CN110044258A - Freight compartment vacant capacity intelligent detecting method and system - Google Patents
Freight compartment vacant capacity intelligent detecting method and system Download PDFInfo
- Publication number
- CN110044258A CN110044258A CN201910236254.6A CN201910236254A CN110044258A CN 110044258 A CN110044258 A CN 110044258A CN 201910236254 A CN201910236254 A CN 201910236254A CN 110044258 A CN110044258 A CN 110044258A
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- Prior art keywords
- compartment
- data
- vacant capacity
- depth
- space
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Classifications
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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
-
- 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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
Abstract
The invention discloses a kind of freight compartment vacant capacity intelligent checking systems, comprising: depth perception device, including at least one depth transducer above interior back door is arranged in, for measuring obstacle distance information；GPS positioning device acquires vehicle real-time position information；Vehicle position data and compartment vacant capacity data are transmitted to net background for carrying out data transmission with net background by data transmission device；The net background, for being counted and being analyzed to data, for sending vehicle scheduling instruction；Processing module merges the range information of different direction, establishes the distance webs in space, obtains the length, width and height data in space；Spare space size in compartment is calculated, the residual capacity in compartment is calculated according to the size in compartment.The interior spare space size of at low cost, accurate detection detects each vehicle real time position and loading situation in transit in conjunction with GPS positioning information.
Description
Technical field
The present invention relates to the intelligent monitoring technology fields of freight, more particularly to a kind of freight compartment vacant capacity intelligence
It can detection method and system.
Background technique
Third-party logistics is very big to electric business platform meaning, but at present electric business platform but can not to Third-party Logistics Enterprise and
Vehicle carries out effective regulatory constraints, also transports allotment system for third-party science without being formed, and is on the one hand because right
The manpower and material resources that third-party monitoring needs to expend are at high cost, and artificial supervision difficulty is big, on the other hand rely on the supervision of loglstics enterprise
And take totally ineffective measures, because loglstics enterprise and electric business platform profit point are not fully consistent at present, and major part is affiliated to vehicle
Be difficult to be arrived by pipe, therefore, third-party logistics vehicle loading cargo transport process in the problem it is much, than it is more typical just
It is the cargo loading problem of management of third-party logistics vehicle in city: if driver is in order to time saving and energy saving fuel-efficient, deliberately not in loading
It fills, in addition, the normally loading vehicle situation inherently discontented there may be goods dress when first loading point is dispatched a car, these problems
The serious waste for resulting in vehicle resources makes electric business enterprise cost of hiring a car be difficult to decline.For these problems, in industry at present simultaneously
There is no effective supervision and management measure.The present invention is therefore.
Summary of the invention
In order to solve the above-mentioned technical problem, the invention proposes a kind of freight compartment vacant capacity intelligent detecting method and
System, the interior spare space size of at low cost, accurate detection detect each vehicle reality in transit in conjunction with GPS positioning information
When position and loading situation.
The technical scheme adopted by the invention is that:
A kind of freight compartment vacant capacity intelligent checking system, comprising:
Depth perception device, including at least one depth transducer above interior back door is arranged in, for measuring obstacle
Object range information；
GPS positioning device acquires vehicle real-time position information；
Data transmission device, for carrying out data transmission with net background, by vehicle position data and compartment vacant capacity data
It is transmitted to net background；
The net background, for being counted and being analyzed to data, for sending vehicle scheduling instruction；
Processing module merges the range information of different direction, establishes the distance webs in space, obtains the length, width and height data in space；Meter
Spare space size in compartment is calculated, the residual capacity in compartment is calculated according to the size in compartment.
It further include data presentation device, for showing vehicle basic information, real-time position information in preferred technical solution
With loading space headroom data.
It further include speech communication module in preferred technical solution, for receiving the dispatch command below net background, and
Carry out voice broadcast.
In preferred technical solution, the depth transducer is ultrasonic sensor or TOF depth camera, the ultrasonic wave
Sensor includes multiple, the multiple ultrasonic sensors of different angle installation above interior back door；The TOF depth phase
Machine is one.
In preferred technical solution, the depth transducer is binocular camera, by binocular camera is acquired two
It opens image and carries out Feature Points Matching, obtain disparity map, obtain depth map and range information.
In preferred technical solution, it is also equipped with structured light projector above the interior back door, for working as binocular
When camera operation, projective structure light.
