CN107631691A - A kind of vehicle-mounted cargo calculation method of physical volume based on TOF technologies - Google Patents
A kind of vehicle-mounted cargo calculation method of physical volume based on TOF technologies Download PDFInfo
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- CN107631691A CN107631691A CN201710819854.6A CN201710819854A CN107631691A CN 107631691 A CN107631691 A CN 107631691A CN 201710819854 A CN201710819854 A CN 201710819854A CN 107631691 A CN107631691 A CN 107631691A
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Abstract
The invention discloses a kind of vehicle-mounted cargo calculation method of physical volume based on TOF technologies, including being arranged on TOF device above vehicular container, carried out when to vehicular container in loading process, TOF device is to before freighting and after loading, the surface characteristics of the goods medium to be changed in container carries out data acquisition, the distance of the target location of TOF device and dielectric surface after obtaining before loading and freight according to the flight time of light pulse；The present invention is scanned to dielectric surface in the container before freighting and after loading respectively by using TOF technologies, obtains dielectric surface feature in container, the measurement of cargo of loading is calculated according to both feature differences, cargo dead-weight is identified so as to intelligence.
Description
Technical field
The invention belongs to engineering car transportation management technical field, is related to a kind of vehicle-mounted cargo volume based on TOF technologies
Computational methods.
Background technology
Currently, domestic many cities are all being built or are planning to build subway transportation facility, in order to solve subway shield tunnel construction
Middle mining machinery is with this contradiction of Transport Machinery un-coordinated development, it is necessary to largely transport the car of dregs, mud and other debris
.Supervision to city slag vehicles at present is taking human as based on supervision, i.e., by the personal consciousness of driver, when produce hypervelocity, overload,
When deviation route, strange land unloading, weight change over range, the real-time condition of slag-soil truck can not be transferred to by existing monitoring device
Supervision center；Administrative department can not also carry out effective management and monitoring to slag-soil truck；The situation of slag-soil truck violation such as occurs, no
Scientific and effective basis for estimation can be provided, such as using artificial law enforcement, cost is too high, is unfavorable for promoting；Technological meanses are only utilized,
The long-acting management of city slag vehicles could be realized.
There is presently no occur can automatic identification loading volume intelligence system, slag-soil truck is when transporting building waste, often
Often traffic accident can occur because of overload problems, while urban environment is polluted, at present completely by driver and the work in building site
Make the loading amount that personnel artificially judge dregs, easily because artificial cheating overloads.
The content of the invention
The technical problems to be solved by the invention are the shortcomings that overcoming prior art, there is provided a kind of car based on TOF technologies
Loading volume calculates method, and the present invention is by using TOF technologies respectively to dielectric surface in the container before freighting and after loading
It is scanned, obtains dielectric surface feature in container, the measurement of cargo of loading is calculated according to both feature differences, so as to intelligence
Energy identifies cargo dead-weight.
In order to solve the above technical problems, the present invention provides a kind of vehicle-mounted cargo calculation method of physical volume based on TOF technologies,
Including being arranged on TOF device above vehicular container, carried out when to vehicular container in loading process, TOF device is to preceding and dress of freighting
After goods, the surface characteristics of the goods medium to be changed in container carries out data acquisition, is obtained according to the flight time of light pulse
Loading before and freight after the target location of TOF device and dielectric surface distance；Specific method comprises the following steps：
（One）Container is pre-seted as under dummy status, container lower surface is characterized as basal plane S0；
（Two）Before loading, TOF device and the distance of each target location in surface of goods medium in container are X1、X2、
X3......Xn, and show that the surface of goods medium is special according to the difference of the distance between adjacent target location and TOF device value
Levy S1；
（Three）After loading, TOF device and the distance of each target location in surface of goods medium in container are Y1、Y2、
Y3......Yn, and show that the surface of goods medium is special according to the difference of the distance between adjacent target location and TOF device value
Levy S2；
（Four）According to the surface characteristics S of the goods medium before loading1With basal plane S0Difference, be calculated before loading in container
Measurement of cargo V1；According to the surface characteristics S of the goods medium after loading2With basal plane S0Difference, be calculated loading rear platform in
Measurement of cargo V2；So, the measurement of cargo V this time loadedGoods=V2-V1。
The technical scheme that further limits of the present invention is：
If S1=S0, then, and VGoods=V2。
Foregoing TOF device can connect on-vehicle host by wired or wireless mode.
