CN110488308A - A kind of compartment position finding and detection method and device - Google Patents
A kind of compartment position finding and detection method and device Download PDFInfo
- Publication number
- CN110488308A CN110488308A CN201910604082.3A CN201910604082A CN110488308A CN 110488308 A CN110488308 A CN 110488308A CN 201910604082 A CN201910604082 A CN 201910604082A CN 110488308 A CN110488308 A CN 110488308A
- Authority
- CN
- China
- Prior art keywords
- compartment
- point
- sensing point
- coordinate
- cloud data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of compartment position finding and detection method and devices, which comprises detects to compartment, obtains the point cloud data of sensing point；It determines that sensing point is distributed according to point cloud data, is distributed according to sensing point and sensing point is divided into multiple groups；Straight line fitting is carried out respectively according to the point cloud data of each group sensing point, using obtained straight line as the position baseline of each carriage in the compartment；The positioning coordinate on each vertex in the compartment is determined according to obtained position baseline.The beneficial effect of the technical solution is, compartment detect and calculate by subsequent algorithm using detecting devices such as such as laser radars, the fast and accurately measurement to car sizes and location information may be implemented, for the calibration of automatic loading and unloading device job parameter and smoothly carry out operation accurate foundation is provided, improves work efficiency and data accuracy.
Description
Technical field
The present invention relates to detection and localization fields, and in particular to a kind of compartment position finding and detection method.
Background technique
Compartment handling are one of important links of logistics transportation.Automatic loading and unloading device is often used in order to improve working efficiency
Instead of manually being loaded and unloaded.Automatic loading and unloading device needs accurately know that car sizes and location information just can be smooth in operation
Complete automated job.It in order to carry out operation needs in reality, needs to make vehicle location control in particular range, thus practices
In usually adjust vehicle location repeatedly and to meet position meet operating condition.But precisely, therefore the control of vehicle location is difficult to
It needs a kind of compartment position finding and detection method to realize to the precise measurement of car sizes and location information, can use handling facilities
Measured data, which are realized, to be accurately positioned and calibrates, so as to adjust equipment relevant parameter to carry out subsequent automated job.
Summary of the invention
In view of the above problems, it proposes on the present invention overcomes the above problem or at least be partially solved in order to provide one kind
State the compartment position finding and detection method and device of problem.
According to one aspect of the present invention, a kind of compartment position finding and detection method is provided, the compartment is automatic loading
Target compartment, this method comprises:
Compartment is detected, the point cloud data of sensing point is obtained；
It determines that sensing point is distributed according to point cloud data, is distributed according to sensing point and sensing point is divided into multiple groups；
Straight line fitting is carried out respectively according to the point cloud data of each group sensing point, using obtained straight line as each of the compartment
The position baseline of carriage；
The positioning coordinate on each vertex in the compartment is determined according to obtained position baseline.
Optionally, described to detect to compartment, the point cloud data for obtaining multiple sensing points includes:
Control laser radar drop in the preset height section apart from platform floor, by the laser radar along plane into
360 degree of row detections；
The plane right-angle coordinate of the plane is determined according to the laser radar；
The distance l and sensing point of origin according to sensing point apart from the plane right-angle coordinate and the plane are straight
The origin of angular coordinate system connects the straight line to be formed with the angle theta of the plane right-angle coordinate x-axis, obtains the point cloud of each sensing point
Data.
Optionally, the point cloud data according to each group sensing point carries out straight line fitting respectively and includes:
Coordinate (l*cos θ, l*sin θ) of each sensing point in the plane right-angle coordinate is determined, according to the coordinate
Straight line fitting is carried out with linear regression algorithm.
Optionally, described to determine that sensing point is distributed according to point cloud data, be distributed according to sensing point sensing point is divided into it is multiple
Group includes:
Cut-point is determined according to the changing rule of θ-l curve；
The sensing point is divided into multiple groups according to determining cut-point.
Optionally, the changing rule according to θ-l curve determines that cut-point includes:
Cut-point corresponding with closure breast board side is determined from sensing point according to limiting value rule；
If there are the sections of l value mutation in the curve, determined from sensing point according to the two of the section of l value mutation endpoints
Cut-point corresponding with non-closed breast board side.
