CN110488832B - Visual hole finding method, device, equipment and storage medium - Google Patents
Visual hole finding method, device, equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a visual hole finding method, a visual hole finding device and a storage medium, which can be applied to an intelligent carrier, wherein the visual hole finding method comprises the following steps: acquiring an image through an image sensor; the image comprises a left inserting strip of the intelligent transport vehicle, a right inserting strip of the intelligent transport vehicle, a left supporting plate inserting hole corresponding to the left inserting strip and a right supporting plate inserting hole corresponding to the right inserting strip; calculating first central points of the left and right cuttings; calculating a second central point of the support plate left jack and the support plate right jack; determining an offset parameter according to the first center point and the second center point; and controlling the intelligent carrier to move according to the offset parameters so that the left inserting strip is aligned with the left inserting hole of the supporting plate and the right inserting strip is aligned with the right inserting hole of the supporting plate after the intelligent carrier is moved. According to the embodiment of the invention, the insertion strip of the intelligent carrier can be accurately inserted into the supporting plate insertion hole, so that the intelligent carrier can support goods.
Description
Technical Field
The embodiment of the invention relates to a visual identification technology, in particular to a visual hole finding method, a visual hole finding device, visual hole finding equipment and a storage medium.
Background
With the rapid development of automation technology and machine vision technology, in order to reduce the labor cost of manpower, more and more factory workshops, warehouses and the like use intelligent transport vehicles to carry goods, load goods, unload goods and the like.
At present, a plurality of intelligent transport vehicles exist in the market, and the intelligent transport vehicles adopt a simple hole finding mode and realize the positioning of the jacks according to the depth information of the jack positions through a laser or a Time of flight (TOF) method.
The hole finding mode in the prior art has the problem that the cutting of the intelligent carrier can not be accurately inserted into the supporting plate jack.
Disclosure of Invention
The embodiment of the invention provides a visual hole finding method, a visual hole finding device, a visual hole finding equipment and a storage medium, so that a plug strip of an intelligent carrier can be accurately inserted into a supporting plate jack, and the intelligent carrier can support goods.
In a first aspect, an embodiment of the present invention provides a visual hole finding method, which is applied to an intelligent transportation vehicle, and the method includes: acquiring an image through an image sensor; the image comprises a left inserting strip of the intelligent transport vehicle, a right inserting strip of the intelligent transport vehicle, a left supporting plate inserting hole corresponding to the left inserting strip and a right supporting plate inserting hole corresponding to the right inserting strip;
calculating first central points of the left and right cuttings; calculating a second central point of the support plate left jack and the support plate right jack;
determining an offset parameter according to the first center point and the second center point;
and controlling the intelligent carrier to move according to the offset parameters so that the left inserting strip is aligned with the left inserting hole of the supporting plate and the right inserting strip is aligned with the right inserting hole of the supporting plate after the intelligent carrier is moved.
In a second aspect, an embodiment of the present invention further provides a visual hole finding device, which is applied to an intelligent transportation vehicle, and the device includes: an image acquisition module: for acquiring an image by an image sensor; the image comprises a left inserting strip of the intelligent transport vehicle, a right inserting strip of the intelligent transport vehicle, a left supporting plate inserting hole corresponding to the left inserting strip and a right supporting plate inserting hole corresponding to the right inserting strip;
a central point calculation module: the first center points are used for calculating the first center points of the left and right cuttings; calculating a second central point of the support plate left jack and the support plate right jack;
an offset parameter determination module: the offset parameter is determined according to the first central point and the second central point;
the module is removed to intelligence carrier: the intelligent carrier is used for controlling the intelligent carrier to move according to the offset parameters, so that the left inserting strip is aligned with the left inserting hole of the supporting plate and the right inserting strip is aligned with the right inserting hole of the supporting plate after the intelligent carrier is moved.
In a third aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a visual hole finding method as in any embodiment of the invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the visual hole finding method according to any embodiment of the present invention.
According to the technical scheme of the embodiment of the invention, the image is acquired through the image sensor, and the first central points of the left and right cuttings and the second central points of the left and right jacks of the supporting plate are respectively calculated; confirm the skew parameter according to first central point and second central point, at last according to the removal of skew parameter control intelligent carrier to make left cutting align with the left jack of layer board, the right cutting aligns with the right jack of layer board, through making the accurate inserting layer board jack of cutting of intelligent carrier, thereby realized that intelligent carrier can be accurate hold up the goods.
