CN110057292B - Method and device for determining carriage loading rate - Google Patents
Method and device for determining carriage loading rate Download PDFInfo
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- CN110057292B CN110057292B CN201910443780.XA CN201910443780A CN110057292B CN 110057292 B CN110057292 B CN 110057292B CN 201910443780 A CN201910443780 A CN 201910443780A CN 110057292 B CN110057292 B CN 110057292B
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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
Abstract
The invention provides a method and a device for determining carriage loading rate, which relate to the technical field of traffic logistics, and are characterized in that a structured light sensor is used for acquiring three-dimensional point cloud data of a target carriage; calculating the cargo volume of the cargo in the target compartment according to the three-dimensional point cloud data; the cargo volume is divided by the maximum volume of the target compartment measured in advance to obtain the loading rate of the target compartment, and the precision of the cargo volume is improved by the mode of directly measuring the cargo volume, so that the precision of the calculated loading rate is improved.
Description
Technical Field
The invention relates to the technical field of traffic logistics, in particular to a method and a device for determining carriage loading rate.
Background
In the process of carrying goods by a truck, the loading rate of a truck compartment directly influences the scheduling of the number of cars and the unit goods transportation cost, and is a key index influencing the profit level of the whole logistics industry. When the loading rate is calculated, the volume of the goods is required to be obtained generally, and when the volume of the goods is obtained, a worker obtains the volume of the goods in advance before loading on the basis of the measuring function of the mobile terminal, but due to the precision deviation and the accumulated error of the volume of the goods and the difference of specific loading, the actual loading rate of the goods after loading cannot be obtained. There is a difference between this indirectly calculated loading rate by means of the accumulated cargo volume and the cargo box volume and the actual loading rate.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for determining a car loading rate, so as to alleviate the technical problem of inaccurate load rate calculation caused by indirectly obtained cargo volume calculation loading rate.
In a first aspect, an embodiment of the present invention provides a method for determining a car loading rate, where the method includes: acquiring three-dimensional point cloud data of a target compartment by using a structured light sensor; calculating the cargo volume of the cargo in the target compartment according to the three-dimensional point cloud data; and dividing the cargo volume by the maximum volume of the target compartment measured in advance to obtain the loading rate of the target compartment.
Further, the step of calculating the cargo volume of the cargo in the target compartment according to the three-dimensional point cloud data comprises the following steps: when the structured light sensor is placed at a preset position outside the compartment tail of the target compartment, a compartment frame outline area of the target compartment in the three-dimensional point cloud data is determined according to the three-dimensional point cloud data; the preset position outside the compartment tail is a position where the visual field of the structured light sensor completely covers the target compartment; judging whether the carriage depth of the three-dimensional point cloud data is equal to the pre-measured carriage depth of a target carriage or not in the three-dimensional point cloud data contained in the carriage frame outline area; if not, calculating the spare capacity of the target compartment according to the three-dimensional point cloud data contained in the compartment frame outline area; and reducing the maximum volume of the target compartment by the spare capacity of the target compartment to obtain the cargo volume of the cargo in the target compartment.
Further, the step of determining the carriage frame contour area of the target carriage in the three-dimensional point cloud data according to the three-dimensional point cloud data comprises the following steps: acquiring depth data of each point cloud of the three-dimensional point cloud data; determining the point cloud of which the attenuation amplitude of the depth data is greater than the preset attenuation amplitude as the point cloud of the protrusion; wherein the attenuation amplitude is a difference between the depth data of the point cloud and the depth data of the adjacent point cloud; connecting the point clouds of all the protrusions; identifying continuous and closed quadrilateral links in the links; and determining an area surrounded by the quadrilateral connecting lines as a carriage frame outline area of the target carriage.
Further, the step of determining the carriage frame contour area of the target carriage in the three-dimensional point cloud data comprises the following steps: and when the target compartment is a compartment without a roof, determining a compartment frame contour area of the target compartment in the three-dimensional point cloud data according to the preset virtual compartment height of the target compartment.