Foregoing on-vehicle host can connect cloud platform by wired or wireless mode.
Foregoing TOF device includes light pulse and module, the first signal transmitting and receiving module, the first data processing module and first occurs
Memory module.
Foregoing on-vehicle host includes secondary signal transceiver module, the second data processing module and the second memory module.
Further,
Foregoing first data processing module is calculated between some TOF devices and destination media according to the light pulse flight time
Distance is obtained apart from value set, and by drawing the surface characteristics of goods medium apart from value set, while front and rear according to loading
The measurement of cargo of loading is calculated in the difference of the surface characteristics of goods medium.
Foregoing light pulse occurs module and sends light pulse, and light pulse runs into destination media and reflects back into TOF device；First deposits
Store up surface characteristics and measurement of cargo that module can be used for storage goods medium；First signal transmitting and receiving module can send out checkout result
Deliver to on-vehicle host.
Foregoing light pulse occurs module and sends light pulse, and light pulse runs into destination media and reflects back into TOF device；First number
The distance between some TOF devices and destination media are calculated according to the light pulse flight time according to processing module and obtain distance value
Set；First signal transmitting and receiving module will can be sent to on-vehicle host apart from value set；Secondary signal transceiver module receives distance value
Set；Second data processing module is while front and rear according to loading by drawing the surface characteristics of goods medium apart from value set
The measurement of cargo of loading is calculated in the difference of the surface characteristics of goods medium；Second memory module can be used for storage goods medium
Surface characteristics and measurement of cargo.
Foregoing cloud platform can connect intelligent mobile terminal and/or PC.
The beneficial effects of the invention are as follows：
Vehicle-mounted cargo calculation method of physical volume disclosed by the invention, by installing TOF device, utilize flight time calculating and object
Distance principle, due in container freight before and loading after, cargo surfaces dielectric attribute necessarily changes, slag-soil truck or its
His engineering transportation car is in loading process, and over time or goods is continuously increased, cargo surfaces change in shape trend in container
It can constantly be changed because of the increase of goods, freight until filling since most, calculated according to both feature differences
The measurement of cargo of loading, cargo dead-weight is identified so as to intelligence, avoid artificial cheating from causing container overload, so as to cause traffic thing
Therefore.
Brief description of the drawings
Fig. 1 is the workflow diagram of the present invention；
Fig. 2 is the operation principle schematic diagram of the present invention.
Embodiment
The technical program is further described by following examples by the present invention, wherein：
TOF device selects the ToF industrial cameras acA1300-30gm of Basler companies；
On-vehicle host selects the intelligent vehicle mounted terminal D5 of Rui Ming technical concerns Co., Ltd of Shenzhen production.
Embodiment 1
The present embodiment provides a kind of vehicle-mounted cargo calculation method of physical volume based on TOF technologies, as shown in figure 1, including being arranged on car
TOF device above container, carried out when to vehicular container in loading process, TOF device in container to before freighting and after loading, sending out
The surface characteristics of the goods medium for changing carries out data acquisition, is obtained according to the flight time of light pulse before freighting and after loading
The distance of the target location of TOF device and dielectric surface；Specific method comprises the following steps：
（One）Container is pre-seted as under dummy status, container lower surface is characterized as basal plane S0；
（Two）Before loading, TOF device and the distance of each target location in surface of goods medium in container are X1、X2、
X3......Xn, and show that the surface of goods medium is special according to the difference of the distance between adjacent target location and TOF device value
Levy S1；
（Three）After loading, TOF device and the distance of each target location in surface of goods medium in container are Y1、Y2、
Y3......Yn, and show that the surface of goods medium is special according to the difference of the distance between adjacent target location and TOF device value
Levy S2；
（Four）According to the surface characteristics S of the goods medium before loading1With basal plane S0Difference, be calculated before loading in container
Measurement of cargo V1；According to the surface characteristics S of the goods medium after loading2With basal plane S0Difference, be calculated loading rear platform in
Measurement of cargo V2；So, the measurement of cargo V this time loadedGoods=V2-V1.If S1=S0, then, and VGoods=V2。
As shown in Fig. 2 foregoing TOF device can connect on-vehicle host by wired or wireless mode.Foregoing on-vehicle host
Cloud platform can be connected by wired or wireless mode.Foregoing TOF device includes light pulse and module, the first signal transmitting and receiving mould occurs
Block, the first data processing module and the first memory module.Foregoing on-vehicle host includes secondary signal transceiver module, at the second data
Manage module and the second memory module.