Drawings
FIG. 1 is a flow chart of a visual hole-finding method according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a first center point of a left insert and a right insert according to a first embodiment of the present invention;
FIG. 3 is a schematic view of a second center point of the pallet left receptacle and the pallet right receptacle in the first embodiment of the present invention;
fig. 4 is a schematic structural diagram of a visual hole finding device according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of an apparatus in a third embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad invention. It should be further noted that, for convenience of description, only some structures, not all structures, relating to the embodiments of the present invention are shown in the drawings.
Example one
Fig. 1 is a flowchart of a visual hole finding method in an embodiment of the present invention, where the method may be implemented by a visual hole finding device, the visual hole finding device may be implemented by software and/or hardware, and is integrated in a device for executing the method, and the device for executing the method in the embodiment may be any one of an intelligent terminal such as a computer, a tablet computer, and/or a mobile phone. Specifically, referring to fig. 1, the method specifically includes the following steps:
s110, acquiring an image through an image sensor; the left inserting strip of the intelligent carrier, the right inserting strip of the intelligent carrier, the left supporting plate inserting hole corresponding to the left inserting strip and the right supporting plate inserting hole corresponding to the right inserting strip are included in the image.
Specifically, the image is captured by an image sensor installed on an intelligent carrier, which may be an Automated Guided Vehicle (AGV) or a forklift used in a factory workshop, a warehouse, or the like. The image sensor can be a CCD camera, and an image is acquired through a camera of the CCD camera. The image that image sensor acquireed contains the left slip of intelligent carrier, the right slip, the left jack of layer board that corresponds with the left slip and the right jack of layer board that corresponds with the right slip. It should be noted that "left" and "right" in terms of the left insert, the right insert, the support plate left insert hole, the support plate right insert hole, and the like in the embodiments of the present invention are only for convenience of describing the embodiments of the present invention, and may be replaced by terms of "first" and "second".
For example, before the image is acquired by the image sensor, the distance between the intelligent transportation vehicle and the shelf may be acquired by a distance detection device, wherein the distance detection device may be a distance sensor or a laser range finder or the like which can measure the distance between the objects.
After the distance between the intelligent transport vehicle and the shelf is obtained by the distance detection device, the distance between the intelligent transport vehicle and the shelf is compared with a set first threshold value, wherein the first threshold value can be 20cm or 30 cm. When the distance between the intelligent transport vehicle and the goods shelf is larger than a first threshold value, the intelligent transport vehicle continues to move forwards; when the distance between the intelligent transport vehicle and the goods shelf is smaller than a first threshold value, the intelligent transport vehicle stops moving, the image sensor is started, and an image is acquired.
S120, calculating first central points of the left and right cuttings; and calculating second central points of the left jack and the right jack of the support plate.
Specifically, calculating first central points of the left and right cuttings requires calibrating a left and right cutting area first, that is, determining the left and right cutting areas, determining a minimum circumscribed rectangle in the image including the left cutting as the left cutting area, and determining a minimum circumscribed rectangle in the image including the right cutting as the right cutting area. And then respectively calculating the vertex of the left cutting area and the vertex of the right cutting area, and recording the vertex of the left cutting area as the vertex of the left cutting, and recording the vertex of the right cutting area as the vertex of the right cutting. And calculating the middle point of the top point of the left insert and the top point of the right insert, and recording the point as the first central point.
For example, in fig. 2, the black area in 210 is a schematic diagram of a left slip, the minimum circumscribed rectangle thereof is a schematic diagram of the left slip area 210, the black area in 220 is a schematic diagram of a right slip, and the minimum circumscribed rectangle thereof is a right slip area 220; determining a left cutting area 210 and a right cutting area 220, and acquiring the coordinates (x) of the top right corner vertex of the rectangle of the left cutting area1,y1) And coordinates (x) of the top left corner vertex of the right cutting region2,y2) And recording the vertex of the upper right corner of the rectangle in the left cutting region as the vertex of the left cutting, and recording the vertex of the upper left corner of the rectangle in the right cutting region as the vertex of the right cutting, so that the coordinate of the vertex of the left cutting is (x)1,y1) The coordinate of the vertex of the right cutting is (x)2,y2) The middle point of the top points of the left and right cutting
Denoted as the first center point.