Further, the step of calculating the cargo volume of the cargo in the target compartment according to the three-dimensional point cloud data comprises the following steps: when the structured light sensor is placed at a plurality of preset position points in a compartment of a target compartment, calibrating three-dimensional point cloud data of the plurality of preset position points acquired by the structured light sensor to a pre-established coordinate system, and performing data splicing to obtain full compartment point cloud data of the target compartment; the preset position point is a preset carriage measuring point; and obtaining the cargo volume of the cargo in the target compartment according to the point cloud data of the whole compartment.
Further, the method further comprises: determining license plate information of a vehicle corresponding to a target compartment; obtaining compartment information of a compartment of a vehicle corresponding to license plate information in a pre-established vehicle database, wherein the compartment information comprises a maximum volume and a compartment depth; the vehicle database includes license plate information for a vehicle, a maximum volume of a compartment of the vehicle, and a compartment depth for the compartment.
Further, the step of determining the license plate information of the vehicle corresponding to the target compartment comprises the following steps: collecting plane image information of a vehicle at a license plate installation position of the vehicle corresponding to a target compartment by using a visible light sensor; and identifying the license plate information of the vehicle corresponding to the target compartment from the plane image information.
In a second aspect, an embodiment of the present invention further provides a device for determining a car loading rate, where the device includes: the acquisition module is used for acquiring three-dimensional point cloud data of the target compartment by using the structured light sensor; the cargo volume calculation module is used for calculating the cargo volume of the cargo in the target compartment according to the three-dimensional point cloud data; and the loading rate calculation module is used for dividing the cargo volume by the maximum volume of the target compartment measured in advance and calculating the loading rate of the target compartment.
Further, the apparatus further comprises: the license plate determining module is used for determining license plate information of a vehicle corresponding to the target compartment; the system comprises an obtaining compartment information module, a judging module and a display module, wherein the obtaining compartment information module is used for obtaining compartment information of a compartment of a vehicle corresponding to license plate information in a pre-established vehicle database, and the compartment information comprises the maximum volume and the depth of the compartment; the vehicle database includes license plate information for a vehicle, a maximum volume of a compartment of the vehicle, and a compartment depth for the compartment.
In a third aspect, an embodiment of the present invention provides a server, where the server includes a memory and a processor, the memory is used for storing a program that supports the processor to execute the method described in the first aspect, and the processor is configured to execute the program stored in the memory.
In a fourth aspect, embodiments of the present invention also provide a computer storage medium for storing computer program instructions, which, when executed by a computer, perform the method according to the first aspect.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a method and a device for determining the loading rate of a carriage, which are characterized in that a structured light sensor is used for acquiring three-dimensional point cloud data of a target carriage; calculating the cargo volume of the cargo in the target compartment according to the three-dimensional point cloud data; the cargo volume is divided by the maximum volume of the target compartment measured in advance to obtain the loading rate of the target compartment, and the precision of the cargo volume is improved by the mode of directly measuring the cargo volume, so that the precision of the calculated loading rate is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a method for determining a car load factor according to an embodiment of the present invention;
fig. 2 is a flowchart of another method for determining a car load factor according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a device for determining a car loading rate according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of another device for determining a car loading rate according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, when the loading rate of a carriage is calculated, a worker acquires the volume of goods in advance before loading based on the measuring function of a mobile terminal, and the accumulated volume of the goods and the volume of a container are used as the volume of the goods of the carriage, so that the loading rate of the carriage is indirectly calculated.
For the convenience of understanding the present embodiment, a method for determining a car load factor disclosed in the present embodiment will be described in detail first.
The first embodiment is as follows:
the embodiment of the invention provides a method for determining a carriage loading rate, and the method is referred to a flow chart of the method for determining the carriage loading rate shown in fig. 1 and comprises the following steps:
step S102, collecting three-dimensional point cloud data of a target compartment by using a structured light sensor;
the target compartment can be one compartment in a carrying vehicle such as a truck, and in the process of collecting the three-dimensional point cloud data, the structured light sensor can emit infrared light into the compartment according to the internal laser emitter-receiver and receive the reflected infrared light, so that three-dimensional structured light information and corresponding depth data information are obtained, and the three-dimensional point cloud data are obtained.
