1. The self-moving tail attitude detection method is applied to an attitude detection system of a self-moving tail, and is characterized in that the attitude detection system comprises a plurality of beacons arranged on two sides of a belt conveyor, a binocular camera arranged on the self-moving tail and an industrial personal computer connected with the binocular camera, and the method comprises the following steps:

the industrial personal computer determines an initial attitude angle of the belt conveyor relative to the self-moving tail according to a first beacon image of the beacons acquired by the binocular camera;

the industrial personal computer determines a change attitude angle of the belt conveyor relative to the self-moving tail according to second beacon images of the beacons acquired by the binocular camera; and

and the industrial personal computer determines the relative pose relation of the belt conveyor relative to the self-moving tail according to the initial pose angle and the changed pose angle.

2. The method of claim 1, wherein determining an initial attitude angle of the belt conveyor relative to the self-moving tail from a first beacon image of a plurality of beacons acquired by the binocular camera comprises:

extracting a plurality of first spatial coordinates corresponding to the plurality of beacons from the first beacon image; and

and calculating an initial attitude angle of the belt conveyor relative to the self-moving tail according to the plurality of first space coordinates.

3. The method of claim 2, wherein the plurality of beacons is equal to or greater than three in number, and wherein calculating the initial pose angle from the plurality of first spatial coordinates comprises:

and calculating an initial course angle, an initial pitch angle and an initial roll angle of the belt conveyor relative to the self-moving tail according to the plurality of first space coordinates.

4. The method of claim 3, wherein determining a varying attitude angle of the belt conveyor relative to the self-moving tail from a second beacon image of the plurality of beacons acquired by the binocular camera comprises:

extracting a plurality of second spatial coordinates corresponding to the plurality of beacons from the second beacon image; and

and calculating a changed course angle, a changed pitch angle and a changed roll angle of the belt conveyor relative to the self-moving machine tail according to the plurality of second space coordinates.

5. The method of claim 4, wherein determining the relative pose relationship of the belt conveyor with respect to the self-moving tail based on the initial pose angle and the varied pose angle comprises:

respectively calculating a plurality of first difference values corresponding to the initial course angle and the changed course angle, the initial pitch angle and the changed pitch angle, and the initial roll angle and the changed roll angle;

and determining the relative pose relationship of the belt conveyor relative to the self-moving tail according to the plurality of first difference values.

6. The method of claim 5, further comprising:

determining a third spatial coordinate of a displacement marking point according to the first spatial coordinates, determining a fourth spatial coordinate of the displacement marking point according to the second spatial coordinates, and determining a relative pose relationship of the belt conveyor relative to the self-moving tail according to the first difference values, including:

respectively calculating a second difference value of the third space coordinate and the fourth space coordinate in each coordinate axis; and

and determining the relative pose relationship of the belt conveyor relative to the self-moving tail according to the plurality of first difference values and the second difference values.

7. The method of any one of claims 1-6, wherein the plurality of beacons are infrared beacons, and the binocular camera is provided with an infrared filter.

8. The utility model provides a from moving tail gesture detection device which characterized in that includes:

the first determining module is used for determining an initial attitude angle of the belt conveyor relative to the self-moving tail according to first beacon images of a plurality of beacons acquired by a binocular camera, wherein the beacons are arranged on two sides of the belt conveyor, and the binocular camera is arranged on the self-moving tail;

the second determining module is used for determining a change attitude angle of the belt conveyor relative to the self-moving tail according to a second beacon image of the beacons acquired by the binocular camera;

and the detection module is used for determining the relative pose relation of the belt conveyor relative to the self-moving tail according to the initial pose angle and the changed pose angle.

9. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.

10. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-7.

Background

The self-moving tail of the belt conveyor is a mobile device which is matched with a belt conveyor and a reversed loader for use on a fully-mechanized mining and fully-mechanized excavation working surface of a coal mine, a belt of the belt conveyor can be rapidly pushed, and the pushing speed of the belt can be influenced by the position posture of the self-moving tail, so that the posture of the self-moving tail needs to be detected and adjusted to ensure the operating efficiency of the belt conveyor.