Calculating second central points of the left jack and the right jack of the support plate, and firstly, respectively calculating a left jack identification area and a right jack identification area of the support plate through a left insert peak and a right insert peak, specifically, taking the left insert peak and the right insert peak as centers, and respectively taking rectangles with certain side length, wherein the size of the rectangles is not fixed and unchanged, and the size of the rectangles can be adjusted arbitrarily according to requirements, for example, the width a of the left insert area and the right insert area can be equal to 2w, and w is the width of the left jack and the right jack of the support plate; the height b of the left and right slip regions may be equal to 6h, where h is the height of the pallet left and right receptacles. Then, accurately identifying a left jack and a right jack of the supporting plate in the determined left jack area and right jack area of the supporting plate respectively, and calculating the center point of the left jack and the center point of the right jack of the supporting plate; and finally, calculating the central point of the left jack of the supporting plate and the central point of the right jack of the supporting plate, and recording the central points as second central points.
Illustratively, in fig. 3, 310 is a left insert region, 320 is a right insert region, 330 is a pallet left insert region, 340 is a pallet right insert region, 331 is a pallet left insert, and its internal point is a pallet left insert center point, 341 is a pallet right insert, its internal point is a pallet right insert center point, and 350 is a second center point. Firstly, determining a supporting plate left jack area 330 and a supporting plate right jack area 340 by taking a left cutting peak and a right cutting peak as centers; next, pallet left receptacle 331 and pallet right receptacle 341 are identified in pallet left receptacle area 330 and pallet right receptacle area 340, and the coordinates (x) of the center point of the pallet left receptacle are calculated3,y3) And the coordinate (x) of the center point of the right jack of the supporting plate4,y4) The center point (x) of the left jack of the supporting plate3,y3) And the center point (x) of the right jack of the supporting plate4,y4) Is at the midpoint of
Denoted as the second center point.
And S130, determining an offset parameter according to the first central point and the second central point.
Specifically, the first center point is obtained through S120
And a second center point
Respectively calculating the deviations of the abscissa and the ordinate of the first central point and the second central point, and determining the distance of the left cutting and the right cutting moving leftwards, rightwards, upwards or downwards according to the deviations of the abscissa and the ordinate of the first central point and the second central point, namely, according to the deviations of the abscissa and the ordinate of the first central point and the second central point
Calculating the deviation of the abscissas of the first center point and the second center point by
And calculating the deviation of the vertical coordinates of the first central point and the second central point. By passing
Determining the distance that the left and right slips have moved to the left or right, wherein if
The left and right cuttings move to the left; if it is not
The left cutting and the right cutting move rightwards; by passing
Determining the distance that the left and right slips have moved up or down, wherein if
The left and right cuttings move upwards; if it is not
The left and right slips move downward.
S140, controlling the intelligent carrier to move according to the offset parameters so that the left inserting strip is aligned with the left inserting hole of the support plate and the right inserting strip is aligned with the right inserting hole of the support plate after the intelligent carrier is moved.
In particular, according to the determination in S130
And
the moving direction and the moving distance of the intelligent carrier are controlled, so that the left inserting strip is accurately inserted into the left inserting hole of the supporting plate after moving, and the right inserting strip is accurately inserted into the left inserting hole of the supporting plateIn the jack on the right side of the supporting plate.
According to the technical scheme of the embodiment, the image is acquired through the image sensor, and the first central points of the left and right cuttings and the second central points of the left and right jacks of the supporting plate are respectively calculated; confirm the skew parameter according to first central point and second central point, at last according to the removal of skew parameter control intelligent carrier to make left cutting align with the left jack of layer board, the right cutting aligns with the right jack of layer board, through making the accurate inserting layer board jack of cutting of intelligent carrier, thereby realized that intelligent carrier can be accurate hold up the goods.
Example two
Fig. 4 is a schematic structural diagram of a visual hole-finding device according to a second embodiment of the present invention, where the device may be applied to an intelligent transportation vehicle, and the device may be implemented in software and/or hardware. As shown in fig. 4, the apparatus includes: an image acquisition module 410, a center point calculation module 420, an offset parameter determination module 430, and an intelligent truck movement module 440.
Wherein the image acquisition module 410: for acquiring an image by an image sensor; the image comprises a left inserting strip of the intelligent transport vehicle, a right inserting strip of the intelligent transport vehicle, a left supporting plate inserting hole corresponding to the left inserting strip and a right supporting plate inserting hole corresponding to the right inserting strip;
center point calculation module 420: the first center points are used for calculating the first center points of the left and right cuttings; calculating a second central point of the support plate left jack and the support plate right jack;
the offset parameter determination module 430: the offset parameter is determined according to the first central point and the second central point;
intelligent truck moving module 440: the intelligent carrier is used for controlling the intelligent carrier to move according to the offset parameters, so that the left inserting strip is aligned with the left inserting hole of the supporting plate and the right inserting strip is aligned with the right inserting hole of the supporting plate after the intelligent carrier is moved.
