CN110057292A - The determination method and apparatus of compartment charging ratio - Google Patents
The determination method and apparatus of compartment charging ratio Download PDFInfo
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- CN110057292A CN110057292A CN201910443780.XA CN201910443780A CN110057292A CN 110057292 A CN110057292 A CN 110057292A CN 201910443780 A CN201910443780 A CN 201910443780A CN 110057292 A CN110057292 A CN 110057292A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a kind of determination method and apparatus of compartment charging ratio, are related to communication and logistics technical field, utilize the three dimensional point cloud in structured light sensor acquisition target compartment；According to three dimensional point cloud, the measurement of cargo of the cargo in target compartment is calculated；By measurement of cargo divided by the maximum volume in the target compartment measured in advance, the charging ratio in target compartment is obtained, this mode for directly measuring measurement of cargo improves the precision of measurement of cargo, and then improve the precision of charging ratio calculated.
Description
Technical field
The present invention relates to communication and logistics technical fields, more particularly, to a kind of determination method and apparatus of compartment charging ratio.
Background technique
Lorry deliver cargo during, the charging ratio of boxcar directly influence train number scheduling, unit shipping at
This, is the key index for influencing the entire logistic industry level of profitability.When calculating charging ratio, it usually needs obtain cargo
Volume, when obtaining the volume of cargo, staff obtains cargo based on amount side's function of mobile terminal in advance before entrucking
Volume, but the difference in the accuracy error due to measurement of cargo, cumulative errors and specific entrucking can not obtain reality after entrucking
Charge of trucks rate.This charging ratio calculated indirectly by way of accumulative measurement of cargo and container volume and actual load
It is had differences between rate.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of determination method and apparatus of compartment charging ratio, between alleviating
It obtains the measurement of cargo taken and calculates charging ratio, and charging ratio is caused to calculate inaccurate technical problem.
In a first aspect, the embodiment of the invention provides a kind of determination method of compartment charging ratio, this method comprises: utilizing knot
The three dimensional point cloud in structure optical sensor acquisition target compartment；According to three dimensional point cloud, the cargo in target compartment is calculated
Measurement of cargo；By measurement of cargo divided by the maximum volume in the target compartment measured in advance, the charging ratio in target compartment is obtained.
Further, according to three dimensional point cloud, the step of calculating the measurement of cargo of the cargo in target compartment, comprising:
When the predeterminated position outside the compartment tail that structured light sensor is placed on target compartment, according to three dimensional point cloud, three-dimensional point is determined
The compartment frame profile region in target compartment in cloud data；Wherein, the predeterminated position outside the tail of compartment is that the visual field of structured light sensor is covered completely
The position in lid target compartment；In the three dimensional point cloud that compartment frame profile region is included, the compartment of the three dimensional point cloud is judged
Whether depth is equal to the compartment depth in the target compartment measured in advance；If not, the three-dimensional point for being included according to compartment frame profile region
Cloud data calculate the vacant capacity in target compartment；The vacant capacity that the maximum volume in target compartment is subtracted to target compartment, obtains mesh
Mark the measurement of cargo of the cargo in compartment.
Further, according to three dimensional point cloud, the step of the compartment frame profile region in target compartment in three dimensional point cloud is determined
Suddenly, comprising: obtain the depth data of each cloud of three dimensional point cloud；The attenuation amplitude of depth data is greater than default decaying
The point cloud of amplitude is determined as the point cloud of protrusion；Wherein, attenuation amplitude is the depth data of point cloud and the depth number of consecutive points cloud
Difference between；Line is carried out to the point cloud of all protrusions；Identify continuous and closure the quadrangle line in line；
The region that quadrangle line surrounds is determined as to the compartment frame profile region in target compartment.
Further, the step of determining the compartment frame profile region in target compartment in three dimensional point cloud, comprising: when target compartment
For no roof class compartment when, according to the virtual height of wagon in presetting target compartment, determine target in three dimensional point cloud
The compartment frame profile region in compartment.
Further, according to three dimensional point cloud, the step of calculating the measurement of cargo of the cargo in target compartment, comprising:
When multiple predeterminated position points in the compartment that structured light sensor is placed on target compartment, by the more of structured light sensor acquisition
Under the three dimensional point cloud calibration to pre-established coordinate system of a predeterminated position point, data splicing is carried out, target compartment is obtained
Full compartment point cloud data；Wherein, predeterminated position point is preset compartment measurement point；According to full compartment point cloud data, obtain
The measurement of cargo of cargo in target compartment.