Optionally, the position baseline that the basis obtains determines that the positioning coordinate on each vertex in the compartment includes:
The crosspoint coordinate that each position baseline is intersected is sat as the positioning on compartment closure breast board side vertex
Mark；
Using the coordinate of cut-point corresponding with non-closed breast board side as the positioning on the non-closed breast board side in compartment vertex
Coordinate.
Another aspect according to the present invention, provides a kind of compartment locating and detecting device, and the compartment is automatic loading
Target compartment, the device include:
Probe unit obtains the point cloud data of sensing point for detecting to compartment；
Positioning unit, for determining that sensing point is distributed according to point cloud data, be distributed according to sensing point sensing point is divided into it is more
A group；Straight line fitting is carried out respectively according to the point cloud data of each group sensing point, using obtained straight line as each compartment in the compartment
The position baseline of plate；The positioning coordinate on each vertex in the compartment is determined according to obtained position baseline.
Optionally, the probe unit drops to the preset height section apart from platform floor suitable for control laser radar
It is interior, 360 degree of detections are carried out along plane by the laser radar；The plane rectangular coordinates of the plane is determined according to the laser radar
System；The distance l and sensing point and the plane rectangular coordinates of origin according to sensing point apart from the plane right-angle coordinate
The origin of system connects the straight line to be formed with the angle theta of the plane right-angle coordinate x-axis, obtains the point cloud data of each sensing point.
Optionally, the positioning unit is adapted to determine that coordinate (l*cos of each sensing point in the plane right-angle coordinate
θ, l*sin θ), straight line fitting is carried out according to the coordinate and linear regression algorithm.
Optionally, the positioning unit is suitable for determining cut-point according to the changing rule of θ-l curve；According to determining segmentation
The sensing point is divided into multiple groups by point.
Optionally, the positioning unit is suitable for being determined from sensing point according to limiting value rule corresponding with closure breast board side
Cut-point；If there are the sections of l value mutation in the curve, determined from sensing point according to the two of the section of l value mutation endpoints
Cut-point corresponding with non-closed breast board side.
Optionally, the crosspoint coordinate that the positioning unit is suitable for intersecting each position baseline is as the compartment
It is closed the positioning coordinate on breast board side vertex；The coordinate of cut-point corresponding with non-closed breast board side is non-closed as the compartment
The positioning coordinate on breast board side vertex.
Another aspect according to the present invention, provides a kind of electronic equipment, comprising: processor；And it is arranged to store
The memory of computer executable instructions, the executable instruction execute the processor such as any of the above-described institute
The method stated.
According to the present invention in another aspect, providing a kind of computer readable storage medium, wherein it is described computer-readable
Storage medium stores one or more programs, and one or more of programs when being executed by a processor, are realized as any of the above-described
The method.
It can be seen from the above, technical solution of the present invention, detects compartment, the point cloud data of sensing point is obtained；According to
Point cloud data determines that sensing point is distributed, and is distributed according to sensing point sensing point being divided into multiple groups；According to the point cloud of each group sensing point
Data carry out straight line fitting respectively, using obtained straight line as the position baseline of each carriage in the compartment；According to what is obtained
Position baseline determines the positioning coordinate on each vertex in the compartment.The beneficial effect of the technical solution is, utilizes such as laser
The detecting devices such as radar detect and calculate by subsequent algorithm to compartment, may be implemented to believe car sizes and position
The fast and accurately measurement of breath provides accurate foundation for the calibration of automatic loading and unloading device job parameter and smooth development operation, improves
Working efficiency and data accuracy.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 shows a kind of flow diagram of compartment position finding and detection method according to an embodiment of the invention；
Fig. 2 shows a kind of structural schematic diagrams of compartment locating and detecting device according to an embodiment of the invention；
Fig. 3 shows detection and localization schematic illustration in compartment according to an embodiment of the invention；
Fig. 4 shows the structural schematic diagram of electronic equipment according to an embodiment of the invention；
Fig. 5 shows the structural schematic diagram of computer readable storage medium according to an embodiment of the invention.
Specific embodiment
The exemplary embodiment that the present invention will be described in more detail below with reference to accompanying drawings.Although showing the present invention in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the present invention without should be by embodiments set forth here
It is limited.It is to be able to thoroughly understand the present invention on the contrary, providing these embodiments, and can be by the scope of the present invention
It is fully disclosed to those skilled in the art.
