CN-122024377-A - Vehicle guiding method and device, electronic equipment and readable storage medium

CN122024377ACN 122024377 ACN122024377 ACN 122024377ACN-122024377-A

Abstract

The application relates to a vehicle guiding method, a device, an electronic device, a computer readable storage medium and a computer program product, which are applied to an intelligent oiling system, and are characterized in that the intelligent oiling system is connected with a first image acquisition unit, the intelligent oiling system comprises a second image acquisition unit and an oiling robot, the method comprises the steps of receiving a first message sent by the first image acquisition unit, wherein the first message comprises an event type; the method comprises the steps of detecting an event type in a first message, triggering a second image acquisition unit to detect a target, wherein the first event represents that a vehicle is in a surrounding area of a refueling robot, determining detection information and first position information of a fuel filler cover plate of the vehicle, wherein the first position information comprises lateral position information of the fuel filler cover plate on a vehicle body of the vehicle, determining vehicle guiding information based on the detection information and the first position information of the fuel filler cover plate, and outputting a vehicle guiding prompt based on the vehicle guiding information.

Inventors

Cai Lintai
ZHAO HONGHUA
WANG SONG
WANG RENXIANG
YANG LU
ZHANG ZIAO

Assignees

易嘉油智能机器人有限责任公司

Dates

Publication Date: 20260512
Application Date: 20251225

Claims (11)

1. A vehicle guidance method applied to an intelligent fueling system, wherein the intelligent fueling system is wired or wirelessly connected to a first image acquisition unit, the intelligent fueling system comprising a second image acquisition unit and a fueling robot, the method comprising: Receiving a first message sent by a first image acquisition unit, wherein the first message comprises an event type; triggering the second image acquisition unit to perform target detection in response to the detection that the event type in the first message is a first event, wherein the first event indicates that the vehicle is in the peripheral area of the refueling robot; In response to detecting a filler cap of the vehicle, determining detection information for the filler cap and first location information comprising lateral location information for the filler cap on the vehicle body; determining vehicle guidance information based on the detection information and the first position information of the filler cover plate; And outputting a vehicle guiding prompt based on the vehicle guiding information.
2. The vehicle guidance method of claim 1, wherein the filler cap detection information includes second position information of the filler cap, the second position information of the filler cap including spatial coordinates of a center or centroid of the filler cap; The determining, in response to detecting the filler cap, detection information and first location information for the filler cap includes: determining second position information and first position information of the filler cap plate; the determining vehicle guidance information based on the detection information and the first position information of the fuel filler cover plate includes: Determining a first defined area of the fueling robot, the first defined area for defining an effective working space of the fueling robot; determining orientation information of the filler cap relative to the first defined area based on second location information of the filler cap and the first defined area; vehicle guidance information is determined based on the azimuth information and the first position information.
3. The vehicle guidance method according to claim 1, wherein the second image capturing unit includes a binocular vision capturing device, the detection information of the fuel filler cap includes detection identification information, the detection identification information includes a first identification for indicating that only the left image capturing unit of the binocular vision capturing device detects the fuel filler cap and/or a second identification for indicating that only the right image capturing unit of the binocular vision capturing device detects the fuel filler cap.
4. The vehicle guidance method according to claim 3, wherein the determining vehicle guidance information based on the detection information of the filler cap and the first position information includes: Determining a relative position between the vehicle and a target parking area based on the detection identification information and the first position information in response to determining that the detection identification information is a first identification or a second identification; vehicle guidance information is determined based on a relative position between the vehicle and a target parking area.
5. The vehicle guidance method of claim 4, wherein the filler cap detection information further includes second position information of the filler cap, the second position information of the filler cap including spatial coordinates of a center or centroid of the filler cap; After determining the vehicle guiding information based on the relative position between the vehicle and the target parking area, the method further comprises: Determining second position information of the filler cap plate and a first limited area of the oiling robot in response to detecting that the detection identification information is a third identification; determining orientation information of the filler cap relative to the first defined area based on second location information of the filler cap and the first defined area; and updating the vehicle guiding information based on the azimuth information and the first position information.
6. The vehicle guidance method according to any one of claims 1-5, characterized in that outputting a vehicle guidance prompt based on the vehicle guidance information includes: Based on the vehicle guidance information, outputting at least one of a vehicle guidance graphical interface, a vehicle guidance voice prompt, a vehicle guidance text prompt, a vehicle guidance light prompt and a ground projection prompt.
7. The vehicle guidance method according to claim 6, wherein the vehicle guidance graphical interface includes a graphical object of the vehicle, a graphical object of a target parking area, and a graphical object of the fueling robot, wherein the graphical object of the target parking area is used to represent an ideal parking position of the vehicle in a predetermined shape, a relative positional relationship between the graphical object of the vehicle and the graphical object of the target parking area is determined based on the vehicle guidance information, and the relative positional relationship between the graphical object of the vehicle and the graphical object of the fueling robot is determined based on the first positional information.
8. A vehicle guidance apparatus for use with an intelligent fueling system, the intelligent fueling system being wired or wirelessly coupled to a first image acquisition unit, the intelligent fueling system including a second image acquisition unit and a fueling robot, the apparatus comprising: The receiving module is used for receiving a first message sent by the first image acquisition unit, wherein the first message comprises an event type; The target detection module is used for responding to the fact that the event type in the first message is a first event, and triggering the second image acquisition unit to carry out target detection, wherein the first event indicates that the vehicle is located in the peripheral area of the refueling robot; A first determination module configured to determine, in response to detecting a filler cap of the vehicle, detection information of the filler cap and first location information including lateral location information of the filler cap on the vehicle body; the second determining module is used for determining vehicle guiding information based on the detection information of the oil filler cover plate and the first position information; and the output module is used for outputting a vehicle guiding prompt based on the vehicle guiding information.
9. An electronic device, the electronic device comprising: At least one processor; a memory for storing the at least one processor-executable instructions, wherein the at least one processor is configured to execute the instructions to implement the method of any one of claims 1-7.
10. A computer readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the method according to any of claims 1-7.
11. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1-7.