Further, method further include: determine that target compartment corresponds to the license board information of vehicle；In pre-established vehicle data
In library, the car information that license board information corresponds to the compartment of vehicle is obtained, wherein car information includes that maximum volume and compartment are deep
Degree；Vehicle database include the license board information of vehicle, vehicle compartment maximum volume and the compartment compartment depth.
Further, the step of target compartment corresponds to the license board information of vehicle is determined, comprising: exist using visible light sensor
The license plate installation place of the corresponding vehicle in target compartment acquires the flat image information of the vehicle；From flat image information, identification
The license board information of the corresponding vehicle in target compartment.
Second aspect, the embodiment of the present invention also provide a kind of determining device of compartment charging ratio, which includes: acquisition mould
Block, for the three dimensional point cloud using structured light sensor acquisition target compartment；Measurement of cargo computing module, for according to three
Point cloud data is tieed up, the measurement of cargo of the cargo in target compartment is calculated；Charging ratio computing module is used for measurement of cargo divided by pre-
The charging ratio in target compartment is calculated in the maximum volume in the target compartment first measured.
Further, the device further include: license plate determining module, for determining that target compartment corresponds to the license plate letter of vehicle
Breath；Car information module is obtained, the vehicle for corresponding to the compartment of vehicle in pre-established vehicle database, obtaining license board information
Compartment information, wherein car information includes maximum volume and compartment depth；Vehicle database includes the license board information of vehicle, vehicle
Compartment maximum volume and the compartment compartment depth.
The third aspect, the embodiment of the invention provides a kind of server, which includes memory and processor, is somebody's turn to do
Memory is used to store the program for supporting processor to execute first aspect the method, which is configurable for executing and be somebody's turn to do
The program stored in memory.
Fourth aspect, the embodiment of the present invention also provides a kind of computer storage medium, for storing computer program instructions,
When computer executes shown computer program instructions, method as described in relation to the first aspect is executed.
The embodiment of the present invention bring it is following the utility model has the advantages that
A kind of determination method and apparatus of compartment charging ratio provided in an embodiment of the present invention, are acquired using structured light sensor
The three dimensional point cloud in target compartment；According to three dimensional point cloud, the measurement of cargo of the cargo in target compartment is calculated；By cargo
Volume obtains the charging ratio in target compartment divided by the maximum volume in the target compartment measured in advance, this directly to measure cargo body
Long-pending mode, improves the precision of measurement of cargo, and then improves the precision of charging ratio calculated.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention are in specification and attached drawing
Specifically noted structure is achieved and obtained.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those skilled in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of flow chart of the determination method of compartment charging ratio provided in an embodiment of the present invention；
Fig. 2 is the flow chart of the determination method of another compartment charging ratio provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of the determining device of compartment charging ratio provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of the determining device of another compartment charging ratio provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those skilled in the art institute without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
At present when calculating the charging ratio in compartment, staff is obtained before entrucking in advance based on amount side's function of mobile terminal
The volume of picking object by accumulative measurement of cargo and capaclty of the container volume as compartment, and then calculates compartment indirectly
Charging ratio, this measurement of cargo using indirect gain, which calculates charging ratio and will cause charging ratio, to be calculated inaccurate, is based on this, this hair
A kind of determination method and apparatus for compartment charging ratio that bright embodiment provides, can directly measure measurement of cargo, improve cargo
The computational accuracy of volume and charging ratio.
For convenient for understanding the present embodiment, first really to a kind of compartment charging ratio disclosed in the embodiment of the present invention
The method of determining describes in detail.
Embodiment one:
The embodiment of the invention provides a kind of determination methods of compartment charging ratio, with reference to a kind of compartment loading shown in FIG. 1
The flow chart of the determination method of rate, method includes the following steps:
Step S102 utilizes the three dimensional point cloud in structured light sensor acquisition target compartment；
Above-mentioned target compartment can be the section compartment in the carrier loaders such as lorry, in the process of acquisition three dimensional point cloud
In, structured light sensor can emit infrared light according to inner laser send-receive device into compartment, and receive to be reflected back red
Outside line, and then three-dimensional structure optical information and corresponding depth data information are obtained, obtain three dimensional point cloud.