Fig. 1 shows a kind of flow diagram of compartment position finding and detection method according to an embodiment of the invention, the party
Method can be adapted for automatic loading scene, and compartment is the target compartment of automatic loading.As shown in Figure 1, this method comprises:
Step S110, detects compartment, obtains the point cloud data of sensing point.
Compartment suitable for automatic loading scene is usually open compartment, and here open refers to do not have top carriage
Or top carriage is in an open state, such cement and other items can be packed into compartment from compartment top by automatic loading and unloading device.Vehicle
Compartment generally also includes four breast boards, constitutes carriage body with compartment negative, is also at opening state toward breast board backward in actual operation.
A kind of important goal of compartment positioning is exactly length and the position of determining each breast board, and such automatic loading and unloading device could be adjusted correspondingly
Whole parameter enables and guarantees higher Room utilization rate when cargo entrucking.
In this step, detecting to compartment can carry out in interior, be obtained by detecting devices such as laser radars
To sensing point and the point cloud data of sensing point.It is special that these point cloud datas can be used as subsequent further accurate determining car position
The basic data of the information such as sign, size characteristic.
Step S120 determines that sensing point is distributed according to point cloud data, is distributed according to sensing point sensing point being divided into multiple groups.
Point cloud data is parsed, the point cloud data with similarity rules is divided into one kind, forms several groups sensing point.
For example, sensing point is divided into four groups, four breast boards in compartment are respectively corresponded.By grouping, the sensing point for keeping these relatively scattered
It is clustered according to certain rule, keeps regular feature more apparent, lay base for subsequent targeted operation special algorithm
Plinth.
Step S130 carries out straight line fitting according to the point cloud data of each group sensing point, using obtained straight line as vehicle respectively
The position baseline of each carriage in compartment.
The cross section in compartment is generally rectangular cross-section, and four breast boards respectively correspond a line of rectangle.So in order to according to detection
Point further determines that the information such as position feature, the size characteristic in compartment, needs to carry out point cloud data by certain algorithm straight
Line fitting operation.It can accurately reflect the feature of each carriage in compartment by the fitting a straight line that operation obtains, and can be with
Reference line as each carriage positioning in compartment.
Step S140 determines the positioning coordinate on each vertex in compartment according to obtained position baseline.
In conjunction with the positioning coordinate data and position baseline on each vertex of car body, car body wheel can be accurately reflected
Wide boundary characteristic.These boundary characteristics will be finally reflected out the information such as car position feature, size characteristic.In this way, compartment
The information such as position feature, size characteristic just finally are determined.
As it can be seen that method as shown in Figure 1, detects compartment, the point cloud data of sensing point is obtained；According to point cloud data
It determines that sensing point is distributed, is distributed according to sensing point and sensing point is divided into multiple groups；Distinguished according to the point cloud data of each group sensing point
Straight line fitting is carried out, using obtained straight line as the position baseline of each carriage in the compartment；According to obtained positioning datum
Line determines the positioning coordinate on each vertex in the compartment.The beneficial effect of the technical solution is, is visited using such as laser radar etc.
Measurement equipment detect and calculate by subsequent algorithm to compartment, may be implemented to the fast of car sizes and location information
Speed, accurate measurement provide accurate foundation for the calibration of automatic loading and unloading device job parameter and smoothly development operation, improve work
Efficiency and data accuracy.
In one embodiment of the invention, in the above method, compartment is detected, obtains the point cloud of multiple sensing points
Data include: that control laser radar drops in the preset height section apart from platform floor, are carried out by laser radar along plane
360 degree of detections；The plane right-angle coordinate of the plane is determined according to laser radar；According to sensing point apart from plane right-angle coordinate
The distance l of origin and the origin of sensing point and plane right-angle coordinate connect the coplanar rectangular coordinate system x of the straight line to be formed
The angle theta of axis obtains the point cloud data of each sensing point.
For example, the detection device with elevating function declines from above when starting detection device opens the detection to compartment
To certain altitude, height sensor real-time detection obtains altitude information at this time.The straight of the plane is determined with laser radar plane
Angular coordinate system, the laser radar in detection device carry out 360 degree along plane and obtain data group conjunction (θ, l) around detection.Such as Fig. 3 institute
Show, wherein the origin of θ expression sensing point and plane right-angle coordinate connects the folder of the coplanar rectangular coordinate system x-axis of the straight line to be formed
The numerical value at angle, l indicate the distance of origin of the sensing point apart from plane right-angle coordinate.In this way, the data that laser radar is got
The numerical value being converted under same rectangular coordinate system, has unified reference system, realize to the accurate recordings of a large amount of spatial datas and
It indicates, convenient for the subsequent further calculation process to data.