Step S104, calculating the cargo volume of the cargo in the target compartment according to the three-dimensional point cloud data;
when the cargo volume is calculated, the cargo volume can be calculated by identifying the cargo area where the cargo is located according to the depth values of all points in the cargo area and the square value of the distance between the points, wherein the calculation formula of the cargo volume is as follows:
wherein V is the cargo volume, and N is the number of all points of the cargo area; depth (n) is the depth value corresponding to the nth point; (n) is a square value of the intermediate distance between the nth point and the (n + 1) th point, and the square value is a constant;
the cargo volume can be calculated in a mode of calculating the vacant volume in the target compartment; wherein, the calculation mode of the spare volume is similar to the calculation formula of the cargo volume; at this time, the calculation formula of the cargo volume is equal to the difference between the maximum volume and the empty volume of the target compartment measured in advance.
Step S106, dividing the cargo volume by the maximum volume of the target compartment measured in advance to obtain the loading rate of the target compartment; the maximum volume of the target compartment is the volume value of the goods loaded in the full-load state of the target compartment.
The embodiment of the invention provides a method and a device for determining the loading rate of a carriage, which are characterized in that a structured light sensor is used for acquiring three-dimensional point cloud data of a target carriage; calculating the cargo volume of the cargo in the target compartment according to the three-dimensional point cloud data; the cargo volume is divided by the maximum volume of the target compartment measured in advance to obtain the loading rate of the target compartment, and the precision of the cargo volume is improved by the mode of directly measuring the cargo volume by using the structured light sensor, so that the precision of the calculated loading rate is improved.
On the basis of the method for determining the loading rate of the car provided by the above embodiment, fig. 2 shows a flowchart of another method for determining the loading rate of the car, which includes the following steps:
step S200, determining license plate information of a vehicle corresponding to a target compartment;
in the process of determining the license plate information, one mode can be that a worker manually inputs the license plate information, the other mode can be that image acquisition equipment, such as a visible light sensor, is used for automatically acquiring the license plate information in a mode of acquiring and identifying images, and in the process of automatically acquiring the license plate information, the method can be realized by the following steps 01 and 02:
step 01, collecting plane image information of a vehicle corresponding to a target compartment at a license plate installation position of the vehicle by using a visible light sensor;
and step 02, identifying the license plate information of the vehicle corresponding to the target compartment from the plane image information. In the identification process, firstly, the position area where the license plate is located is determined, and secondly, in the determined position area, characters, numbers and letters are identified according to a pre-established license plate identification algorithm.
Step S202, obtaining carriage information of a carriage of a vehicle corresponding to license plate information in a pre-established vehicle database;
the pre-established vehicle database can be manually input or obtained from vehicle information registration places such as a vehicle management station and the like; the vehicle database comprises vehicle details such as the model number and license plate information of the vehicle, and compartment information of the vehicle, wherein the compartment information comprises the maximum volume, the depth of the compartment, and the width, the height and the like of the compartment.