The invention also discloses a kind of freight compartment vacant capacity intelligent detecting methods, comprising the following steps:
S01: installing at least one depth transducer above interior back door, for measuring obstacle distance information；
S02: merging the range information of different direction, establishes the distance webs in space, obtains the length, width and height data in space；Calculate compartment
Interior spare space size calculates the residual capacity in compartment according to the size in compartment；
S03: vehicle position data and compartment vacant capacity data are transmitted to net background；
S04: being counted and analyzed to data by net background, and vehicle scheduling instruction is sent.
In preferred technical solution, the depth transducer is ultrasonic sensor or TOF depth camera, the ultrasonic wave
Sensor includes multiple, the multiple ultrasonic sensors of different angle installation above interior back door；The TOF depth phase
Machine is one.
In preferred technical solution, the depth transducer is binocular camera, by binocular camera is acquired two
It opens image and carries out Feature Points Matching, obtain disparity map, obtain depth map and range information.
In preferred technical solution, it is also equipped with structured light projector above interior back door, for taking the photograph when binocular
When camera works, projective structure light.
Compared with prior art, the beneficial effects of the present invention are:
1. the present invention is at low cost, detection is quasi-, it is simple to implement, precisely detects interior spare space size, supervises, be convenient in conjunction with backstage
Supervisor understands interior actual shipment, reduces few dress, neglected loading phenomenon；
2. combining GPS positioning information, supervisor can be appreciated that each vehicle real time position and loading situation in transit, according to
Loading situation can carry out scientific dispatch to the unsaturated vehicle of goods amount, allow vehicle to freight on the way to transport, further increase vehicle
Resource utilization saves electric business materials circulation transportation cost；
3. the precise information based on interior space, the later period, which can provide, customizes the science such as picking with goods Assembly, object is promoted
Flow the intelligent level of transportation system.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings and embodiments:
Fig. 1 is the functional block diagram of freight compartment vacant capacity intelligent checking system of the present invention；
Fig. 2 is a kind of calculation flow chart of freight compartment vacant capacity intelligent checking system of the present invention；
Fig. 3 is another calculation flow chart of freight compartment vacant capacity intelligent checking system of the present invention；
Fig. 4 is the work flow diagram of freight compartment vacant capacity intelligent checking system of the present invention.
Specific embodiment
In order to make the objectives, technical solutions and advantages of the present invention clearer, With reference to embodiment and join
According to attached drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hair
Bright range.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid this is unnecessarily obscured
The concept of invention.
Embodiment
As shown in Figure 1, a kind of freight compartment vacant capacity intelligent checking system, is perceived using multiple depth transducers and is hindered
Hinder object distance, obtain range information, according to spare space size in the range information fusion calculation compartment in multiple orientation, passes through number
According to transmission and back-stage management, realize that cabin space surplus is precisely supervised.System includes depth perception device, GPS positioning device, number
According to transmitting device, voice communication device, five part of net background.
Depth perception device, that is, depth transducer is arranged above interior back door, for measuring obstacle distance letter
Breath；
GPS positioning device: main to acquire vehicle real-time position information for GPS locator；
Data transmission device: for 4G transmission module, for vehicle position data and compartment vacant capacity data to be transmitted to network
From the background；
Net background is displayed data according to data information, is counted and analysis；It can be in a fixed point loading point supervision each car
Loading space surplus situation, avoid violation less loaded phenomenon, can also check transport in vehicle real time position and loading space surplus situation,
Loading assignment instructions are sent to vehicle by voice communication device when loading space is discontented with and vehicle has put loading demand on the way.
Data presentation device: for backstage display, vehicle basic information, real-time position information and loading space surplus number are shown
According to.
Voice communication device: for speech player, for being broadcasted to the real-time cargo assignment instructions issued；
The instruction that certain net background issues can individually be transmitted by voice communication device, can also pass through data transmission device
It is transmitted.
Data computation module: the range information of receiving sensor detection merges the range information of different direction, establishes space
Distance webs, obtain the length, width and height data in space；Spare space size in compartment is calculated, compartment is calculated according to the size in compartment
Residual capacity.It for some spaces, generally requires to divide space according to distance webs, obtains multiple subspaces of rule,
The length, width and height data of multiple subspaces are obtained, finally synthesis obtains spare space size in compartment.
