intelligent carrier movement is controlled according to offset parameter, is aligned to move rear left cutting with the left jack of supporting plate, is right slotting
Item is aligned with the right jack of supporting plate.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
The method operation that executable instruction is not limited to the described above, can also be performed vision provided by any embodiment of the invention and looks for hole
Relevant operation in method.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but in many cases, the former is more
Good embodiment.Based on this understanding, technical solution of the present invention substantially in other words contributes to the prior art
Part can be embodied in the form of software products, which can store in computer readable storage medium
In, floppy disk, read-only memory (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are with so that a computer is set
Standby (can be personal computer, server or the network equipment etc.) executes method described in each embodiment of the present invention.
It is worth noting that, included each unit and module are only according to function in the embodiment of above-mentioned searcher
Energy logic is divided, but is not limited to the above division, as long as corresponding functions can be realized；In addition, each function
The specific name of energy unit is also only for convenience of distinguishing each other, the protection scope being not intended to restrict the invention.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of vision looks for hole method, which is characterized in that be applied to intelligent carrier, comprising:
Image is obtained by imaging sensor；It include left cutting, the intelligence carrying of the intelligent carrier in described image
The right cutting of vehicle and the left jack of the corresponding supporting plate of the left cutting and the right jack of supporting plate corresponding with the right cutting；
Calculate the first nodal point of the left cutting and the right cutting；Calculate the left jack of the supporting plate and the right jack of the supporting plate
The second central point；
Offset parameter is determined according to the first nodal point and second central point；
Intelligent carrier movement is controlled according to the offset parameter, is aligned to move rear left cutting with the left jack of supporting plate, is right slotting
Item is aligned with the right jack of supporting plate.
2. the method according to claim 1, wherein also being wrapped before the acquisition image by imaging sensor
It includes:
Intelligent the distance between the carrier and shelf are obtained by distance detection device；
Judge that the distance detection device detects the pass of intelligent the distance between the carrier and the shelf and first threshold
System.
3. method according to claim 1 or 2, which is characterized in that described to calculate the left cutting and the right cutting
First nodal point, comprising:
Demarcate left cutting region and right cutting region；
The vertex in the left cutting region and the vertex in the right cutting region are calculated, and the left cutting region vertex is denoted as
The vertex of the left cutting, the right cutting region vertex are denoted as the vertex of the right cutting；
The midpoint on the left cutting vertex and the right cutting vertex is calculated, and the midpoint is denoted as first nodal point.
4. according to the method described in claim 3, it is characterized in that, the left cutting region of the calibration and right cutting region, comprising:
The left cutting region is determined comprising the minimum circumscribed rectangle including the left cutting according in described image；
The right cutting region is determined comprising the minimum circumscribed rectangle including the right cutting according in described image.
5. method according to claim 1 or 2, which is characterized in that the calculating left jack of supporting plate and the supporting plate
Second central point of right jack, comprising:
The left jack of the supporting plate is identified in the left jack identification region of supporting plate and the supporting plate right side is inserted in the right receptacle area of supporting plate
Hole, and calculate the central point of the left jack of the supporting plate and the central point of the right jack of the supporting plate；
The midpoint of the central point of the left jack of the supporting plate and the central point of the right jack of the supporting plate is calculated, and the midpoint is denoted as
Two central points.
6. according to the method described in claim 5, it is characterized in that, the identification left receptacle area of supporting plate and the supporting plate
Before right receptacle area, further includes: calculate the left jack identification region of supporting plate by the left cutting vertex；Pass through the right side
Cutting vertex calculates the right jack identification region of supporting plate.
7. method according to claim 1-6, which is characterized in that described according to first nodal point and the second center
Point determines offset parameter, comprising: calculates the deviation and ordinate of the first nodal point and the second central point abscissa
Deviation；
The left cutting and the right cutting are determined according to the deviation of the first nodal point and the second central point abscissa
To the left, to the right, the distance that moves up；
The left cutting and the right cutting are determined according to the deviation of the first nodal point and the second central point ordinate
The distance moved up, to realize that the left cutting is aligned with the left jack of the supporting plate, the right cutting with it is described
The right jack alignment of supporting plate.
8. the device that a kind of vision looks for hole, which is characterized in that be applied to intelligent carrier, comprising:
Image collection module: for obtaining image by imaging sensor；It include a left side for the intelligent carrier in described image
The left jack of the corresponding supporting plate of cutting, the right cutting of the intelligent carrier and the left cutting and corresponding with the right cutting
The right jack of supporting plate；
Center point calculation module: for calculating the first nodal point of the left cutting and the right cutting；It is left to calculate the supporting plate
Second central point of jack and the right jack of the supporting plate；
Offset parameter determining module: for determining offset parameter according to the first nodal point and second central point；
Intelligent carrier mobile module: it for controlling intelligent carrier movement according to the offset parameter, is inserted to move rear left
Item is aligned with the left jack of supporting plate, right cutting is aligned with the right jack of supporting plate.
9. a kind of equipment, which is characterized in that the equipment includes:
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Now the vision as described in any in claim 1-7 looks for hole method.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
Realize that the vision as described in any in claim 1-7 looks for hole method when execution.
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| CN201910796249.0A CN110488832B (en) | 2019-08-27 | 2019-08-27 | Visual hole finding method, device, equipment and storage medium |
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| CN201910796249.0A CN110488832B (en) | 2019-08-27 | 2019-08-27 | Visual hole finding method, device, equipment and storage medium |
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