In one embodiment of the invention, it in the above method, is carried out respectively according to the point cloud data of each group sensing point straight
Line fitting comprises determining that coordinate (l*cos θ, l*sin θ) of each sensing point in plane right-angle coordinate, according to coordinate and linearly
Regression algorithm carries out straight line fitting.
The plane coordinate value under rectangular coordinate system is converted by the point cloud data data of each sensing point, i.e., each point conversion
For the rectangular coordinate system coordinate of (l*cos θ, l*sin θ).Straight line is carried out in conjunction with each sensing point coordinate value and linear regression algorithm
Fitting operation.Fitting form can be y=kx+b form.After such calculation process, detection point data will be clearer
The feature for reflecting compartment profile helps to reduce measurement error, accurate to indicate the letter such as compartment car position feature, size characteristic
Breath.
In one embodiment of the invention, in the above method, determine that sensing point is distributed according to point cloud data, according to detection
It includes: to determine cut-point according to the changing rule of θ-l curve that sensing point is divided into multiple groups by point distribution；According to determining cut-point
Sensing point is divided into multiple groups.
For example, as shown in figure 3, with laser radar rotation in the planes when, data combine (θ, l) in two entry value
Also the alternating changing rule that gradually can become smaller or become larger with generation.According to limiting value changing rule, when be in P1,
When at P2, P3, P4, the amplitude of variation of data combination is maximum.Therefore, the changing rule that can be presented according to θ-l curve, which determines, to be divided
Cutpoint.Sensing point divides for multiple groups between different cut-points, forms the several areas P1-P2, P2-P3, P3-P4, P4-P1
Between.Just each point cloud data is clustered according to similarity rules in this way, the regular feature for the point cloud data for keeping these scattered
It is more apparent, it lays the foundation for information such as position feature, size characteristics that sensing point compartment is further accurately determined.
In one embodiment of the invention, in the above method, cut-point packet is determined according to the changing rule of θ-l curve
It includes: determining cut-point corresponding with closure breast board side from sensing point according to limiting value rule；If there are l value mutations in curve
Section then determines cut-point corresponding with non-closed breast board side according to the two of the section of l value mutation endpoints from sensing point.
For example, as shown in figure 3, P1, P2, P3, P4 respectively correspond four vertex in compartment.Car door is corresponded between P1-P4
There is closure and non-closed two kinds of situations in fence device, car door breast board.When compartment breast board in the closure state, can directly according to
The corresponding cut-point of P1, P2, P3, P4 is determined according to the variation of limiting value.When vehicle forms non-close when car door fence device is opened
When conjunction state, the l value that detection radar obtains data will mutate at P1 and P4, and l value can be shown as in the section P1-P4
Biggish numerical value.At this point, two endpoints P1 and P4 of mutation the section cut-point corresponding with non-closed breast board from sensing point determine.
So just fast and accurately compartment no matter when under closed state or non-closed two states can determine it respectively
Corresponding cut-point.
In one embodiment of the invention, in the above method, each vertex in compartment is determined according to obtained position baseline
Positioning coordinate include: the crosspoint coordinate that intersects each position baseline as the positioning on compartment closure breast board side vertex
Coordinate；Using the coordinate of cut-point corresponding with non-closed breast board side as the positioning coordinate on the non-closed breast board side in compartment vertex.
For example, compartment is closed the positioning on breast board side vertex as shown in figure 3, working as car door fence device in the closure state
The crosspoint coordinate that coordinate P1, P2, P3, P4 can directly be intersected by each position baseline determines.When car door fence device
When in non-occluded state, the crosspoint coordinate that P2, P3 can still intersect according to position baseline determines that P1, P4 can
Finally to be determined by limiting value rule cut-point corresponding with non-closed breast board from sensing point.In order to reduce whole system
Error, the repeatedly calculating method of averaging that can use determine P1, P4 coordinate.So just fast and accurately in compartment without punishing
It can determine its corresponding coordinate points respectively under closed state or non-closed two states.
Fig. 2 shows a kind of structural schematic diagrams of compartment locating and detecting device according to an embodiment of the invention.Such as Fig. 2
Shown, compartment locating and detecting device 200 includes:
Probe unit 210 obtains the point cloud data of sensing point for detecting to compartment.
