CN110309561A - Goods space volume measuring method and device - Google Patents
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Abstract
The application case study on implementation provides the amount side's computational algorithm and its device of a kind of goods space network model, the algorithm includes: the essential information discharging of goods space characteristics put according to cargo, then cargo surfaces Cover Characteristics are calculated according to cargo overlay network, goods space location information is corrected with network cutting techniques according to Cover Characteristics, establish goods space model, using space moving algorithm, reduce and calculate error, calculates cargo side's amount；The application quick, convenient, accurately can carry out automatic measurement to the spatial volume of cargo.
Description
Technical field
This application involves the fields AI, and in particular to a kind of goods space cubing algorithm and device.
Background technique
Warehouse is the place for storing cargo, and a big warehouse has ten hundreds of cargos sometimes, to these cargos into
Storage efficiency can be improved in the management of row fining.The information for acquiring each cargo is exactly a very important thing, mesh
The preceding car loading side that is directed to is more in such a way that manual testing calculates, and goods companies are also required to fill to the calculating of car loading side
Divide and considers.
In the related technology by the way of manual measurement cargo side amount, need to spend a large amount of human cost and time at
This, and manual measurement error is larger, measurement result inaccuracy.
Therefore, a kind of automatic measurement method and device for calculating goods space volume is needed, to solve to adopt in the related technology
Manually mode measures caused low efficiency, technical problem at high cost and big error to cargo.
Summary of the invention
Aiming at the problems existing in the prior art, the application provides a kind of goods space cubing algorithm and its device,
It can be quick, convenient and accurately to the spatial volume progress automatic measurement of cargo.
To solve the above-mentioned problems, the application the following technical schemes are provided:
In a first aspect, the application provides a kind of goods space cubing algorithm, comprising:
The spatial positional information for obtaining cargo carries out location information benefit to undetectable location information in detection cargo
It repays；
According to the distributed intelligence of the cargo after space compensation, the space distribution information of the cargo is obtained；
According to the space distribution information, goods space position is moved, calculates corresponding goods space volume.
Further, the distributed intelligence of cargo is obtained, comprising:
The space distribution information of the cargo is collected by sensor；
Data prediction is carried out to distribution space information, obtains the goods space information after data prediction, wherein
The data prediction includes: data filtering, compensation data and data transformation.
Further, space compensation is carried out to the rim space in the distribution space, comprising:
According to the detection dot position information of the sensor and corresponding vehicle essential information, compensation point information is determined；
Compensation data is carried out to the edge data in space distribution information according to compensation point information, is obtained by edge data
Compensated space distribution information.
Further, the spatial distribution network of the cargo is obtained, comprising:
The elevation information of cargo is collected by sensor；
According to the elevation information of all cargos, the corresponding spatial network distribution of cargo is obtained.
Further, after obtaining the spatial altitude distributed data of the cargo, comprising:
Labeled data to data filtering, compensates, does data transformation, enhances the robustness of data bulk and model training.
Load pretreated sensor data, the position of accurate goods space characteristic point.For edge data using benefit
The method repaid a little compensates, especially by sensor test point and corresponding vehicle essential information according to sensor distribution into
Row addition.
To cargo surfaces region be based on point-by-point interpolation rule the spatial distribution network is normalized, it is described by
The formula of point interpolation rule is as follows:
xo=(1- alpha-beta) X1+αX2+βX3,
yo=(1- alpha-beta) Y1+αY2+βY3,
Wherein, X1=(x1,y1),X2=(x2,y2),X3=(x3,y3), XOIt is the point of triangular exterior, XOMeet: α >=0, β
≥0,α+β≥1.α and β embodies each vertex to the weight contribution of specific region.X1=(x1,y1),X2=(x2,y2),X3=
(x3,y3) it is XO=(x0,y0) adjacent three points.The mode difference loaded herein according to actual vehicle model simulates reality as far as possible
Loading condition prevents vehicle loading from having biggish Spatial Residual, through practical investigation, take alpha+beta=3/2 (simulation rim space, according to
Actual vehicle model), in specific implementation, first according to the following formula calculate marginal point position:
X=x1
Y=y0+x2/2
Wherein, x, y are marginal positions, are usually floating number, and three above-mentioned points are exactly adjacent with original position three
Point is filled up marginal point by above-mentioned formula.