Optionally, a distance detection module is further included before the image acquisition module 410: the distance detection device is used for acquiring the distance between the intelligent carrier and the goods shelf; the judgment distance detection device detects the relation between the distance between the intelligent carrier and the goods shelf and the first threshold value.
The center point calculation module 420 includes a first center point calculation unit and a second center point unit, wherein the first center point unit: the device is used for calibrating a left cutting area and a right cutting area; calculating the vertex of the left cutting area and the vertex of the right cutting area, recording the vertex of the left cutting area as the vertex of the left cutting, and recording the vertex of the right cutting area as the vertex of the right cutting; and calculating the midpoint of the left and right cutting vertexes, and recording the midpoint as a first central point.
The first central point unit also comprises a region calibration subunit, which is used for determining a left cutting region according to the minimum circumscribed rectangle in the image, wherein the minimum circumscribed rectangle contains the left cutting; and determining the right cutting area according to the minimum circumscribed rectangle in the image containing the right cutting.
A second center point unit: the central point calculation module is used for identifying a left jack of the supporting plate in the left jack identification area of the supporting plate and a right jack of the supporting plate in the right jack area of the supporting plate, and calculating the central point of the left jack of the supporting plate and the central point of the right jack of the supporting plate;
and calculating the midpoint of the center points of the left jack and the right jack of the support plate, and recording the midpoint as a second center point.
The second center point unit further includes a second center point subunit: the method comprises the steps of calculating a support plate left jack identification area through a left cutting strip vertex; and calculating a support plate right jack identification area through the vertex of the right cutting.
The offset parameter determination module 430 further comprises a deviation calculation unit: the device is used for calculating the deviation of the abscissa and the deviation of the ordinate of the first central point and the second central point;
determining the distance of the left cutting and the right cutting moving leftwards or rightwards according to the deviation of the horizontal coordinates of the first central point and the second central point;
and determining the upward or downward movement distance of the left inserting strip and the right inserting strip according to the vertical coordinate deviation of the first central point and the second central point so as to align the left inserting strip with the left inserting hole of the supporting plate and align the right inserting strip with the right inserting hole of the supporting plate.
The visual hole finding device provided by the embodiment of the invention can execute the visual hole finding method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE III
Fig. 5 is a schematic structural diagram of an apparatus according to a third embodiment of the present invention, as shown in fig. 5, the apparatus includes a processor 50, a memory 51, an input device 52, and an output device 53; the number of processors 50 in the device may be one or more, and one processor 50 is taken as an example in fig. 5; the processor 50, the memory 51, the input device 52 and the output device 53 in the apparatus may be connected by a bus or other means, which is exemplified in fig. 5.
The memory 51 may be used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the visual hole finding method in the embodiment of the present invention (e.g., the image acquisition module 410, the center point calculation module 420, the offset parameter determination module 430, and the intelligent truck movement module 440). The processor 50 executes various functional applications and data processing of the device/terminal/server by executing software programs, instructions and modules stored in the memory 51, namely, the above-mentioned visual hole finding method is realized.
The memory 51 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 51 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 51 may further include memory located remotely from the processor 50, which may be connected to the device/terminal/server via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 52 is operable to receive input numeric or character information and to generate key signal inputs relating to user settings and function controls of the apparatus. The output device 52 may include a display device such as a display screen.
Example four
A fourth embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a visual hole finding method, including:
acquiring an image through an image sensor; the image comprises a left inserting strip of the intelligent transport vehicle, a right inserting strip of the intelligent transport vehicle, a left supporting plate inserting hole corresponding to the left inserting strip and a right supporting plate inserting hole corresponding to the right inserting strip;
calculating first central points of the left and right cuttings; calculating a second central point of the support plate left jack and the support plate right jack;
determining an offset parameter according to the first center point and the second center point;
and controlling the intelligent carrier to move according to the offset parameters so that the left inserting strip is aligned with the left inserting hole of the supporting plate and the right inserting strip is aligned with the right inserting hole of the supporting plate after the intelligent carrier is moved.