Step S204, acquiring three-dimensional point cloud data of a target compartment by using a structured light sensor;
step S206, if the structured light sensor is placed at a preset position outside the trunk end of the target compartment, executing step S208, and if the structured light sensor is placed at a plurality of preset position points inside the compartment of the target compartment, executing step S216;
the preset position outside the compartment tail is a position where the visual field of the structured light sensor can completely cover the target compartment, and based on the position, the structured light sensor can acquire the point cloud data of the complete compartment body of the compartment; the preset position points in the carriage are preset carriage measuring points, the carriage measuring points can be a certain corner or position of the carriage, and the position is the carriage measuring point set by the principle that the visual field coverage surface of the structured light sensor is analyzed and the whole visual field in the carriage is formed according to the visual field combination corresponding to the preset position points;
step S208, determining a carriage frame outline area of a target carriage in the three-dimensional point cloud data according to the three-dimensional point cloud data;
in the process of determining the carriage frame outline area, different implementation manners can be selected according to the type of the target carriage, and when the target carriage has a complete carriage frame, the following steps 11 to 15 can be implemented:
step 11, obtaining depth data of each point cloud of the three-dimensional point cloud data;
step 12, determining the point cloud of which the attenuation amplitude of the depth data is greater than the preset attenuation amplitude as the point cloud of the protrusion; wherein the attenuation amplitude is a difference between the depth data of the point cloud and the depth data of the adjacent point cloud;
for example, the depth data of a certain point cloud is (x, y, z), and the depth data of the neighboring point cloud of the point cloud is (x +1, y, z-100), and when the attenuation amplitude 100 is determined to be greater than the preset attenuation amplitude, the point cloud is determined to be the point cloud of the protrusion; wherein, x, y and z are coordinate values of a coordinate system where the depth data are respectively located. It should be noted that the preset attenuation range is set according to the determination requirement of the actual protrusion point cloud, and the depth data of the point cloud is only one embodiment data and does not represent the real point cloud data.
Step 13, connecting the point clouds of all the protrusions;
step 14, identifying continuous and closed quadrilateral connecting lines in the connecting lines;
and step 15, determining an area defined by the quadrilateral connecting lines as a carriage frame outline area of the target carriage.
By the method for determining the carriage frame contour area of the target carriage by utilizing the gradient information corresponding to the depth data, the accurate carriage frame contour can be obtained.
When the target car has no complete car frame, such as a car of a vehicle without a car and a high trailer (with a fence around but without a roof), another implementation manner of determining the contour region of the car frame of the target car in the three-dimensional point cloud data in step S208 includes the following steps:
when the target compartment is a compartment without a roof, determining a compartment frame contour area of the target compartment in the three-dimensional point cloud data according to a preset virtual compartment height of the target compartment; the virtual carriage height is the highest cargo loading height of the carriage or the highest allowable height of the carriage;
step S210, judging whether the carriage depth of the three-dimensional point cloud data is equal to the pre-measured carriage depth of a target carriage in the three-dimensional point cloud data contained in the carriage frame outline area; if not, executing step S212, if yes, executing step S218;
step S212, calculating the spare capacity of the target compartment according to the three-dimensional point cloud data contained in the compartment frame outline area;
step S214, reducing the maximum volume of the target compartment by the spare capacity of the target compartment to obtain the cargo volume of the cargo in the target compartment;
step S216, calibrating the three-dimensional point cloud data of a plurality of preset position points acquired by the structured light sensor to a pre-established coordinate system, and performing data splicing to obtain full compartment point cloud data of a target compartment;
step S218, obtaining the cargo volume of the cargo in the target compartment according to the point cloud data of the whole compartment or the three-dimensional point cloud data contained in the compartment frame outline area;
and step S220, dividing the cargo volume by the maximum volume of the target compartment measured in advance to obtain the loading rate of the target compartment.
The method for determining the loading rate of the carriage provided by the embodiment can be used for collecting three-dimensional point cloud data when the number of cargos is large, determining the carriage frame outline area of the carriage frame according to the three-dimensional point cloud data, determining that the cargos occupy the space in the carriage when the carriage depth obtained by the depth data does not reach the carriage depth of the vehicle database, subtracting the empty volume from the maximum volume of the carriage to obtain the cargo volume, and calculating to obtain the loading rate;
under the condition of less goods, the system can stand in the carriage to collect point cloud data, and obtains full-carriage point cloud data of the carriage body in a point cloud data splicing mode.
In summary, the two modes of directly measuring the volume of the goods in the carriage ensure the precision of the volume of the goods and the loading rate.