Description

Vehicle guiding method and device, electronic equipment and readable storage medium Technical Field The present invention relates to the field of intelligent fueling, and more particularly, to a vehicle guiding method, apparatus, electronic device, computer readable storage medium, and computer program product. Background With the development of automation technology, an automatic fueling system is gradually put into use at a fueling station in a partial area. An automatic fueling system generally includes a visual identification module and a fueling robot capable of identifying the position of a filler cap with the vehicle stopped at a designated location, performing uncapping, gun insertion, and fueling operations. However, in practical applications, the working range of the fueling robot is limited due to constraints imposed by mechanical structure, arm deployment, safety distance, etc., i.e. the robot often has a fixed active area. If the parking position of the vehicle is improper, the robot cannot complete the automatic oiling operation, manual intervention is needed, and a driver is guided to change the parking position by people, so that the automation level and the user experience are affected. In the prior art, some gas stations guide vehicles to drive into a parking area by arranging ground markings or ground sensors. However, these methods can only rely on the overall position of the vehicle, and cannot be conducted dynamically and accurately. Because the length and width of the vehicles of different vehicle types are different, and the position difference of the oil filler cover plates of different vehicle types is obvious, the parking positions of the vehicles are difficult to unify, and manual intervention is still needed in the actual guiding process. In addition, the driver is inconvenient to accurately judge the relative position relationship between the vehicle and the ground marking because the driver is in the vehicle during driving, and further the driver is difficult to accurately park the vehicle to a proper position. Based on this, there is a need for a dynamic, accurate vehicle guidance method that addresses the above-described problems faced by existing automated fueling systems. Disclosure of Invention In view of the foregoing, it is desirable to provide a vehicle guiding method, apparatus, electronic device, computer readable storage medium and computer program product, which can solve the technical problem that manual intervention is required in the vehicle guiding process, and it is difficult to provide dynamic and accurate guiding for the vehicle. A first aspect of an embodiment of the present invention provides a vehicle guiding method, where the method is applied to an intelligent refueling system, where the intelligent refueling system is connected with a first image acquisition unit in a wired or wireless manner, and the intelligent refueling system includes a second image acquisition unit and a refueling robot, and the method includes: Receiving a first message sent by a first image acquisition unit, wherein the first message comprises an event type; triggering the second image acquisition unit to perform target detection in response to the detection that the event type in the first message is a first event, wherein the first event indicates that the vehicle is in the peripheral area of the refueling robot; Determining, in response to detecting a filler cap of the vehicle, detection information for the filler cap and first location information, the first location information including lateral location information for the filler cap on the vehicle body; Determining vehicle guiding information based on the detection information of the oil filler cover plate and the first position information; and outputting a vehicle guidance prompt based on the vehicle guidance information. A second aspect of an embodiment of the present invention provides a vehicle guiding device, where the device is applied to an intelligent fuel filling system, and is characterized in that the intelligent fuel filling system is connected with a first image acquisition unit in a wired or wireless manner, the intelligent fuel filling system includes a second image acquisition unit and a fuel filling robot, and the device includes: the receiving module is used for receiving a first message sent by the first image acquisition unit, wherein the first message comprises an event type; The target detection module is used for responding to the detection that the event type in the first message is a first event and triggering the second image acquisition unit to carry out target detection, wherein the first event indicates that the vehicle is in the peripheral area of the refueling robot; A first determining module configured to determine, in response to detecting a filler cap of the vehicle, detection information of the filler cap and first position information including lateral position information of the fill