Step S104 calculates the measurement of cargo of the cargo in target compartment according to three dimensional point cloud；
When calculating the measurement of cargo, can own by the cargo area where identification cargo according in cargo area
The depth value of point, and spacing square value between points calculate measurement of cargo, wherein the calculation formula of measurement of cargo are as follows:
Wherein, V is measurement of cargo, and N is the number of all the points of cargo area；Depth (n) is n-th point of corresponding depth
Angle value；S (n) be n-th point and the (n+1)th middle ware away from square value, which is constant；
Above mentioned goods volume can also calculate measurement of cargo by way of calculating the void volume in target compartment；Its
In, the calculation of void volume is similar to the calculation formula of above mentioned goods volume；At this point, the calculation formula of measurement of cargo is equal to
The maximum volume in the target compartment measured in advance and the difference of void volume.
Step S106 obtains the dress in target compartment by measurement of cargo divided by the maximum volume in the target compartment measured in advance
Load rate；Wherein, the maximum volume in above-mentioned target compartment is the volumetric values of loaded goods under target compartment full load condition.
A kind of determination method and apparatus of compartment charging ratio provided in an embodiment of the present invention, are acquired using structured light sensor
The three dimensional point cloud in target compartment；According to three dimensional point cloud, the measurement of cargo of the cargo in target compartment is calculated；By cargo
Volume obtains the charging ratio in target compartment divided by the maximum volume in the target compartment measured in advance, this to utilize structure light sensing
Device directly measures the mode of measurement of cargo, improves the precision of measurement of cargo, and then improves the precision of charging ratio calculated.
On the basis of the determination method of compartment charging ratio provided by the above embodiment, Fig. 2 shows another compartment dresses
The flow chart of the determination method of load rate, method includes the following steps:
Step S200 determines that target compartment corresponds to the license board information of vehicle；
During determining license board information, license board information can be manually entered in a kind of mode by staff, another
Mode can use image capture device, and such as visible light sensor obtains license plate letter automatically by way of acquiring and identifying image
Breath can be realized during obtaining license board information automatically by following steps 01 and step 02:
Step 01, the vehicle is acquired in the license plate installation place of the corresponding vehicle in target compartment using visible light sensor
Flat image information；
Step 02, from flat image information, the license board information of the corresponding vehicle in identification target compartment.It was identified above-mentioned
Cheng Zhong first has to determine the band of position where license plate, secondly, being known in the determining band of position according to pre-established license plate
Other algorithm carries out the identification of text, number and letter.
Step S202 obtains the car information that license board information corresponds to the compartment of vehicle in pre-established vehicle database；
It is that above-mentioned pre-established vehicle database can be artificial typing or obtained from information of vehicles registered place such as vehicle administration office etc.
It obtains；Above-mentioned vehicle database includes the model and license board information, the vehicles details such as car information of vehicle of vehicle, compartment
Information includes maximum volume, compartment depth, can also include the information such as box width, height.
Step S204 utilizes the three dimensional point cloud in structured light sensor acquisition target compartment；
Step S206 executes step if structured light sensor is placed on the predeterminated position outside the compartment tail in target compartment
S208 executes step S216 if structured light sensor is placed on multiple predeterminated position points in the compartment in target compartment；
Wherein, the predeterminated position outside the tail of compartment is that the position in target compartment can be completely covered in the visual field of structured light sensor,
Based on this, structured light sensor can just collect the point cloud data of complete car body；Predeterminated position point in compartment is
Preset compartment measurement point, the compartment measurement point can be some corner or position in compartment, which is by dividing
The visual field covering surface for analysing structured light sensor constitutes the holistic vision in compartment according to the corresponding visual field combination of multiple predeterminated position points
Policy setting compartment measurement point；
Step S208 determines the compartment frame profile region in target compartment in three dimensional point cloud according to three dimensional point cloud；
During determining compartment frame profile region, different implementations can be selected according to the type in target compartment, when
Target compartment can be realized there are when complete compartment compartment frame by 11~step 15 of following steps:
Step 11, the depth data of each cloud of three dimensional point cloud is obtained；
Step 12, the attenuation amplitude of depth data is greater than to the point cloud of default attenuation amplitude, is determined as the point cloud of protrusion；
Wherein, attenuation amplitude is the difference between the depth data of point cloud and the depth data of consecutive points cloud；
For example, the depth data of certain point cloud be (x, y, z), and the depth data of the consecutive points cloud of the cloud be (x+1,
Y, z-100), when judging that attenuation amplitude 100 is greater than default attenuation amplitude, determine that above-mentioned cloud is the point cloud of protrusion；Its
In, x, y, z are respectively the coordinate value of coordinate system where depth data.It is worth noting that above-mentioned default attenuation amplitude is basis
The judgement demand setting of practical prominent object point cloud, the depth data of above-mentioned cloud is only one embodiment data, is not represented
True point cloud data.