Example two:
on the basis of the method for determining the car loading rate provided by the above embodiment, an embodiment of the present invention further provides a device for determining the car loading rate, and with reference to a schematic structural diagram of a device for determining the car loading rate shown in fig. 3, the device includes:
an acquisition module 302, configured to acquire three-dimensional point cloud data of a target car by using a structured light sensor;
a cargo volume calculation module 304, configured to calculate a cargo volume of the cargo in the target compartment according to the three-dimensional point cloud data;
and the loading rate calculation module 306 is used for dividing the cargo volume by the maximum volume of the target compartment measured in advance to calculate the loading rate of the target compartment.
On the basis of the device for determining the loading rate of the carriage provided by the above embodiment, fig. 4 also shows a schematic structural diagram of another device for determining the loading rate of the carriage, and the device further comprises the following modules:
a license plate determining module 402, configured to determine license plate information of a vehicle corresponding to a target compartment;
a compartment information obtaining module 404, configured to obtain compartment information of a compartment of a vehicle corresponding to license plate information in a pre-established vehicle database, where the compartment information includes a maximum volume and a compartment depth; the vehicle database includes license plate information for a vehicle, a maximum volume of a compartment of the vehicle, and a compartment depth for the compartment.
The device for determining the loading rate of the carriage provided by the embodiment of the invention has the same technical characteristics as the method for determining the loading rate of the carriage provided by the embodiment, so the same technical problems can be solved, and the same technical effects can be achieved.
An embodiment of the present invention further provides a server, where the server includes a memory and a processor, where the memory is used to store a program that supports the processor to execute the method of the first embodiment, and the processor is configured to execute the program stored in the memory.
Further, an embodiment of the present invention further provides a computer storage medium for storing computer program instructions, which, when executed by a computer, perform the method according to the first embodiment.
The method, the apparatus, and the computer program product of the system for determining the carriage loading rate provided in the embodiments of the present invention include a computer-readable storage medium storing program codes, where instructions included in the program codes may be used to execute the method described in the foregoing method embodiments, and specific implementation may refer to the method embodiments, and will not be described herein again.
For convenience and brevity of description, the specific working process of the apparatus described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods, apparatus, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that the following embodiments are merely illustrative of the present invention, and not restrictive, and the scope of the present invention is not limited thereto: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A method for determining a car load rate, the method comprising:
acquiring three-dimensional point cloud data of a target compartment by using a structured light sensor;
calculating the cargo volume of the cargo in the target compartment according to the three-dimensional point cloud data;
dividing the cargo volume by the maximum volume of the target compartment measured in advance to obtain the loading rate of the target compartment;
wherein, according to the three-dimensional point cloud data, the step of calculating the cargo volume of the cargo in the target compartment comprises the following steps:
when the structured light sensor is placed at a preset position outside the compartment tail of the target compartment, determining a compartment frame outline area of the target compartment in the three-dimensional point cloud data according to the three-dimensional point cloud data; the preset position outside the compartment tail is a position where the visual field of the structured light sensor completely covers the target compartment;
judging whether the carriage depth of the three-dimensional point cloud data is equal to the pre-measured carriage depth of the target carriage or not in the three-dimensional point cloud data contained in the carriage frame outline area;
if not, calculating the spare capacity of the target compartment according to the three-dimensional point cloud data contained in the compartment frame outline area;
subtracting the spare capacity of the target compartment from the maximum volume of the target compartment to obtain the cargo volume of the cargo in the target compartment;
according to the three-dimensional point cloud data, determining a carriage frame outline area of a target carriage in the three-dimensional point cloud data, wherein the step comprises the following steps:
acquiring depth data of each point cloud of the three-dimensional point cloud data;
determining the point cloud of the depth data with the attenuation gradient larger than a preset attenuation gradient as the point cloud of the protrusion; wherein the attenuation gradient is a difference between the depth data of the point cloud and the depth data of the nearby point cloud;
connecting the point clouds of all the protrusions;
identifying continuous and closed quadrilateral links among the links;
and determining an area surrounded by the quadrilateral connecting lines as a carriage frame outline area of the target carriage.