In the related technology, displacement and inclination angle sensors are adopted to measure attitude information such as displacement and inclination angle of the self-moving tail, however, the method can only sense the spatial pose of the self-moving tail, and cannot determine the relative position relation between the self-moving tail and the crossheading belt conveyor, so that the method can only carry out operations such as leveling and the like relative to a horizontal plane, and cannot be applied to a non-horizontal plane operation environment.

In addition, the position and posture identification of the development machine is realized by adopting a position and posture detection technology based on RFID in the related technology, but the RFID position and posture measurement technology is applied to the posture measurement of the self-moving tail, so that the problem of multipath interference caused by the frequent reflection and scattering of electromagnetic waves is easily caused, and a calculation result has larger error.

Disclosure of Invention

The application provides a method and a device for detecting the posture of a self-moving tail and a storage medium, and aims to solve one of the technical problems in the related technology to at least a certain extent.

The embodiment of the first aspect of the application provides a self-moving tail posture detection method, which is applied to a posture detection system of a self-moving tail, wherein the posture detection system comprises a plurality of beacons arranged on two sides of a belt conveyor, a binocular camera arranged on the self-moving tail and an industrial personal computer connected with the binocular camera, and the method comprises the following steps: the industrial personal computer determines an initial attitude angle of the belt conveyor relative to the self-moving tail according to first beacon images of a plurality of beacons acquired by the binocular camera; the industrial personal computer determines a change attitude angle of the belt conveyor relative to the self-moving tail according to second beacon images of the beacons acquired by the binocular camera; and the industrial personal computer determines the relative pose relation of the belt conveyor relative to the self-moving tail according to the initial pose angle and the changed pose angle.

The embodiment of the second aspect of the present application provides a tail gesture detection device moves certainly, includes: the first determining module is used for determining an initial attitude angle of the belt conveyor relative to the self-moving tail according to first beacon images of a plurality of beacons acquired by the binocular camera, wherein the beacons are arranged on two sides of the belt conveyor, and the binocular camera is arranged on the self-moving tail; the second determining module is used for determining a change attitude angle of the belt conveyor relative to the self-moving tail according to a second beacon image of the beacons acquired by the binocular camera; and the detection module is used for determining the relative pose relation of the belt conveyor relative to the self-moving tail according to the initial pose angle and the changed pose angle.

An embodiment of a third aspect of the present application provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the self-moving tail posture detection method of the embodiment of the application.

A fourth aspect of the present application provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the self-moving tail posture detection method disclosed in the embodiments of the present application.

In this embodiment, the industrial personal computer determines an initial attitude angle of the belt conveyor relative to the self-propelled tail according to first beacon images of a plurality of beacons acquired by the binocular camera, determines a changed attitude angle of the belt conveyor relative to the self-propelled tail according to second beacon images of the plurality of beacons acquired by the binocular camera, and determines a relative attitude relationship of the belt conveyor relative to the self-propelled tail according to the initial attitude angle and the changed attitude angle. Therefore, compared with the detection of the self-moving tail posture in the related technology, the scheme can detect the change of the posture angle between the belt conveyor and the self-moving tail and determine the relative spatial posture between the belt conveyor and the self-moving tail, so that the aim of detecting the self-moving tail posture in a non-horizontal plane environment can be fulfilled, the requirements of different operation scenes can be met, the posture detection effect of the self-moving tail is improved, in addition, the scheme can also avoid the interference of external factors, and the detection accuracy is improved. The method further solves the technical problems that the self-moving tail pose detection method in the related technology cannot be applied to a non-horizontal-plane working environment and is low in detection precision.

Additional aspects and advantages of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.

