摘要：【中文】本申请公开了一种触发信号发送的方法和装置，属于计算机技术领域。本申请实施例提供的一种触发信号发送的方法，在传送设备的运行过程中，对传送设备上的目标区域进行拍摄，得到目标图像。对该目标图像进行识别，当从该目标图像中识别出目标物体时，向后续处理设备发送用于指示有目标物体通过的信号。该方法完全通过对目标物体进行图像识别来触发，避免了当目标物体较小时，传感器感知不到光信号的变化导致触发准确率低的情况的发生，提高了触发准确率。 【EN】The application discloses a method and a device for sending a trigger signal, and belongs to the technical field of computers. According to the method for sending the trigger signal, the target area on the transmission equipment is shot in the operation process of the transmission equipment, and the target image is obtained. The target image is recognized, and when a target object is recognized from the target image, a signal indicating that the target object has passed is sent to the subsequent processing apparatus. The method completely performs image recognition on the target object to trigger, avoids the occurrence of low triggering accuracy caused by the fact that the sensor cannot sense the change of the optical signal when the target object is small, and improves the triggering accuracy.

摘要：【中文】本发明公开了一种云台姿态估计方法及装置，属于云台技术领域。方法包括：分别获取第i+1时刻的云台中图像采集设备在云台坐标系三轴的角速度和线加速度、以及云台中航向轴电机的输出轴的角位移；基于第i+1时刻的云台中图像采集设备在云台坐标系三轴的角速度和线加速度、以及云台中航向轴电机的输出轴的角位移，计算第i+1时刻的云台平台误差角，获取第i时刻的云台姿态，基于第i+1时刻的云台平台误差角，更新第i时刻的云台姿态，得到第i+1时刻的云台姿态。装置：第一获取模块、计算模块、第二获取模块和更新模块。本发明能够提高云台姿态估计精度。 【EN】The invention discloses a holder attitude estimation method and device, and belongs to the technical field of holders. The method comprises the following steps: respectively acquiring the angular speed and linear acceleration of the image acquisition equipment in the holder at the three axes of the holder coordinate system at the (i + 1) th moment and the angular displacement of an output shaft of a course shaft motor in the holder; based on the angular speed and linear acceleration of the image acquisition equipment in the pan-tilt at the three axes of the pan-tilt coordinate system at the moment i +1 and the angular displacement of the output shaft of the course shaft motor in the pan-tilt, calculating the pan-tilt platform error angle at the moment i +1, acquiring the pan-tilt posture at the moment i, and updating the pan-tilt posture at the moment i based on the pan-tilt platform error angle at the moment i +1 to acquire the pan-tilt posture at the moment i + 1. The device comprises the following steps: the device comprises a first acquisition module, a calculation module, a second acquisition module and an updating module. The invention can improve the estimation precision of the posture of the holder.

摘要：【中文】本发明公开了一种记录物品的物流信息方法、装置及系统，属于物流跟踪技术领域。方法包括：获取第一摄像装置和第二摄像装置对目标物品拍摄得到的全局图片和局部图片，全局图片是对目标物品在传送装置上的传送画面进行拍摄得到，局部图片是对目标物品上包括物流信息记录的目标区域进行拍摄得到；将局部图片叠加至全局图片的第一指定区域内，得到目标物品的物流信息记录图片。本发明保证了得到的物流信息记录图片中物流信息记录与目标物品之间匹配的准确性，使得定位更为准确。 【EN】The invention discloses a method, a device and a system for recording logistics information of an article, and belongs to the technical field of logistics tracking. The method comprises the following steps: acquiring a global picture and a local picture which are obtained by shooting a target object by a first camera device and a second camera device, wherein the global picture is obtained by shooting a transmission picture of the target object on a transmission device, and the local picture is obtained by shooting a target area including logistics information records on the target object; and superposing the local picture to a first designated area of the global picture to obtain a logistics information recording picture of the target object. The method and the device ensure the matching accuracy between the logistics information record and the target object in the obtained logistics information record picture, so that the positioning is more accurate.