Foregoing first data processing module according to the light pulse flight time be calculated some TOF devices and destination media it
Between distance obtain apart from value set, and by drawing the surface characteristics of goods medium apart from value set, at the same according to loading before
The measurement of cargo of loading is calculated in the difference of the surface characteristics of goods medium afterwards.
Foregoing light pulse occurs module and sends light pulse, and light pulse runs into destination media and reflects back into TOF device；First deposits
Store up surface characteristics and measurement of cargo that module can be used for storage goods medium；First signal transmitting and receiving module can send out checkout result
Deliver to on-vehicle host.
Foregoing light pulse occurs module and sends light pulse, and light pulse runs into destination media and reflects back into TOF device；First number
The distance between some TOF devices and destination media are calculated according to the light pulse flight time according to processing module and obtain distance value
Set；First signal transmitting and receiving module will can be sent to on-vehicle host apart from value set；Secondary signal transceiver module receives distance value
Set；Second data processing module is while front and rear according to loading by drawing the surface characteristics of goods medium apart from value set
The measurement of cargo of loading is calculated in the difference of the surface characteristics of goods medium；Second memory module can be used for storage goods medium
Surface characteristics and measurement of cargo.Foregoing cloud platform can connect intelligent mobile terminal and/or PC.
Vehicle-mounted cargo calculation method of physical volume disclosed in the present embodiment, by installing TOF device, using the flight time calculate with
The principle of the distance of object, because before being freighted in container and after loading, cargo surfaces dielectric attribute necessarily changes, dregs
Car or Other Engineering transport vehicle are in loading process, and over time or goods is continuously increased, and cargo surfaces shape becomes in container
Change trend can constantly change because of the increase of goods, and loading is until filling since most, according to both feature differences
The measurement of cargo of loading is calculated, cargo dead-weight is identified so as to intelligence, avoids artificial cheating from causing container overload, so as to cause
Traffic accident.
The technological thought of above example only to illustrate the invention, it is impossible to protection scope of the present invention is limited with this, it is every
According to technological thought proposed by the present invention, any change done on the basis of technical scheme, the scope of the present invention is each fallen within
Within.
Claims (10)
1. a kind of vehicle-mounted cargo calculation method of physical volume based on TOF technologies, it is characterised in that including being arranged on above vehicular container
TOF device, carried out when to vehicular container in loading process, TOF device is to before freighting and after loading, the goods that is changed in container
The surface characteristics of thing medium carries out data acquisition, after obtaining before loading and freight according to the flight time of light pulse TOF device and
The distance of the target location of dielectric surface；Specific method comprises the following steps：
（One）Container is pre-seted as under dummy status, container lower surface is characterized as basal plane S0；
（Two）Before loading, TOF device and the distance of each target location in surface of goods medium in container are X1、X2、
X3......Xn, and show that the surface of goods medium is special according to the difference of the distance between adjacent target location and TOF device value
Levy S1；
（Three）After loading, TOF device and the distance of each target location in surface of goods medium in container are Y1、Y2、
Y3......Yn, and show that the surface of goods medium is special according to the difference of the distance between adjacent target location and TOF device value
Levy S2；
（Four）According to the surface characteristics S of the goods medium before loading1With basal plane S0Difference, be calculated before loading in container
Measurement of cargo V1；According to the surface characteristics S of the goods medium after loading2With basal plane S0Difference, be calculated loading rear platform in
Measurement of cargo V2；So, the measurement of cargo V this time loadedGoods=V2-V1。
2. the vehicle-mounted cargo calculation method of physical volume according to claim 1 based on TOF technologies, it is characterised in that if S1=S0,
Then, VGoods=V2。
3. the vehicle-mounted cargo calculation method of physical volume according to claim 1 or 2 based on TOF technologies, it is characterised in that described
TOF device can connect on-vehicle host by wired or wireless mode.