Drawings

The foregoing and/or additional aspects and advantages of the present disclosure will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural diagram of a self-propelled tail attitude detection system provided according to an embodiment of the present disclosure;

fig. 2 is a schematic flow chart of a self-propelled tail attitude detection method according to an embodiment of the present disclosure;

fig. 3 is a schematic flow chart of a self-propelled tail attitude detection method according to another embodiment of the present disclosure;

fig. 4 is a schematic flow chart of a self-propelled tail attitude detection method provided according to an embodiment of the present disclosure;

fig. 5 is a schematic diagram of a self-propelled tail attitude detection apparatus provided in accordance with another embodiment of the present disclosure;

FIG. 6 illustrates a block diagram of an exemplary computer device suitable for use to implement embodiments of the present application.

Detailed Description

Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of illustrating the present disclosure and should not be construed as limiting the same. On the contrary, the embodiments of the disclosure include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.

Aiming at the technical problems that the self-moving tail pose detection method in the related technology mentioned in the background technology cannot be applied to a non-horizontal plane working environment and is not high in detection precision, the technical scheme of the embodiment provides the self-moving tail pose detection method, and the method is explained by combining a specific embodiment.

It should be noted that an execution subject of the self-moving tail posture detection method of this embodiment may be a self-moving tail posture detection apparatus, the apparatus may be implemented by software and/or hardware, the apparatus may be configured in an electronic device, and the electronic device may include, but is not limited to, a terminal, a server, and the like.

Fig. 1 is a schematic structural diagram of a self-propelled tail attitude detection system provided according to an embodiment of the present disclosure, and as shown in fig. 1, the self-propelled tail attitude detection system may include: a plurality of beacons (e.g., beacon 11, beacon 12, beacon 13), a binocular camera 21, and an industrial personal computer 22. Among them, a plurality of beacons (beacon 11, beacon 12, beacon 13) may be provided on both sides of the belt conveyor 10, for example: the beacon 11 is arranged on one side of the belt conveyor 10, and the beacon 12 and the beacon 13 are arranged on the other side of the belt conveyor 10; binocular camera 21 can set up on the tail 20 that moves certainly to the optical axis can be on a parallel with from the central axis on the 20 planes of tail that moves for gather the image of a plurality of beacons, transmit the image to industrial computer 22.

Wherein, binocular camera 21 can be the camera of the arbitrary model that supports the stereo imaging function, and industrial computer 22 can be the industrial computer of arbitrary type and model, for example: desktop computers, tablet computers, embedded industrial personal computers, and the like, without limitation.

In some embodiments, the beacons may be infrared light-emitting beacons, and the binocular camera 21 may be provided with an infrared filter, so that filtering processing may be performed in the process of acquiring images of the beacons, interference caused by ambient light change may be effectively removed, the quality of the images is improved, and further, processing of the acquired images by the auxiliary controller 22 is facilitated.

Fig. 2 is a schematic flow chart of a self-propelled tail attitude detection method according to an embodiment of the present disclosure, and as shown in fig. 2, the method includes:

s201: the industrial personal computer determines an initial attitude angle of the belt conveyor relative to the self-moving tail according to first beacon images of the beacons acquired by the binocular camera.

In the embodiment of the present disclosure, the binocular camera 21 first acquires a first beacon image of a plurality of beacons (beacon 11, beacon 12, beacon 13), for example: the first beacon images are obtained by performing image acquisition on each beacon, or one first beacon image may also be obtained by performing image acquisition on a plurality of beacons, which is not limited. After the binocular camera 21 collects the first beacon image, the first beacon image may be transmitted to the industrial personal computer 22.

In some embodiments, the initial pose states of the belt conveyor 10 and the self-moving tail 20 may be calibrated, and the first beacon image may be acquired in a state where the belt conveyor 10 and the self-moving tail 20 are not offset relative to each other.

In this case, the industrial personal computer 22 may determine an initial attitude angle of the belt conveyor 10 with respect to the self-moving tail 20 from the first beacon image.

The attitude angle corresponding to the belt conveyor 10 and the self-moving tail 20 in the state without relative offset may be referred to as an initial attitude angle, and the initial attitude angle may be one or more of a heading angle, a pitch angle, and a roll angle, which is not limited thereto.