Further, it is distributed according to the cyberspace, obtains the spatial volume of the cargo, comprising:
Judge the mesh shape of the spatial network distribution；
If the mesh shape is quadrangle, corresponding spatial volume calculation formula are as follows:
V=l0*w0* h,
Wherein, l0、w0, length that h is corresponding cube.For the close with triangulation of quadrangle cannot be constructed
Like processing, volume is calculated are as follows:
v1=l1*w1*h1+v2
Wherein l0、w0, length that h is corresponding cube, which can use the object of the quadrangle network coverage；l1、
w1、h1For the cuboid of triangular network overlay area, v2For the irregular tetrahedral of triangulation network covering, volume is calculated are as follows:
v2=s.h/3.
Further, the cargo location information after space compensation obtains the spatial network distribution of the cargo, packet
It includes:
Linear weighted function is carried out to edge point position by successive interpolation algorithm, so that the object space obtained to the end covers entirely
Lid.
Further, according to the spatial distribution network, the spatial volume of cargo is obtained, comprising:
The calculation formula of the spatial volume of the cargo are as follows:
Second aspect, the application provide a kind of goods space volume measurement device, comprising:
Rim space compensating module, for obtaining the distribution space of cargo, to the rim space in the distribution space into
Row space compensation；
Spatial network constructs module, for being distributed according to the goods space after space compensation, obtains the cargo
Spatial distribution network；
Measurement of cargo computing module, it is mobile using spatial position for being distributed according to the spatial network, with the triangulation network
Covering obtains the spatial volume of the cargo.
The third aspect, the application provides a kind of electronic equipment, including memory, processor and storage are on a memory and can
The algorithm routine run on a processor, the processor realize the goods space cubing side when executing described program
The step of method.
As shown from the above technical solution, the application provides a kind of measurement of cargo Measurement Algorithm and device, passes through and obtains cargo
Spatial distribution, and in the spatial distribution undetectable spatial data carry out data correction, amendment cargo loaded
The accuracy of edge voids in journey, the detection of the amount of improving side constructs the sky of the cargo then according to the elevation information of cargo
Between distributed intelligence, to the real space form of cargo have preferably simulation effect, have preferable robustness, subsequently according to goods
Object space position, altitude information obtain the spatial volume of the cargo, can be quick, convenient and accurately to the space of cargo
Volume carries out automatic measurement.
Detailed description of the invention
It, below will be to case study on implementation in order to illustrate more clearly of the application case study on implementation or technical solution in the prior art
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is this
Some case study on implementation of application without creative efforts, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is one of the flow diagram of the goods space cubing algorithm in the application case study on implementation；
Fig. 2 is two of the cargo height detection device schematic diagram in the application case study on implementation；
Fig. 3 is the three of the flow diagram of the cargo height detection Measurement Algorithm in the application case study on implementation；
Fig. 4 is the four of the flow diagram of the goods space volume triangulation survey algorithm in the application case study on implementation；
Fig. 5 is the structural schematic diagram of the electronic equipment in the application case study on implementation.
Specific embodiment
In order to keep the application case study on implementation technical solution and advantage clearer, below in conjunction in the application case study on implementation
Attached drawing, clear, complete description is carried out to the technical solution in the application case study on implementation, it is clear that described case study on implementation
It is the part case study on implementation of the application, rather than whole case study on implementation.Based on the case study on implementation in the application, this field is common
Technical staff's every other case study on implementation obtained without creative efforts belongs to the application protection
Range.
In view of by the way of manual measurement cargo side amount, need to spend in the related technology a large amount of human cost and when
Between cost, and manual measurement error is larger, and the problem of measurement result inaccuracy, the application provides a kind of goods space cubing
Algorithm and device are carried out by obtaining the elevation information of cargo, and to the spatial information that can not be detected completely in the space
Space compensation, has modified the edge voids in cargo loading procedures, then the accuracy of the amount of improving side detection is mended according to space
The cargo distributed intelligence after repaying, constructs corresponding goods space network structure, has preferably to the real space form of cargo
Simulation effect, have preferable robustness, subsequently according to the cargo height information, by the way that the cargo of close height is existed
It is moved to close positions in calculating, reduces the gap between cargo, improves accuracy in detection, obtains the space bit of the cargo
It sets, it can be quick, convenient and accurately to the spatial volume progress automatic measurement of cargo.