摘要：【中文】本发明公开了一种交通控制方法、装置及系统，属于电子技术领域。所述方法包括：当检测到目标移动对象对AGV行驶路径中的交通控制区域的通行事件时，查询所述交通控制区域的通行权的分配情况；基于所述交通控制区域的通行权的分配情况，判定是否允许所述目标移动对象进入所述交通控制区域。本发明在检测到目标移动对象对交通控制区域的通行事件时，可以查询该交通控制区域的通行权的分配情况，并根据交通控制区域的通行权的分配情况，判定是否允许目标移动对象进入交通控制区域，从而避免了AGV碰撞事故的发生，提高了交通控制的效率。 【EN】The invention discloses a traffic control method, a traffic control device and a traffic control system, and belongs to the technical field of electronics. The method comprises the following steps: when a traffic event of a target moving object to a traffic control area in an AGV driving path is detected, inquiring the distribution condition of the right of way of the traffic control area; and determining whether to allow the target moving object to enter the traffic control area or not based on the distribution situation of the right of way of the traffic control area. When the traffic incident of the target moving object to the traffic control area is detected, the distribution condition of the right of way of the traffic control area can be inquired, and whether the target moving object is allowed to enter the traffic control area or not is judged according to the distribution condition of the right of way of the traffic control area, so that the occurrence of collision accidents of the AGV is avoided, and the traffic control efficiency is improved.

摘要：【中文】本申请提供了一种机器人的行驶控制方法，属于机器人技术领域。所述方法包括：在机器人行驶的行驶轨迹线的侧方对应设有车道导引线，在控制机器人行驶过程中，控制机器人旋转并拍摄机器人侧方地面的图像，在拍摄到的目标图像中检测到车道引导线时，利用目标图像、以及预设的车道导引线和行驶轨迹线的位置关系，控制机器人行驶到行驶轨迹线上。采用本申请，可以尽可能的保证机器人沿预定轨迹行驶。 【EN】The application provides a running control method of a robot, and belongs to the technical field of robots. The method comprises the following steps: the lane guide line is correspondingly arranged on the side of the running track line on which the robot runs, the robot is controlled to rotate and shoot images of the ground on the side of the robot in the running process of the robot, and when the lane guide line is detected in the shot target image, the robot is controlled to run to the running track line by using the target image and the preset position relationship between the lane guide line and the running track line. By adopting the method and the device, the robot can be ensured to run along the preset track as far as possible.

摘要：【中文】本发明公开了一种控制移动机器人、移动机器人实时建图的方法及装置，属于机器人技术领域。所述方法包括：在移动机器人行驶过程中，获取与所述移动机器人当前的位置信息匹配的地标的属性信息，所述地标的属性信息包括第一距离和/或第二距离，所述第一距离为所述地标与其侧方的一条车道线之间的距离，所述第二距离为所述地标与其侧方的另一条车道线之间的距离；根据所述位置信息和获取的地标的属性信息，控制所述移动机器人按照地面上设置的多个地标所连成的行驶路线进行行驶。在本发明实施例中，借助于地标的属性信息，控制移动机器人按照多个地标所连成的行驶路线进行行驶，可以避免控制移动机器人只能在车道的正中间行驶的问题，提高了灵活性。 【EN】The invention discloses a mobile robot, a method and a device for controlling the mobile robot to build a map in real time, and belongs to the technical field of robots. The method comprises the following steps: acquiring attribute information of a landmark matched with current position information of the mobile robot in the driving process of the mobile robot, wherein the attribute information of the landmark comprises a first distance and/or a second distance, the first distance is the distance between the landmark and one lane line on the side of the landmark, and the second distance is the distance between the landmark and the other lane line on the side of the landmark; and controlling the mobile robot to travel according to a travel route formed by connecting a plurality of landmarks arranged on the ground according to the position information and the acquired attribute information of the landmarks. In the embodiment of the invention, the mobile robot is controlled to run according to the running route formed by connecting a plurality of landmarks by virtue of the attribute information of the landmarks, so that the problem that the mobile robot can only be controlled to run in the middle of the lane can be avoided, and the flexibility is improved.

摘要：【中文】本发明实施例提供了一种自主定位方法、装置及移动机器人。方法包括：在移动机器人发生移动后，利用移动机器人上的激光测距仪进行障碍物探测；计算移动机器人在发生移动后的预估位姿；查找探测到的障碍物在预设的梯度地图中对应区域栅格的代价梯度；梯度地图中包括移动机器人所处场景中的多个栅格以及多个栅格的代价，栅格的代价用于表示该栅格是障碍物栅格的置信度，栅格的代价梯度用于表示该栅格代价增长最快的方向；根据探测到的障碍物在预设的梯度地图中对应栅格的代价梯度对预估位姿进行移动补偿，得到移动机器人在发生移动后的优化位姿。通过将激光末端点与梯度地图进行匹配，一次匹配获取优化位姿，有效降低了自主定位过程中的资源消耗。 【EN】The embodiment of the invention provides an autonomous positioning method, an autonomous positioning device and a mobile robot. The method comprises the following steps: after the mobile robot moves, detecting the obstacle by using a laser range finder on the mobile robot; calculating the estimated pose of the mobile robot after the mobile robot moves; searching the cost gradient of the detected barrier corresponding to the regional grid in a preset gradient map; the gradient map comprises a plurality of grids in a scene where the mobile robot is located and the cost of the grids, wherein the cost of the grids is used for indicating the confidence that the grids are the obstacle grids, and the cost gradient of the grids is used for indicating the direction in which the cost of the grids increases fastest; and performing motion compensation on the estimated pose according to the cost gradient of the detected obstacle corresponding to the grid in the preset gradient map to obtain the optimized pose of the mobile robot after the mobile robot moves. By matching the laser tail end point with the gradient map, the optimized pose is obtained through one-time matching, and the resource consumption in the autonomous positioning process is effectively reduced.