In some embodiments, the initial pose angle is determined, for example, based on the position of the beacon in the first beacon image, or may be determined in other ways, without limitation.

S202: and the industrial personal computer determines the change attitude angle of the belt conveyor relative to the self-moving tail according to the second beacon images of the beacons acquired by the binocular camera.

After the initial attitude angle is determined, the binocular camera 21 may further acquire a second beacon image of a plurality of beacons (beacon 11, beacon 12, beacon 13), for example: the image acquisition may be performed for each beacon to obtain a plurality of second beacon images, or may be performed for a plurality of beacons to obtain one second beacon image, and the acquired second beacon image may be sent to the industrial personal computer 22.

In some embodiments, the second beacon image may be acquired when the belt conveyor 10 and the self-moving tail 20 are relatively shifted, that is, the second beacon image may be acquired when the self-moving tail 20 is shifted.

In this case, the industrial personal computer 22 may determine a changed attitude angle of the belt conveyor 10 with respect to the self-moving tail 20 according to the second beacon image, and the determination of the changed attitude angle may be similar to the determination of the initial attitude angle, which is not described herein again.

The corresponding attitude angle of the belt conveyor 10 and the self-moving tail 20 in the relative offset state may be referred to as a changed attitude angle, and correspondingly, the changed attitude angle may also be one or more of a heading angle, a pitch angle, and a roll angle, which is not limited herein.

S203: and the industrial personal computer determines the relative pose relation of the belt conveyor relative to the self-moving tail according to the initial pose angle and the changed pose angle.

After the initial attitude angle and the changed attitude angle of the belt conveyor 10 relative to the self-moving tail 20 are determined, the relative attitude relationship of the belt conveyor 10 relative to the self-moving tail 20 is further determined according to the initial attitude angle and the changed attitude angle, so that the self-moving tail 20 can be adjusted according to the relative position relationship.

In this embodiment, the industrial personal computer determines an initial attitude angle of the belt conveyor relative to the self-propelled tail according to first beacon images of a plurality of beacons acquired by the binocular camera, determines a changed attitude angle of the belt conveyor relative to the self-propelled tail according to second beacon images of the plurality of beacons acquired by the binocular camera, and determines a relative attitude relationship of the belt conveyor relative to the self-propelled tail according to the initial attitude angle and the changed attitude angle. Therefore, compared with the detection of the self-moving tail posture in the related technology, the scheme can detect the change of the posture angle between the belt conveyor and the self-moving tail and determine the relative spatial posture between the belt conveyor and the self-moving tail, so that the aim of detecting the self-moving tail posture in a non-horizontal plane environment can be fulfilled, the requirements of different operation scenes can be met, the posture detection effect of the self-moving tail is improved, in addition, the scheme can also avoid the interference of external factors, and the detection accuracy is improved. The method further solves the technical problems that the self-moving tail pose detection method in the related technology cannot be applied to a non-horizontal-plane working environment and is low in detection precision.

Fig. 3 is a schematic flow chart of a self-propelled tail attitude detection method according to another embodiment of the present disclosure, and as shown in fig. 3, the method includes:

s301: a plurality of first spatial coordinates corresponding to the plurality of beacons are extracted from the first beacon image.

In the operation of determining the initial attitude angle of the belt conveyor with respect to the self-moving tail, the embodiments of the present disclosure first extract a plurality of first spatial coordinates corresponding to a plurality of beacons from the first beacon image, where the first spatial coordinates may be, for example, spatial coordinates in a binocular camera coordinate system, and the industrial personal computer 22 may set a spatial coordinate extraction algorithm in advance, extracting a plurality of first spatial coordinates from the first beacon image. In some embodiments, the number of the plurality of beacons is equal to or greater than three.

For example, a plurality of beacons, such as beacon 11, beacon 12, and beacon 13, may be represented by A, B, C, and the corresponding first spatial coordinate may be represented as a (x)_ia，y_ia，z_ia)、B(x_ib，y_ib，z_ib)、C(x_ic，y_ic，z_ic)。

S302: and calculating the initial attitude angle of the belt conveyor relative to the self-moving tail according to the plurality of first space coordinates.