In order to quick, convenient and accurately carry out automatic measurement to the spatial volume of cargo, the application provides one kind
The case study on implementation of goods space cubing algorithm, flow chart is referring to Fig. 1 to Fig. 4, the goods space volume measuring method
Include specifically following content:
Step S101: obtaining the distribution space of cargo, carries out space compensation to the rim space in the distribution space.
Step S102: according to the distribution space of the cargo after space compensation, the corresponding cargo is obtained
Spatial distribution network.
Step S103: according to the spatial distribution network, the spatial volume of the corresponding cargo is obtained.
Specifically:
(1) data preparation: in data preprocessing phase, collecting various situation data sets, as shown below, labeled data,
It to data filtering, compensates, do data transformation, enhance the robustness of data bulk and model training.(2) spatial model, step are constructed
It is rapid as follows:
(2.1) pretreated sensor data, the position of accurate goods space characteristic point are loaded；
Edge data is compensated using the method for compensation point, especially by sensor test point and corresponding vehicle
Essential information is added according to the distribution of sensor
(2.2) it is detected by sensor, picking object vertex carries out the covering of cargo vertex surface, forms cargo cyberspace point
Cloth；
(2.3) cargo surfaces region is normalized based on point-by-point interpolation, point-by-point interpolation formula is as follows:
xo=(1- alpha-beta) X1+αX2+βX3
yo=(1- alpha-beta) Y1+αY2+βY3
Wherein X1=(x1,y1),X2=(x2,y2),X3=(x3,y3), wherein XOIt is the point satisfaction of triangular exterior:
α≥0
β≥0
α+β≥1
It is X to the weight contribution of specific region that α, β, which embody each vertex,O=(x0,y0) adjacent three points.Root herein
Actual load situation is simulated as far as possible according to the mode difference that actual vehicle model loads, and prevents vehicle loading from having biggish space surplus
It is remaining, through practical investigation, take alpha+beta=3/2 (simulation rim space, according to actual vehicle model)
(2.4) in specific implementation, first according to the following formula calculate marginal point position:
X=x1
Y=y0+x2/2；
Wherein, x, y are marginal positions, are usually floating number, and three above-mentioned points are exactly adjacent with source position three
Point is filled up marginal point by above-mentioned formula.
(3) to spatial model is established after the completion of marginal point processing, the steps include:
(3.1) after integrating detection data to the data point after edge regional processing, the network coverage is carried out to these data, is pressed
According to: quadrangle network: its volume calculates:
V=l0*w0*h；
For that cannot construct the utilization triangulation approximate processing of quadrangle, volume is calculated are as follows:
v1=l1*w1*h1+v2；
Wherein l0、w0, length that h is corresponding cube, which can use the object of the quadrangle network coverage；l1、
w1、h1For the cuboid of triangular network overlay area, v2For the irregular tetrahedral of triangulation network covering, volume is calculated are as follows:
v2=s.h/3；
(3.2) linear weighted function is carried out to edge point position by successive interpolation algorithm, to obtain object space to the end
All standing, plan view are as follows:
(4) the sum of spatial volume is calculated, finally calculates cargo side's amount according to the following formula:
In order to further explain this programme, it is real that the application also provides a kind of application above mentioned goods spatial volume measuring device
The specific application example of stock object space volume measuring method, specifically includes following content:
1, data preparation: in data preprocessing phase, various situation data sets are collected, as shown below, labeled data is right
Data filtering compensates, does data transformation, enhances the robustness of data bulk and model training.
2, spatial model is constructed, steps are as follows:
(1) pretreated sensor data, the position of accurate goods space characteristic point are loaded；
Edge data is compensated using the method for compensation point, especially by sensor test point and corresponding vehicle
Essential information is added according to the distribution of sensor
(2) it is detected by sensor, picking object vertex carries out the covering of cargo vertex surface, forms cargo cyberspace point
Cloth；
(3) cargo surfaces region is normalized based on point-by-point interpolation, point-by-point interpolation formula is as follows:
xo=(1- alpha-beta) X1+αX2+βX3
yo=(1- alpha-beta) Y1+αY2+βY3
Wherein X1=(x1,y1),X2=(x2,y2),X3=(x3,y3), wherein XOIt is the point satisfaction of triangular exterior: α >=0,
β and >=0 alpha+beta >=1, it is X to the weight contribution of specific region that wherein α and β, which embodies each vertex,O=(x0,y0) three adjacent
Point.The mode difference loaded herein according to actual vehicle model simulates actual load situation as far as possible, prevents vehicle loading from having larger
Spatial Residual take alpha+beta=3/2 (simulation rim space, according to actual vehicle model) through practical investigation
(4) in specific implementation, first according to the following formula calculate marginal point position:
X=x1
Y=y0+x2/2；
Wherein, x, y are marginal positions, are usually floating number, and three above-mentioned points are exactly adjacent with source position three
Point is filled up marginal point by above-mentioned formula.