As shown in Fig. 2, the selectable depth transducer of this system includes that ultrasonic sensor, TOF depth camera, binocular are taken the photograph
Four kinds of camera, binocular camera+structure light are mounted on above carriage back door.Wherein, the measurement scheme of ultrasonic sensor is:
According to compartment size, multiple ultrasonic sensors are installed in different angle and measure each sensor using ultrasonic distance measurement principle
With a distance from barrier, in conjunction with the range information of each sensor, the length, width and height number of different spaces module in available compartment
According to calculate total surplus spatial volume size in compartment.
As shown in Fig. 2, the measurement scheme of TOF depth camera is: the TOF camera for being mounted on compartment back upper place continuously emits light
In pulse to compartment on barrier, the light pulse reflected back from object is then received, it is (past by the flight of detecting optical pulses
Return) time calculates testee with a distance from camera.It is calculated by the obstacle distance of different direction, can establish the space
Distance webs, to calculate the volume size in space.
As shown in figure 3, binocular camera+structure light measurement scheme is: binocular can pass through the feature in two images
Point matching, obtains disparity map, and then extrapolate depth map and range information, to calculate volume size, structure light is using sharp
Light, which gets out the cursor formed on barrier and provides for the picture that binocular acquires, can more be used to matched characteristic point, keep away
Exempt from compartment internal box smooth single the case where causing characteristic matching to fail, improves detection precision.
As shown in figure 4, the specific workflow of system is as follows:
1. after system electrification, system starts；
2. cargo, carriage body itself etc. in obstacle distance, including compartment in depth transducer real-time detection compartment merges not Tongfang
The range information of position, establishes the distance webs in space, obtains the length, width and height data in space；Calculate spare space size in compartment, root
The residual capacity in compartment is calculated according to the size in compartment；.It is detected in cabinet after spare space volume data in depth transducer, it will
Data information is sent to 4G transmission module；
3.GPS locating module acquires real-time vehicle position, and is transferred to 4G transmission module；
The vehicle position data received and compartment inner capacities data are transmitted to net background by 4.4G transmission module；
5. backstage manager can the loading amount on demand to vehicle supervise, discontented feelings of cargo in transit
Under condition, the instruction of vehicle to specified point loading on the way can be sent to speech communication terminal by backstage.
It should be understood that above-mentioned specific embodiment of the invention is used only for exemplary illustration or explains of the invention
Principle, but not to limit the present invention.Therefore, that is done without departing from the spirit and scope of the present invention is any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.In addition, appended claims purport of the present invention
Covering the whole variations fallen into attached claim scope and boundary or this range and the equivalent form on boundary and is repairing
Change example.
Claims (10)
1. a kind of freight compartment vacant capacity intelligent checking system characterized by comprising
Depth perception device, including at least one depth transducer above interior back door is arranged in, for measuring obstacle
Object range information；
GPS positioning device acquires vehicle real-time position information；
Data transmission device, for carrying out data transmission with net background, by vehicle position data and compartment vacant capacity data
It is transmitted to net background；
The net background, for being counted and being analyzed to data, for sending vehicle scheduling instruction；
Processing module merges the range information of different direction, establishes the distance webs in space, obtains the length, width and height data in space；Meter
Spare space size in compartment is calculated, the residual capacity in compartment is calculated according to the size in compartment.
2. freight compartment vacant capacity intelligent checking system according to claim 1, which is characterized in that further include data
Display device, for showing vehicle basic information, real-time position information and loading space headroom data.
3. freight compartment vacant capacity intelligent checking system according to claim 1, which is characterized in that further include voice
Communication module for receiving the dispatch command below net background, and carries out voice broadcast.
4. freight compartment vacant capacity intelligent checking system according to claim 1, which is characterized in that the depth passes
Sensor be ultrasonic sensor or TOF depth camera, the ultrasonic sensor include it is multiple, above interior back door
Different angle installs multiple ultrasonic sensors；The TOF depth camera is one.
5. freight compartment vacant capacity intelligent checking system according to claim 1, which is characterized in that the depth passes
Sensor is binocular camera, carries out Feature Points Matching by two images acquired to binocular camera, obtains disparity map, obtain
Depth map and range information.
6. freight compartment vacant capacity intelligent checking system according to claim 5, which is characterized in that in the compartment
It is also equipped with structured light projector above portion back door, is used for when binocular camera work, projective structure light.