Further, the initial attitude angles of the plurality of beacons with respect to the binocular camera 21 are determined based on the plurality of first spatial coordinates, and since the plurality of beacons are provided to the belt conveyor 10 and the binocular camera 21 is provided to the self-moving tail 20, it is possible to calculate that the initial attitude angles of the plurality of beacons with respect to the binocular camera 21 represent the initial attitude angles of the belt conveyor 10 with respect to the self-moving tail 20.

In some embodiments, the number of the plurality of beacons is greater than or equal to three, and the initial heading angle α of the belt conveyor relative to the self-moving tail can be calculated according to the plurality of first spatial coordinates in the process of calculating the initial attitude angle_iInitial pitch angle beta_iInitial roll angle gamma_iWherein the initial course angle alpha_iRepresenting the angle between the belt conveyor (beacon) and the X axis on the XOY plane of the binocular camera coordinate system, and the initial pitch angle beta_iThe initial roll angle gamma represents the angle between the belt conveyor (beacon) and the X-axis in the XOZ plane of the binocular camera coordinate system_iRepresenting the angle of the belt conveyor (beacon) to the Y-axis in the plane of the binocular camera coordinate system YOZ.

For example, the initial heading angle α_iInitial pitch angle beta_iInitial roll angle gamma_iThe calculation formula of (a) is as follows:

s303: a plurality of second spatial coordinates corresponding to the plurality of beacons are extracted from the second beacon image.

Further, in the embodiment of the present disclosure, a plurality of second spatial coordinates corresponding to a plurality of beacons may be extracted from the second beacon image, where an extraction manner of the second spatial coordinates is the same as that of the first spatial coordinates, and details are not repeated here.

For example, beacon 11, beacon 12, and beacon 13 pairThe corresponding second spatial coordinate may be represented as A (x)_ca，y_ca，z_ca)、B(x_cb，y_cb，z_cb)、C(x_cc，y_cc，z_cc)。

S304: and calculating a changed course angle, a changed pitch angle and a changed roll angle of the belt conveyor relative to the self-moving tail according to the plurality of second space coordinates.

Further, according to A (x)_ca，y_ca，z_ca)、B(x_cb，y_cb，z_cb)、C(x_cc，y_cc，z_cc) Calculating the changed course angle, the changed pitch angle and the changed roll angle of the belt conveyor relative to the self-moving tail in the same way as the initial course angle alpha_iInitial pitch angle beta_iInitial roll angle gamma_iThe calculation method is not described herein.

For example, the calculated heading angle, pitch angle and roll angle may be respectively represented by α_c、β_c、γ_cAnd (4) showing.

S305: and respectively calculating a plurality of first difference values corresponding to the initial course angle and the changed course angle, the initial pitch angle and the changed pitch angle, and the initial roll angle and the changed roll angle.

Determining the initial heading angle α_iInitial pitch angle beta_iInitial roll angle gamma_iChanging course angle alpha_cChanging pitch angle beta_cChanging the roll angle gamma_cThen, the initial course angle alpha is calculated_iAnd a varying course angle alpha_cFirst difference value delta alpha and initial pitch angle beta_iAnd varying pitch angle beta_cFirst difference value of (a), initial roll angle gamma_iWith varying roll angle gamma_cA plurality of first difference calculation formulas as follows:

Δα＝α_c-α_i

Δβ＝β_c-β_i

Δγ＝γ_c-γ_i

s306: and determining the relative pose relationship of the belt conveyor relative to the self-moving tail according to the plurality of first difference values.

Further, according to a plurality of first difference values, determining the relative pose relationship of the belt conveyor relative to the self-moving tail, such as: and taking the plurality of first difference values as the relative pose relation of the self-moving tail. Therefore, the relative pose relationship of the self-moving tail can be calculated according to the course angle, the pitch angle and the roll angle, and the determined pose is more accurate.