3, to spatial model is established after the completion of marginal point processing, the steps include:
(1) after integrating detection data to the data point after edge regional processing, the network coverage is carried out to these data, is pressed
According to: quadrangle network: its volume calculates:
V=l0*w0*h；
For that cannot construct the utilization triangulation approximate processing of quadrangle, volume is calculated are as follows:
v1=l1*w1*h1+v2；
Wherein l0、w0, length that h is corresponding cube, which can use the object of the quadrangle network coverage；l1、
w1、h1For the cuboid of triangular network overlay area, v2For the irregular tetrahedral of triangulation network covering, volume is calculated are as follows:
v2=s.h/3；
(2) linear weighted function is carried out to edge point position by successive interpolation algorithm, so that the object space obtained to the end is complete
Covering.
4, the sum of spatial volume is calculated, finally calculates cargo side's amount according to the following formula:
The case study on implementation of the application is also provided in the goods space volume measuring method that can be realized in above-mentioned case study on implementation
The specific embodiment of a kind of electronic equipment of Overall Steps, referring to Fig. 5, the electronic equipment specifically includes following content:
Processor (processor) 601, memory (memory) 602, communication interface (Communications
Interface) 603 and bus 604；
Wherein, the processor 601, memory 602, communication interface 603 complete mutual lead to by the bus 604
Letter；The communication interface 603 for realizing goods space volume measurement device, online operation system, client device and its
He participates in the transmission of the information between mechanism；
The processor 601 is used to call the computer program in the memory 602, and the processor executes the meter
The Overall Steps in the goods space volume measuring method in above-mentioned case study on implementation are realized when calculation machine program, for example, the processing
Device realizes following step when executing the computer program:
Step S101: obtaining the distribution space of cargo, carries out space compensation to the rim space in the distribution space.
Step S102: according to the distribution space of the cargo after space compensation, the corresponding cargo is obtained
Spatial distribution network.
Step S103: according to the spatial distribution network, the spatial volume of the corresponding cargo is obtained.
As can be seen from the above description, the electronic equipment that the application case study on implementation provides, can obtain the distribution space of cargo, and
Space compensation is carried out to the rim space in the distribution space, the edge voids in cargo loading procedures is had modified, improves
The accuracy that amount side is detected constructs the corresponding goods then according to the distribution space of the cargo after space compensation
The spatial distribution network of object has preferably simulation effect to the real space form of cargo, has preferable robustness, subsequently
According to the spatial distribution network, the spatial volume of the corresponding cargo is obtained, it can be quick, convenient and accurately to cargo
Spatial volume carry out automatic measurement.
The case study on implementation of the application is also provided in the goods space volume measuring method that can be realized in above-mentioned case study on implementation
A kind of computer readable storage medium of Overall Steps is stored with computer program on the computer readable storage medium, should
The Overall Steps of the goods space volume measuring method in above-mentioned case study on implementation, example are realized when computer program is executed by processor
Such as, following step is realized when the processor executes the computer program:
Step S101: obtaining the distribution space of cargo, carries out space compensation to the rim space in the distribution space.
Step S102: according to the distribution space of the cargo after space compensation, the corresponding cargo is obtained
Spatial distribution network.
Step S103: according to the spatial distribution network, the spatial volume of the corresponding cargo is obtained.
As can be seen from the above description, the computer readable storage medium that the application case study on implementation provides, can obtain cargo
Distribution space, and space compensation is carried out to the rim space in the distribution space, have modified the edge in cargo loading procedures
Gap, the accuracy of the amount of improving side detection, then according to the distribution space of the cargo after space compensation, building pair
The spatial distribution network for the cargo answered has preferably simulation effect to the real space form of cargo, has preferable Shandong
Stick obtains the spatial volume of the corresponding cargo subsequently according to the spatial distribution network, can it is quick, convenient and
Automatic measurement accurately is carried out to the spatial volume of cargo.