摘要：【中文】本发明实施例提供了一种移动机器人跨区域方法、装置、调度系统。其中，方法包括：在移动机器人在第一地图中的定位位置处于预设的与第二地图对应的交接位置后，确定所述第二地图中与所述交接位置对应的跳转位置，所述第一地图为所述移动机器人定位所使用的地图，所述第一地图和所述第二地图所对应的定位方式不同；将所述跳转位置确定为所述移动机器人在所述第二地图中的定位位置，并将所述移动机器人的定位方式切换为所述第二地图对应的定位方式。可以通过在交接位置确定移动机器人在第二地图中的定位位置，并将移动机器人定位方式切换为第二地图对应的定位方式，实行移动机器人在地图类型不同的活动区域之间进行跨区域作业。 【EN】The embodiment of the invention provides a cross-region method, a cross-region device and a cross-region scheduling system for a mobile robot. The method comprises the following steps: after a positioning position of a mobile robot in a first map is at a preset handover position corresponding to a second map, determining a jump position corresponding to the handover position in the second map, wherein the first map is a map used by the mobile robot for positioning, and the first map and the second map have different positioning modes; and determining the jump position as the positioning position of the mobile robot in the second map, and switching the positioning mode of the mobile robot to the positioning mode corresponding to the second map. The positioning position of the mobile robot in the second map can be determined at the handover position, and the positioning mode of the mobile robot is switched to the positioning mode corresponding to the second map, so that the mobile robot can perform the cross-region operation between the activity areas with different map types.

摘要：【中文】本发明实施例提供了一种相机增益确定方法及装置，方法包括：相机依次按照所设定的各相机增益采集光栅图像，根据这些光栅图像的质量参数，在所设定的各相机增益中确定最优相机增益。一些情况下，即使将投影仪的曝光时间调整到了其能承受的最大值或最小值，也仍不能调整到较优的曝光时间，不能获取到清晰的光栅图像；这种情况下，利用本方案将相机增益调整至最优，有助于获取到清晰的光栅图像。 【EN】The embodiment of the invention provides a camera gain determination method and a device, wherein the method comprises the following steps: the camera collects the grating images according to the set camera gains in sequence, and determines the optimal camera gain in the set camera gains according to the quality parameters of the grating images. In some cases, even if the exposure time of the projector is adjusted to the maximum value or the minimum value that the projector can bear, the exposure time cannot be adjusted to a better exposure time, and a clear raster image cannot be acquired; under the condition, the camera gain is adjusted to be optimal by the scheme, and the clear grating image can be acquired beneficially.

摘要：【中文】本发明实施例提供了一种图像数据获取方法、装置及系统，方法包括：投影仪针对待测量物体，按照不同的曝光时间投射测量结构光；相机采集每次投射结构光的光栅图像；电子设备在每张光栅图像中确定亮度值满足条件的有效区域；将所确定的每个有效区域进行拼接，得到有效图像数据。假设同时针对表面反射率大的物体A和表面反射率小的物体B采集光栅图像，由于投影仪的曝光时间不同，则一部分光栅图像中A清晰，一部分光栅图像中B清晰，将A清晰的图像区域与B清晰的图像区域进行拼接，得到的图像数据中A和B的清晰度均较高。 【EN】The embodiment of the invention provides an image data acquisition method, a device and a system, wherein the method comprises the following steps: the projector projects measurement structured light according to different exposure time aiming at an object to be measured; a camera collects a grating image of the projected structured light each time; the electronic equipment determines an effective area with a brightness value meeting a condition in each raster image; and splicing each determined effective area to obtain effective image data. Assuming that grating images are acquired simultaneously for an object A with large surface reflectivity and an object B with small surface reflectivity, because the exposure time of the projector is different, the A in a part of the grating images is clear, the B in a part of the grating images is clear, the image area with the clear A and the image area with the clear B are spliced, and the A and B in the obtained image data have higher definition.