Some embodiments may also determine a third spatial coordinate of the displacement marker point from the plurality of first spatial coordinates, for example: the midpoint M of the beacons 12 and 13 is taken_iAs the displacement index point, the corresponding third space coordinate is expressed asFurther, a fourth space coordinate of the displacement mark point may be determined according to the plurality of second space coordinates, and the fourth space coordinate may be expressed asIn the operation of determining the relative pose relationship of the belt conveyor with respect to the self-moving tail according to the plurality of first difference values, second difference values of the third spatial coordinate and the fourth spatial coordinate in each coordinate axis may be calculated respectively, and the plurality of second difference values may be expressed by Δ x, Δ y, and Δ z respectively, and the calculation formula is as follows:

further, according to the plurality of first difference values and the plurality of second difference values, the relative pose relation of the belt conveyor relative to the self-moving tail is determined. Therefore, in the process of determining the relative pose relationship of the self-moving tail, the displacement change of the displacement mark point can be used as a reference, so that the determined pose relationship is more accurate.

Fig. 4 is a schematic flow chart of a self-propelled tail attitude detection method according to an embodiment of the present disclosure, and as shown in fig. 4, in practical application, first of all, initial attitude image acquisition is performed, a beacon is extracted from the initial attitude image and a spatial coordinate is calculated, an initial attitude angle and a position marker point are calculated, an image after attitude change is further acquired, a beacon is extracted from the changed attitude image and a spatial coordinate is calculated, a changed attitude angle and a changed position marker point are calculated, and finally a relative attitude is calculated.

In this embodiment, the industrial personal computer determines an initial attitude angle of the belt conveyor relative to the self-moving tail according to first beacon images of a plurality of beacons acquired by the binocular camera, determines a changed attitude angle of the belt conveyor relative to the self-moving tail according to second beacon images of the plurality of beacons acquired by the binocular camera, and determines a relative attitude relationship of the belt conveyor relative to the self-moving tail according to the initial attitude angle and the changed attitude angle. Therefore, compared with the detection of the self-moving tail posture in the related technology, the scheme can detect the change of the posture angle between the belt conveyor and the self-moving tail and determine the relative spatial posture between the belt conveyor and the self-moving tail, so that the aim of detecting the self-moving tail posture in a non-horizontal plane environment can be fulfilled, the requirements of different operation scenes can be met, the posture detection effect of the self-moving tail is improved, in addition, the scheme can also avoid the interference of external factors, and the detection accuracy is improved. The method further solves the technical problems that the self-moving tail pose detection method in the related technology cannot be applied to a non-horizontal-plane working environment and is low in detection precision.

Fig. 5 is a schematic diagram of a self-propelled tail attitude detection apparatus provided according to another embodiment of the present disclosure. As shown in fig. 5, the self-propelled tail attitude detection device 50 includes: the first determining module 501 is configured to determine an initial attitude angle of the belt conveyor relative to the self-moving tail according to first beacon images of multiple beacons acquired by a binocular camera, where the multiple beacons are arranged on two sides of the belt conveyor, and the binocular camera is arranged on the self-moving tail; a second determining module 502, configured to determine a change attitude angle of the belt conveyor relative to the self-moving tail according to a second beacon image of the multiple beacons acquired by the binocular camera; and the detection module 503 is configured to determine a relative pose relationship of the belt conveyor with respect to the self-moving tail according to the initial pose angle and the changed pose angle.

Optionally, in some embodiments, the first determining module 501 includes: a first extraction sub-module configured to extract a plurality of first spatial coordinates corresponding to the plurality of beacons from the first beacon image; and the first determining submodule is used for calculating the initial attitude angle of the belt conveyor relative to the self-moving tail according to the plurality of first space coordinates.

Optionally, in some embodiments, the number of the plurality of beacons is greater than or equal to three, and the first determining sub-module includes: and the determining unit is used for calculating an initial course angle, an initial pitch angle and an initial roll angle of the belt conveyor relative to the self-moving tail according to the plurality of first space coordinates.