Step 13, line is carried out to the point cloud of all protrusions；
Step 14, continuous and closure the quadrangle line in line is identified；
Step 15, the region that quadrangle line surrounds is determined as to the compartment frame profile region in target compartment.
In the way of this compartment frame profile region for determining target compartment by the corresponding gradient information of depth data, it can obtain
Accurate compartment frame profile.
When target compartment is without complete compartment compartment frame, such as vehicle without compartment, high trailer (surrounding has fence but without roof)
Compartment, step S208, determine the compartment frame profile region in target compartment in three dimensional point cloud another implementation include with
Lower step:
When compartment of the target compartment for no roof class, according to the virtual height of wagon in presetting target compartment, determine
The compartment frame profile region in target compartment in three dimensional point cloud；Wherein, virtual height of wagon is the cargo that the compartment highest can load
Highly or the maximum height that is allowed to of compartment；
Step S210 judges the compartment of the three dimensional point cloud in the three dimensional point cloud that compartment frame profile region is included
Whether depth is equal to the compartment depth in the target compartment measured in advance；If not, step S212 is executed, if so, executing step
S218；
Step S212 calculates the vacant capacity in target compartment according to the three dimensional point cloud that compartment frame profile region is included；
The maximum volume in target compartment is subtracted the vacant capacity in target compartment by step S214, obtains the goods in target compartment
The measurement of cargo of object；
Step S216 demarcates the three dimensional point cloud of multiple predeterminated position points of structured light sensor acquisition to pre-established
Coordinate system under, carry out data splicing, obtain the full compartment point cloud data in target compartment；
Step S218 obtains target according to the three dimensional point cloud that full compartment point cloud data or compartment frame profile region are included
The measurement of cargo of cargo in compartment；
Step S220 obtains the dress in target compartment by measurement of cargo divided by the maximum volume in the target compartment measured in advance
Load rate.
The determination method of compartment charging ratio provided by the above embodiment can stand in the case where cargo is more in compartment
Outside acquires three dimensional point cloud, and the compartment frame profile region of vehicle frame is determined according to three dimensional point cloud, and then when depth data obtains
To compartment depth be not up to the compartment depth of vehicle database, determine that cargo accounts for the space of interior, utilize vehicle
Compartment maximum volume subtracts free volume and obtains measurement of cargo, then charging ratio is calculated；
In the case that cargo is less, acquisition point cloud data in compartment compartment may stand in, and pass through Point-clouds Registration
Mode, obtains the full compartment point cloud data of car body, and this short distance acquires and splices the mode of point cloud data and ensure that a little
The accuracy of cloud data also ensures the accuracy rate of the measurement of cargo and charging ratio that thus calculate, avoids compartment intermediate empty
Charging ratio in the case of load calculates the problem of inaccuracy.
To sum up, above-mentioned two kinds directly measure compartment in measurement of cargo mode, ensure that measurement of cargo and charging ratio
Precision.
Embodiment two:
On the basis of the determination method of compartment charging ratio provided by the above embodiment, the embodiment of the present invention also provides one kind
The determining device of compartment charging ratio, with reference to a kind of structural schematic diagram of the determining device of compartment charging ratio shown in Fig. 3, the device
Include:
Acquisition module 302, for the three dimensional point cloud using structured light sensor acquisition target compartment；
Measurement of cargo computing module 304, for calculating the cargo body of the cargo in target compartment according to three dimensional point cloud
Product；
Charging ratio computing module 306 is calculated for the maximum volume by measurement of cargo divided by the target compartment measured in advance
Obtain the charging ratio in target compartment.