Of course, the storage medium provided by the embodiments of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the visual hole finding method provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the above search apparatus, each included unit and module are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. The visual hole finding method is applied to an intelligent carrier and comprises the following steps:
acquiring an image through an image sensor; the image comprises a left inserting strip of the intelligent transport vehicle, a right inserting strip of the intelligent transport vehicle, a left supporting plate inserting hole corresponding to the left inserting strip and a right supporting plate inserting hole corresponding to the right inserting strip;
calculating first center points of the left and right cuttings; calculating a second center point of the pallet left jack and the pallet right jack;
determining a deviation parameter according to the first central point and the second central point;
controlling the intelligent carrier to move according to the offset parameters so that the left inserting strip is aligned with the left inserting hole of the supporting plate and the right inserting strip is aligned with the right inserting hole of the supporting plate after the intelligent carrier moves;
wherein said calculating a first center point of said left slip and said right slip comprises:
calibrating a left cutting area and a right cutting area;
calculating the vertex of the left cutting area and the vertex of the right cutting area, recording the vertex of the left cutting area as the vertex of the left cutting, and recording the vertex of the right cutting area as the vertex of the right cutting;
and calculating the midpoint of the vertex of the left cutting and the vertex of the right cutting, and recording the midpoint as a first central point.
2. The method of claim 1, wherein prior to acquiring the image with the image sensor, further comprising:
acquiring the distance between the intelligent carrier and a goods shelf through a distance detection device;
and judging the relation between the distance between the intelligent transport vehicle and the goods shelf and a first threshold value detected by the distance detection device.
3. The method of claim 1, wherein said calibrating the left and right slip regions comprises:
determining the left cutting area according to the minimum circumscribed rectangle in the image, wherein the minimum circumscribed rectangle contains the left cutting;
and determining the right cutting area according to the minimum circumscribed rectangle in the image, wherein the right cutting is included in the minimum circumscribed rectangle.
4. The method of claim 1, wherein said calculating a second center point of said pallet left receptacle and said pallet right receptacle comprises:
identifying the supporting plate left jack and the supporting plate right jack in the supporting plate left jack identification area, and calculating the central point of the supporting plate left jack and the central point of the supporting plate right jack;
and calculating the midpoint of the center points of the left jack and the right jack of the supporting plate, and recording the midpoint as a second center point.
5. The method of claim 4, wherein prior to identifying the pallet left jack region and the pallet right jack region, further comprising: calculating the left jack identification area of the support plate through the vertex of the left insert; and calculating the identification area of the right jack of the supporting plate through the vertex of the right cutting.
6. The method of any of claims 1-5, wherein determining the offset parameter from the first center point and the second center point comprises: calculating the deviation of the abscissa and the deviation of the ordinate of the first central point and the second central point;
determining the distance of the left cutting and the right cutting moving leftwards, rightwards, upwards or downwards according to the deviation of the abscissa of the first central point and the second central point;
and determining the upward or downward movement distance of the left inserting strip and the right inserting strip according to the vertical coordinate deviation of the first central point and the second central point so as to align the left inserting strip with the left jack of the support plate and align the right inserting strip with the right jack of the support plate.
7. The utility model provides a device of hole is looked for to vision, its characterized in that is applied to intelligent carrier, includes:
an image acquisition module: for acquiring an image by an image sensor; the image comprises a left inserting strip of the intelligent transport vehicle, a right inserting strip of the intelligent transport vehicle, a left supporting plate inserting hole corresponding to the left inserting strip and a right supporting plate inserting hole corresponding to the right inserting strip;
a central point calculation module: the first center point is used for calculating the first center point of the left cutting and the right cutting; calculating a second center point of the pallet left jack and the pallet right jack;
an offset parameter determination module: determining a deviation parameter from the first center point and the second center point;
the module is removed to intelligence carrier: the intelligent transport vehicle is controlled to move according to the offset parameters, so that the left inserting strip is aligned with the left jack of the support plate and the right inserting strip is aligned with the right jack of the support plate after the intelligent transport vehicle moves;
wherein the center point calculation module: the method is particularly used for calibrating a left cutting area and a right cutting area;
calculating the vertex of the left cutting area and the vertex of the right cutting area, recording the vertex of the left cutting area as the vertex of the left cutting, and recording the vertex of the right cutting area as the vertex of the right cutting;
and calculating the midpoint of the vertex of the left cutting and the vertex of the right cutting, and recording the midpoint as a first central point.
8. An apparatus, characterized in that the apparatus comprises:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the visual hole finding method of any one of claims 1-6.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the visual hole finding method according to any one of claims 1-6.
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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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| CN110488832B true CN110488832B (en) | 2021-08-17 |
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