Optionally, in some embodiments, the second determining module 502 includes: a second extraction sub-module for extracting a plurality of second spatial coordinates corresponding to the plurality of beacons from the second beacon image; and the second determining submodule is used for calculating a changed course angle, a changed pitch angle and a changed roll angle of the belt conveyor relative to the self-moving tail according to the plurality of second space coordinates.

Optionally, in some embodiments, the detecting module 503 includes: the first difference calculation submodule is used for respectively calculating a plurality of first differences corresponding to the initial course angle and the changed course angle, the initial pitch angle and the changed pitch angle, and the initial roll angle and the changed roll angle; and the detection submodule is used for determining the relative pose relationship of the belt conveyor relative to the self-moving tail according to the plurality of first difference values.

Optionally, in some embodiments, the apparatus 50 further comprises: a calculation module, configured to determine a third spatial coordinate of the displacement marker point according to the plurality of first spatial coordinates, determine a fourth spatial coordinate of the displacement marker point according to the plurality of second spatial coordinates, and the detection submodule is specifically configured to: and determining the relative pose relationship of the belt conveyor relative to the self-moving tail according to the plurality of first difference values and the second difference values.

Optionally, in some embodiments, the plurality of beacons are infrared beacons, and the binocular camera is provided with an infrared filter.

It should be noted that the foregoing explanation of the self-propelled tail attitude detection method is also applicable to the apparatus of this embodiment, and is not repeated herein.

In this embodiment, the attitude detection system of the self-moving tail comprises a plurality of beacons arranged on two sides of the belt conveyor, a binocular camera arranged on the self-moving tail and an industrial personal computer connected with the binocular camera, wherein an initial attitude angle of the belt conveyor relative to the self-moving tail is determined according to first beacon images of the beacons acquired by the binocular camera through the industrial personal computer, a changed attitude angle of the belt conveyor relative to the self-moving tail is determined according to second beacon images of the beacons acquired by the binocular camera through the industrial personal computer, and the relative attitude relationship of the belt conveyor relative to the self-moving tail is determined according to the initial attitude angle and the changed attitude angle through the industrial personal computer. Therefore, compared with the detection of the self-moving tail posture in the related technology, the scheme can detect the change of the posture angle between the belt conveyor and the self-moving tail and determine the relative spatial posture between the belt conveyor and the self-moving tail, so that the aim of detecting the self-moving tail posture in a non-horizontal plane environment can be fulfilled, the requirements of different operation scenes can be met, the posture detection effect of the self-moving tail is improved, in addition, the scheme can also avoid the interference of external factors, and the detection accuracy is improved. The method further solves the technical problems that the self-moving tail pose detection method in the related technology cannot be applied to a non-horizontal-plane working environment and is low in detection precision.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

In order to implement the foregoing embodiments, the present application further provides a computer program product, which when executed by an instruction processor in the computer program product, performs the self-moving tail posture detection method as provided in the foregoing embodiments of the present application.

FIG. 6 illustrates a block diagram of an exemplary computer device suitable for use to implement embodiments of the present application. The computer device 12 shown in fig. 6 is only an example and should not bring any limitation to the function and scope of use of the embodiments of the present application.

As shown in FIG. 6, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.

Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. These architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus, to name a few.

Computer device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

Memory 28 may include computer system readable media in the form of volatile Memory, such as Random Access Memory (RAM) 30 and/or cache Memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, and commonly referred to as a "hard drive").

Although not shown in FIG. 6, a disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a Compact disk Read Only Memory (CD-ROM), a Digital versatile disk Read Only Memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the application.

A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally perform the functions and/or methodologies of the embodiments described herein.

Computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with computer device 12, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Moreover, computer device 12 may also communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public Network such as the Internet) via Network adapter 20. As shown, network adapter 20 communicates with the other modules of computer device 12 via bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 16 executes various functional applications and self-moving tail attitude detection by executing programs stored in the system memory 28, for example, implementing the self-moving tail attitude detection method mentioned in the foregoing embodiments.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

It should be noted that, in the description of the present application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present application, "a plurality" means two or more unless otherwise specified.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.