On the basis of the determining device of compartment charging ratio provided by the above embodiment, Fig. 4 also shows another compartment
The structural schematic diagram of the determining device of charging ratio, the device further include with lower module:
License plate determining module 402, for determining that target compartment corresponds to the license board information of vehicle；
Car information module 404 is obtained, corresponds to vehicle in pre-established vehicle database, obtaining license board information
The car information in compartment, wherein car information includes maximum volume and compartment depth；Vehicle database includes the license plate letter of vehicle
It ceases, the compartment depth of the maximum volume in the compartment of vehicle and the compartment.
The determining device of compartment charging ratio provided in an embodiment of the present invention, with compartment charging ratio provided by the above embodiment
It determines method technical characteristic having the same, so also can solve identical technical problem, reaches identical technical effect.
The embodiment of the invention also provides a kind of server, which includes memory and processor, above-mentioned storage
Device is used to store the program for supporting processor to execute one the method for above-described embodiment, and above-mentioned processor is configurable for executing
The program stored in the memory.
Further, the embodiment of the present invention also provides a kind of computer storage medium, for storing computer program instructions, when
When computer executes shown computer program instructions, the method as described in above-described embodiment one is executed.
The determination method, apparatus of compartment charging ratio provided by the embodiment of the present invention and the computer program of system produce
Product, the computer readable storage medium including storing program code, before the instruction that said program code includes can be used for execution
Method described in the embodiment of the method for face, specific implementation can be found in embodiment of the method, and details are not described herein.
For convenience and simplicity of description, the specific work process of the device of foregoing description can be implemented with reference to preceding method
Corresponding process in example, details are not described herein.
Flow chart and structural block diagram in attached drawing show the method, apparatus and calculating of multiple embodiments according to the present invention
The architecture, function and operation in the cards of machine program product.In this regard, each box in flowchart or block diagram can
To represent a part of a module, section or code, a part of the module, section or code includes one or more
A executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, in box
The function of being marked can also occur in a different order than that indicated in the drawings.For example, two continuous boxes actually may be used
To be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that
, the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart can be with executing
Defined function or the dedicated hardware based system of movement realize, or can use specialized hardware and computer instruction
Combination is to realize.
In several embodiments provided herein, it should be understood that disclosed method and apparatus, it can be by other
Mode realize.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only one
Kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some communication interfaces, the INDIRECT COUPLING or logical of device or unit
Letter connection can be electrical property, mechanical or other forms.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
Above embodiments, only a specific embodiment of the invention, to illustrate technical solution of the present invention, rather than to it
Limitation, scope of protection of the present invention is not limited thereto, although the present invention is described in detail referring to the foregoing embodiments,
It should be understood by those skilled in the art that: anyone skilled in the art in the technical scope disclosed by the present invention,
It still can modify to technical solution documented by previous embodiment or can readily occur in variation, or to part
Technical characteristic is equivalently replaced；And these modifications, variation or replacement, it does not separate the essence of the corresponding technical solution this hair
The spirit and scope of bright embodiment technical solution, should be covered by the protection scope of the present invention.Therefore, protection of the invention
Range should be subject to the protection scope in claims.
Claims (10)
1. a kind of determination method of compartment charging ratio, which is characterized in that the described method includes:
Utilize the three dimensional point cloud in structured light sensor acquisition target compartment；
According to the three dimensional point cloud, the measurement of cargo of the cargo in the target compartment is calculated；
By the measurement of cargo divided by the maximum volume in the target compartment measured in advance, the loading in the target compartment is obtained
Rate.
2. the method according to claim 1, wherein calculating the target carriage according to the three dimensional point cloud
The step of measurement of cargo of cargo in compartment, comprising:
When the predeterminated position outside the compartment tail that the structured light sensor is placed on the target compartment, according to the three-dimensional point cloud
Data determine the compartment frame profile region in target compartment in the three dimensional point cloud；Wherein, the predeterminated position outside the compartment tail is institute
The position in the target compartment is completely covered in the visual field for stating structured light sensor；
In the three dimensional point cloud that compartment frame profile region is included, judge the three dimensional point cloud compartment depth whether etc.
Compartment depth in the target compartment measured in advance；
If not, calculating the vacant capacity in the target compartment according to the three dimensional point cloud that compartment frame profile region is included；
The vacant capacity that the maximum volume in the target compartment is subtracted to the target compartment obtains the cargo in the target compartment
Measurement of cargo.