Each case study on implementation in this specification is described in a progressive manner, same and similar between each case study on implementation
Part may refer to each other, what each case study on implementation stressed is the difference with other case study on implementation.In particular, right
For hardware+program class case study on implementation, since it is substantially similar to method case study on implementation, so being described relatively simple, phase
Place is closed to illustrate referring to the part of method case study on implementation.
It is above-mentioned that this specification particular implementation case is described.Model of other case study on implementation in the appended claims
In enclosing.In some cases, the movement recorded in detail in the claims or step can be suitable in case study on implementation according to being different from
Sequence executes and still may be implemented desired result.In addition, process depicted in the drawing not necessarily requires the spy shown
Fixed sequence or consecutive order are just able to achieve desired result.In some embodiments, multitasking and parallel processing
It is possible or may be advantageous.
Although being based on routine or nothing this application provides the method operating procedure as described in case study on implementation or flow chart
Creative labor may include more or less operating procedure.The step of enumerating in case study on implementation sequence is only numerous
One of step execution sequence mode does not represent and unique executes sequence.Device or client production in practice executes
When, can be executed according to case study on implementation or method shown in the drawings sequence or it is parallel execute (such as parallel processor or
The environment of multiple threads).
System, device, module or the unit that above-mentioned case study on implementation illustrates, specifically can be real by computer chip or entity
It is existing, or realized by the product with certain function.It is a kind of typically to realize that equipment is computer.Specifically, computer example
Such as can for personal computer, laptop computer, vehicle-mounted human-computer interaction device, cellular phone, camera phone, smart phone,
Personal digital assistant, navigation equipment, electronic mail equipment, game console, tablet computer, wearable is set media player
The combination of any equipment in standby or these equipment.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
In a typical configuration, calculating equipment includes one or more processors (CPU), input/output interface, net
Network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or other magnetic storage devices
Or any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
It will be understood by those skilled in the art that the case study on implementation of this specification can provide as method, system or computer program
Product.Therefore, this specification case study on implementation can be used complete hardware case study on implementation, complete software case study on implementation or combine software and
The form of the case study on implementation of hardware aspect.
This specification case study on implementation can be retouched in the general context of computer-executable instructions executed by a computer
It states, such as program module.Generally, program module include routines performing specific tasks or implementing specific abstract data types,
Programs, objects, component, data structure etc..This specification case study on implementation can also be practiced in a distributed computing environment, at this
In a little distributed computing environment, by executing task by the connected remote processing devices of communication network.It is counted in distribution
It calculates in environment, program module can be located in the local and remote computer storage media including storage equipment.
Each case study on implementation in this specification is described in a progressive manner, same and similar between each case study on implementation
Part may refer to each other, what each case study on implementation stressed is the difference with other case study on implementation.In particular, right
For system case study on implementation, since it is substantially similar to method case study on implementation, so being described relatively simple, related place ginseng
The part of square method case study on implementation illustrates.In the description of this specification, reference term " case study on implementation ", " some
The description of case study on implementation ", " example ", " specific example " or " some examples " etc. means that the case study on implementation or example is combined to describe
Particular features, structures, materials, or characteristics be contained at least one case study on implementation or example of this specification case study on implementation.
In the present specification, schematic expression of the above terms are necessarily directed to identical case study on implementation or example.Moreover, retouching
The particular features, structures, materials, or characteristics stated can be in any one or more case study on implementation or example in an appropriate manner
In conjunction with.In addition, without conflicting with each other, those skilled in the art can be by different implementations described in this specification
Case or example and different case study on implementation or exemplary feature are combined.
The foregoing is merely the case study on implementation of this specification, are not limited to this specification case study on implementation.For
For those skilled in the art, this specification case study on implementation can have various modifications and variations.It is all in this specification case study on implementation
Spirit and principle within any modification, equivalent replacement, improvement and so on, should be included in the power of this specification case study on implementation
Within sharp claimed range.
Claims (10)
1. a kind of car loading side's algorithm based on spatial network model, comprising:
The spatial positional information for obtaining cargo carries out Information revision to the rim space in the spatial distribution；
According to revised goods space distributed intelligence, corresponding goods space distributed network architecture is obtained；
According to the spatial distribution network structure, the spatial positional information of corresponding cargo in the car is obtained.