7. a kind of freight compartment vacant capacity intelligent detecting method, which comprises the following steps:
S01: installing at least one depth transducer above interior back door, for measuring obstacle distance information；
S02: merging the range information of different direction, establishes the distance webs in space, obtains the length, width and height data in space；Calculate compartment
Interior spare space size calculates the residual capacity in compartment according to the size in compartment；
S03: vehicle position data and compartment vacant capacity data are transmitted to net background；
S04: being counted and analyzed to data by net background, and vehicle scheduling instruction is sent.
8. freight compartment vacant capacity intelligent detecting method according to claim 7, which is characterized in that the depth passes
Sensor be ultrasonic sensor or TOF depth camera, the ultrasonic sensor include it is multiple, above interior back door
Different angle installs multiple ultrasonic sensors；The TOF depth camera is one.
9. freight compartment vacant capacity intelligent detecting method according to claim 7, which is characterized in that the depth passes
Sensor is binocular camera, carries out Feature Points Matching by two images acquired to binocular camera, obtains disparity map, obtain
Depth map and range information.
10. freight compartment vacant capacity intelligent detecting method according to claim 9, which is characterized in that in compartment
It is also equipped with structured light projector above portion back door, is used for when binocular camera work, projective structure light.
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| CN201910236254.6A CN110044258A (en) | 2019-03-27 | 2019-03-27 | Freight compartment vacant capacity intelligent detecting method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910236254.6A CN110044258A (en) | 2019-03-27 | 2019-03-27 | Freight compartment vacant capacity intelligent detecting method and system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111023975A (en) * | 2019-12-31 | 2020-04-17 | 内蒙古广纳信息科技有限公司 | Device and method for detecting ore volume of dump truck for strip mine |
| CN111023976A (en) * | 2019-12-31 | 2020-04-17 | 内蒙古广纳信息科技有限公司 | Device and method for detecting ore volume of mining dump truck based on linear laser scanning |
| CN111239744A (en) * | 2020-01-02 | 2020-06-05 | 秒针信息技术有限公司 | Method, device and system for detecting occupancy rate of carriage space and storage medium |
| CN112269180A (en) * | 2020-09-10 | 2021-01-26 | 深圳市德行智能科技有限公司 | Container volume rate online detection system for container truck |
| CN112945100A (en) * | 2021-03-02 | 2021-06-11 | 武汉理工大学 | Boxcar volume measurement system based on binocular vision |
| CN113888621A (en) * | 2021-09-29 | 2022-01-04 | 中科海微(北京)科技有限公司 | Loading rate determining method, loading rate determining device, edge computing server and storage medium |
| TWI755697B (en) * | 2020-03-19 | 2022-02-21 | 澔鴻科技股份有限公司 | Time-of-flight ranging identification system and identification method for warehousing and freight |
| CN117104917A (en) * | 2023-09-11 | 2023-11-24 | 广州恒玺建筑工程有限公司 | Asphalt material closed automatic loading system and method thereof |
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| CN111023976A (en) * | 2019-12-31 | 2020-04-17 | 内蒙古广纳信息科技有限公司 | Device and method for detecting ore volume of mining dump truck based on linear laser scanning |
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| CN111023976B (en) * | 2019-12-31 | 2021-09-03 | 内蒙古广纳信息科技有限公司 | Device and method for detecting ore volume of mining dump truck based on linear laser scanning |
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| TWI755697B (en) * | 2020-03-19 | 2022-02-21 | 澔鴻科技股份有限公司 | Time-of-flight ranging identification system and identification method for warehousing and freight |
| CN112269180A (en) * | 2020-09-10 | 2021-01-26 | 深圳市德行智能科技有限公司 | Container volume rate online detection system for container truck |
| CN112945100A (en) * | 2021-03-02 | 2021-06-11 | 武汉理工大学 | Boxcar volume measurement system based on binocular vision |
| CN113888621A (en) * | 2021-09-29 | 2022-01-04 | 中科海微(北京)科技有限公司 | Loading rate determining method, loading rate determining device, edge computing server and storage medium |
| CN117104917A (en) * | 2023-09-11 | 2023-11-24 | 广州恒玺建筑工程有限公司 | Asphalt material closed automatic loading system and method thereof |
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Application publication date: 20190723 |