2. The method of claim 1, wherein the step of determining a box contour region of the target car in the three-dimensional point cloud data comprises:
and when the target compartment is a compartment without a roof, determining a compartment frame contour area of the target compartment in the three-dimensional point cloud data according to the preset virtual compartment height of the target compartment.
3. The method of claim 1, wherein the step of calculating a cargo volume of cargo within the target vehicle cabin from the three-dimensional point cloud data comprises:
when the structured light sensor is placed at a plurality of preset position points in a compartment of the target compartment, calibrating three-dimensional point cloud data of the plurality of preset position points acquired by the structured light sensor to a pre-established coordinate system, and performing data splicing to obtain full compartment point cloud data of the target compartment; the preset position point is a preset carriage measuring point;
and obtaining the cargo volume of the cargo in the target compartment according to the full compartment point cloud data.
4. The method of claim 1, further comprising:
determining license plate information of a vehicle corresponding to the target compartment;
obtaining compartment information of a compartment of a vehicle corresponding to the license plate information in a pre-established vehicle database, wherein the compartment information comprises a maximum volume and a compartment depth; the vehicle database includes license plate information for a vehicle, a maximum volume of a compartment of the vehicle, and a compartment depth for the compartment.
5. The method of claim 4, wherein the step of determining the license plate information of the vehicle corresponding to the target compartment comprises:
collecting plane image information of the vehicle at a license plate installation position of the vehicle corresponding to the target compartment by using a visible light sensor;
and identifying the license plate information of the vehicle corresponding to the target compartment from the plane image information.
6. A car load rate determining apparatus, comprising:
the acquisition module is used for acquiring three-dimensional point cloud data of the target compartment by using the structured light sensor;
the cargo volume calculation module is used for calculating the cargo volume of the cargo in the target compartment according to the three-dimensional point cloud data;
the loading rate calculation module is used for dividing the cargo volume by the maximum volume of the target compartment measured in advance and calculating the loading rate of the target compartment;
wherein the cargo volume calculation module is configured to:
when the structured light sensor is placed at a preset position outside the compartment tail of the target compartment, determining a compartment frame outline area of the target compartment in the three-dimensional point cloud data according to the three-dimensional point cloud data; the preset position outside the compartment tail is a position where the visual field of the structured light sensor completely covers the target compartment;
judging whether the carriage depth of the three-dimensional point cloud data is equal to the pre-measured carriage depth of the target carriage or not in the three-dimensional point cloud data contained in the carriage frame outline area;
if not, calculating the spare capacity of the target compartment according to the three-dimensional point cloud data contained in the compartment frame outline area;
subtracting the spare capacity of the target compartment from the maximum volume of the target compartment to obtain the cargo volume of the cargo in the target compartment;
according to the three-dimensional point cloud data, determining a carriage frame outline area of a target carriage in the three-dimensional point cloud data, wherein the step comprises the following steps:
acquiring depth data of each point cloud of the three-dimensional point cloud data;
determining the point cloud of the depth data with the attenuation gradient larger than a preset attenuation gradient as the point cloud of the protrusion; wherein the attenuation gradient is a difference between the depth data of the point cloud and the depth data of the nearby point cloud;
connecting the point clouds of all the protrusions;
identifying continuous and closed quadrilateral links among the links;
and determining an area surrounded by the quadrilateral connecting lines as a carriage frame outline area of the target carriage.
7. The apparatus of claim 6, further comprising:
the license plate determining module is used for determining license plate information of a vehicle corresponding to the target compartment;
the vehicle information acquisition module is used for acquiring vehicle information of a vehicle compartment corresponding to the license plate information in a pre-established vehicle database, wherein the vehicle information comprises the maximum volume and the depth of the vehicle compartment; the vehicle database includes license plate information for a vehicle, a maximum volume of a compartment of the vehicle, and a compartment depth for the compartment.
8. A server, comprising a memory for storing a program that enables the processor to perform the method of any of claims 1 to 5 and a processor configured to execute the program stored in the memory.
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| CN112683179B (en) * | 2019-10-18 | 2022-05-03 | 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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