3. according to the method described in claim 2, it is characterized in that, determining the three-dimensional point according to the three dimensional point cloud
In cloud data the step of the compartment frame profile region in target compartment, comprising:
Obtain the depth data of each cloud of the three dimensional point cloud；
The attenuation gradient of the depth data is greater than to the point cloud of default attenuation gradient, is determined as the point cloud of protrusion；Wherein, institute
State the difference between the depth data of the point cloud on the depth data that attenuation gradient is point cloud and side；
Line is carried out to the point cloud of all protrusions；
Identify continuous and closure the quadrangle line in the line；
The region that the quadrangle line surrounds is determined as to the compartment frame profile region in the target compartment.
4. according to the method described in claim 2, it is characterized in that, determining the compartment frame in target compartment in the three dimensional point cloud
The step of profile region, comprising:
When compartment of the target compartment for no roof class, according to the virtual height of wagon in the presetting target compartment,
Determine the compartment frame profile region in target compartment in the three dimensional point cloud.
5. the method according to claim 1, wherein calculating the target carriage according to the three dimensional point cloud
The step of measurement of cargo of cargo in compartment, comprising:
When multiple predeterminated position points in the compartment that the structured light sensor is placed on the target compartment, by the structure
Under the three dimensional point cloud calibration to pre-established coordinate system of multiple predeterminated position points of optical sensor acquisition, data spelling is carried out
It connects, obtains the full compartment point cloud data in the target compartment；Wherein, the predeterminated position point is the measurement of preset compartment
Point；
According to the full compartment point cloud data, the measurement of cargo of the cargo in the target compartment is obtained.
6. the method according to claim 1, wherein the method also includes:
Determine that the target compartment corresponds to the license board information of vehicle；
In pre-established vehicle database, the car information that the license board information corresponds to the compartment of vehicle is obtained, wherein described
Car information includes maximum volume and compartment depth；The vehicle database includes the vehicle of the license board information of vehicle, the vehicle
The maximum volume in compartment and the compartment depth in the compartment.
7. according to the method described in claim 6, it is characterized in that, determining that the target compartment corresponds to the license board information of vehicle
Step, comprising:
Using visible light sensor in the license plate installation place of the corresponding vehicle in the target compartment, the flat image of the vehicle is acquired
Information；
From the flat image information, the license board information of the corresponding vehicle in the target compartment is identified.
8. a kind of determining device of compartment charging ratio, which is characterized in that described device includes:
Acquisition module, for the three dimensional point cloud using structured light sensor acquisition target compartment；
Measurement of cargo computing module, for calculating the cargo of the cargo in the target compartment according to the three dimensional point cloud
Volume；
Charging ratio computing module, for the maximum volume by the measurement of cargo divided by the target compartment measured in advance, meter
Calculation obtains the charging ratio in the target compartment.
9. device according to claim 8, which is characterized in that described device further include:
License plate determining module, for determining that the target compartment corresponds to the license board information of vehicle；
Car information module is obtained, in pre-established vehicle database, obtaining the vehicle that the license board information corresponds to vehicle
The car information in compartment, wherein the car information includes maximum volume and compartment depth；The vehicle database includes vehicle
License board information, the vehicle compartment maximum volume and the compartment compartment depth.
10. a kind of server, which is characterized in that the server includes memory and processor, and the memory is for storing
The processor perform claim is supported to require the program of 1~7 any the method, the processor is configured to for executing institute
State the program stored in memory.
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| CN111275753A (en) * | 2020-01-17 | 2020-06-12 | 中国建筑第八工程局有限公司 | Method for measuring volume of sand and stone in carriage |
| CN112037177A (en) * | 2020-08-07 | 2020-12-04 | 浙江大华技术股份有限公司 | Method and device for evaluating carriage loading rate and storage medium |
| CN112683179A (en) * | 2019-10-18 | 2021-04-20 | 杭州海康威视系统技术有限公司 | Method, device and equipment for detecting height of truck breast board and storage medium |
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| CN112037177A (en) * | 2020-08-07 | 2020-12-04 | 浙江大华技术股份有限公司 | Method and device for evaluating carriage loading rate and storage medium |
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| CN113888622A (en) * | 2021-10-14 | 2022-01-04 | 吉旗（成都）科技有限公司 | Method and device for determining cargo volume in carriage, electronic equipment and storage medium |
| WO2023236825A1 (en) * | 2022-06-06 | 2023-12-14 | 京东科技控股股份有限公司 | Method and apparatus for monitoring capacity utilization rate, and computer-readable storage medium |
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