2. goods space volume measuring method according to claim 1, which is characterized in that obtain the spatial distribution letter of cargo
Breath, comprising:
It is acquired by sensor, obtains the spatial positional information of the cargo；
Data prediction is carried out to the cargo distributed intelligence, the space distribution information after obtaining data prediction, wherein described
Data prediction includes: data filtering, compensation data and data transformation.
3. goods space volume measuring method according to claim 2, which is characterized in that the side in goods space distribution
Edge space carries out network segmentation, comprising:
According to the detection dot position information of the sensor, the network all standing of cargo distribution is determined；
Edge data compensation is carried out to the marginal information in goods space location information according to compensation point information, because it is contemplated that cost
Problem cannot make the entire railway carriage of sensor all standing.It obtains by the compensated goods space distributed intelligence of edge data.
4. goods space volume measuring method according to claim 3, which is characterized in that obtain the spatial distribution letter of cargo
Breath, comprising:
The elevation information of cargo is collected by the sensor；
According to the height position information of all cargos, the network topology information of detection cargo is obtained.
5. goods space cubing algorithm according to claim 4, which is characterized in that obtaining the space of corresponding cargo
After network topology information, comprising:
Labeled data to data filtering, compensates, does data transformation, enhances the robustness of data bulk and model training.
Load pretreated sensor data, the position of accurate goods space characteristic point.Compensation point is used for edge data
Method compensate, added especially by sensor test point and corresponding vehicle essential information according to the distribution of sensor
Add.
Point-by-point interpolation rule is based on to cargo surfaces region the spatial distribution network is normalized, it is described point-by-point slotting
The formula for being worth rule is as follows:
xo=(1- alpha-beta) X1+αX2+βX3,
yo=(1- alpha-beta) Y1+αY2+βY3,
Wherein, X1=(x1,y1),X2=(x2,y2),X3=(x3,y3), XOIt is the point of triangular exterior, XOMeet: α >=0, β >=0,
α+β≥1.α and β embodies each vertex to the weight contribution of specific region.X1=(x1,y1),X2=(x2,y2),X3=(x3,
y3) it is XO=(x0,y0) adjacent three points.Practical dress is simulated as far as possible herein according to the mode difference that actual vehicle model loads
Situation is carried, prevents vehicle loading from having biggish Spatial Residual, through practical investigation, takes alpha+beta=3/2 (simulation rim space, according to reality
Border vehicle), in specific implementation, first according to the following formula calculate marginal point position:
X=x1
Y=y0+x2/2
Wherein, x, y are marginal positions, are usually floating number, and three above-mentioned points are exactly three points adjacent with original position, are led to
Above-mentioned formula is crossed to fill up marginal point.
6. goods space volume measuring method according to claim 2, which is characterized in that according to the cyberspace point
Cloth obtains the spatial volume of the cargo, comprising:
Judge the mesh shape of the spatial network distribution；
If the mesh shape is quadrangle, corresponding spatial volume calculation formula are as follows:
V=l0*w0* h,
Wherein, l0、w0, length that h is corresponding cube.At utilization triangulation approximation for quadrangle cannot be constructed
Reason, volume calculate are as follows:
v1=l1*w1*h1+v2
Wherein l0、w0, length that h is corresponding cube, which can use the object of the quadrangle network coverage；l1、w1、h1
For the cuboid of triangular network overlay area, v2For the irregular tetrahedral of triangulation network covering, volume is calculated are as follows:
v2=s.h/3.
7. goods space volume measuring method according to claim 3, which is characterized in that the cargo after space compensation
Location information obtains the spatial network distribution of the cargo, comprising:
Linear weighted function is carried out to edge point position by successive interpolation algorithm, to obtain object space all standing to the end.
8. goods space volume measuring method according to claim 1, which is characterized in that according to the spatial distribution net
Network obtains the spatial volume of cargo, comprising:
The calculation formula of the spatial volume of the cargo are as follows:
9. a kind of goods space volume measurement device characterized by comprising
Rim space compensating module carries out the rim space in the distribution space empty for obtaining the distribution space of cargo
Between compensate；
Spatial network constructs module, for being distributed according to the goods space after space compensation, obtains the space of the cargo
Distributed network；
Measurement of cargo computing module, it is mobile using spatial position for being distributed according to the spatial network, it is covered with the triangulation network
Obtain the spatial volume of the cargo.
10. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that the processor realizes that the described in any item cargos of claim 1 to 8 are empty when executing described program
Between volume measuring method the step of.
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