4. the vehicle-mounted cargo calculation method of physical volume according to claim 3 based on TOF technologies, it is characterised in that the car
Cloud platform can be connected by wired or wireless mode by carrying main frame.
5. the vehicle-mounted cargo calculation method of physical volume according to claim 3 based on TOF technologies, it is characterised in that the TOF
Device includes light pulse and module, the first signal transmitting and receiving module, the first data processing module and the first memory module occurs.
6. the vehicle-mounted cargo calculation method of physical volume based on TOF technologies according to claim 3 or 5, it is characterised in that described
On-vehicle host includes secondary signal transceiver module, the second data processing module and the second memory module.
7. the vehicle-mounted cargo calculation method of physical volume according to claim 5 based on TOF technologies, it is characterised in that described
One data processing module according to the light pulse flight time be calculated the distance between some TOF devices and destination media obtain away from
From value set, and by drawing the surface characteristics of goods medium apart from value set, while according to the front and rear goods medium of loading
The measurement of cargo of loading is calculated in the difference of surface characteristics.
8. the vehicle-mounted cargo calculation method of physical volume according to claim 7 based on TOF technologies, it is characterised in that the light
Pulse generating module sends light pulse, and light pulse runs into destination media and reflects back into TOF device；First memory module can be used for depositing
The surface characteristics and measurement of cargo of warehousing thing medium；The first signal transmitting and receiving module can send checkout result to vehicle-mounted master
Machine.
9. the vehicle-mounted cargo calculation method of physical volume according to claim 6 based on TOF technologies, it is characterised in that the light
Pulse generating module sends light pulse, and light pulse runs into destination media and reflects back into TOF device；First data processing module
The distance between some TOF devices and destination media are calculated according to the light pulse flight time to obtain apart from value set；It is described
First signal transmitting and receiving module will can be sent to on-vehicle host apart from value set；The secondary signal transceiver module receives distance value collection
Close；Second data processing module by drawing the surface characteristics of goods medium apart from value set, while according to loading before and after
The difference of surface characteristics of goods medium the measurement of cargo of loading is calculated；Second memory module can be used for storage goods to be situated between
The surface characteristics and measurement of cargo of matter.
10. the vehicle-mounted cargo calculation method of physical volume according to claim 4 based on TOF technologies, it is characterised in that the cloud
Platform can connect intelligent mobile terminal and/or PC.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710819854.6A CN107631691A (en) | 2017-09-13 | 2017-09-13 | A kind of vehicle-mounted cargo calculation method of physical volume based on TOF technologies |
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| CN201710819854.6A CN107631691A (en) | 2017-09-13 | 2017-09-13 | A kind of vehicle-mounted cargo calculation method of physical volume based on TOF technologies |
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| CN111243007A (en) * | 2019-04-01 | 2020-06-05 | 泰州三凯工程技术有限公司 | Reliable parameter extraction method |
| CN111547157A (en) * | 2020-04-30 | 2020-08-18 | 新石器慧通（北京）科技有限公司 | Unmanned logistics vehicle with high loading efficiency and loading method thereof |
| CN111652920A (en) * | 2020-06-02 | 2020-09-11 | 江苏易高烟草机械有限公司 | Tray cigarette quantity identification method based on visual technology |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111243007A (en) * | 2019-04-01 | 2020-06-05 | 泰州三凯工程技术有限公司 | Reliable parameter extraction method |
| CN111243007B (en) * | 2019-04-01 | 2020-12-08 | 六安同辉智能科技有限公司 | Reliable parameter extraction method |
| CN111547157A (en) * | 2020-04-30 | 2020-08-18 | 新石器慧通（北京）科技有限公司 | Unmanned logistics vehicle with high loading efficiency and loading method thereof |
| CN111652920A (en) * | 2020-06-02 | 2020-09-11 | 江苏易高烟草机械有限公司 | Tray cigarette quantity identification method based on visual technology |
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Application publication date: 20180126 |