Compartment suitable for automatic loading scene is usually open compartment, and here open refers to do not have top carriage
Or top carriage is in an open state, such cement and other items can be packed into compartment from compartment top by automatic loading and unloading device.Vehicle
Compartment generally also includes four breast boards, constitutes carriage body with compartment negative, is also at opening state toward breast board backward in actual operation.
A kind of important goal of compartment positioning is exactly length and the position of determining each breast board, and such automatic loading and unloading device could be adjusted correspondingly
Whole parameter enables and guarantees higher Room utilization rate when cargo entrucking.
In this step, detecting to compartment can carry out in interior, be obtained by detecting devices such as laser radars
To sensing point and the point cloud data of sensing point.It is special that these point cloud datas can be used as subsequent further accurate determining car position
The basic data of the information such as sign, size characteristic.
Positioning unit 220 is distributed according to sensing point for determining that sensing point is distributed according to point cloud data and is divided into sensing point
Multiple groups；Straight line fitting is carried out respectively according to the point cloud data of each group sensing point, using obtained straight line as each carriage in compartment
Position baseline；The positioning coordinate on each vertex in compartment is determined according to obtained position baseline.
Point cloud data is parsed, the sensing point with similarity rules is divided into one kind, forms several groups data.Example
Such as, sensing point is divided into four groups, respectively corresponds four breast boards in compartment.By grouping, the sensing point for keeping these relatively scattered by
It is clustered according to certain rule, keeps regular feature more apparent, laid the foundation for subsequent targeted operation special algorithm.
The cross section in compartment is generally rectangular cross-section, and four breast boards respectively correspond a line of rectangle.So in order to further according to sensing point
It determines the information such as position feature, the size characteristic in compartment, needs to carry out straight line fitting fortune to point cloud data by certain algorithm
It calculates.It can accurately reflect the feature of each carriage in compartment by the fitting a straight line that operation obtains, and can be used as compartment
The reference line of each carriage positioning.In conjunction with the positioning coordinate data and position baseline on each vertex of car body, can accurately reflect
The boundary characteristic of car body profile out.These boundary characteristics will be finally reflected out the information such as car position feature, size characteristic.
In this way, the information such as the position feature in compartment, size characteristic just finally are determined.
As it can be seen that device as shown in Figure 2, obtains a large amount of detection point datas by detection, and final according to specific algorithm
Determine that compartment accurately positions coordinate.Detection is carried out to compartment using detecting devices such as such as laser radars and by subsequent calculation
Method is calculated, and the fast and accurately measurement to car sizes and location information may be implemented, and is joined for automatic loading and unloading device operation
Number calibration and smoothly carry out operation accurate foundation is provided, improves work efficiency and data accuracy.
In one embodiment of the invention, in above-mentioned apparatus, probe unit 210 be suitable for control laser radar drop to away from
In preset height section from platform floor, 360 degree of detections are carried out along plane by laser radar；Determine that this is flat according to laser radar
The plane right-angle coordinate in face；The distance l and sensing point and plane of origin according to sensing point apart from plane right-angle coordinate
The origin of rectangular coordinate system connects the angle theta of the coplanar rectangular coordinate system x-axis of the straight line to be formed, and obtains the point cloud number of each sensing point
According to.
For example, the detection device with elevating function declines from above when starting detection device opens the detection to compartment
To certain altitude, height sensor real-time detection obtains altitude information at this time.The straight of the plane is determined with laser radar plane
Angular coordinate system, the laser radar in detection device carry out 360 degree along plane and obtain data group conjunction (θ, l) around detection.Such as Fig. 3 institute
Show, wherein the origin of θ expression sensing point and plane right-angle coordinate connects the folder of the coplanar rectangular coordinate system x-axis of the straight line to be formed
The numerical value at angle, l indicate the distance of origin of the sensing point apart from plane right-angle coordinate.In this way, the data that laser radar is got
The numerical value being converted under same rectangular coordinate system, has unified reference system, realize to the accurate recordings of a large amount of spatial datas and
It indicates, convenient for the subsequent further calculation process to data.
In one embodiment of the invention, in above-mentioned apparatus, positioning unit 220 is adapted to determine that each sensing point is straight in plane
Coordinate (l*cos θ, l*sin θ) in angular coordinate system carries out straight line fitting according to coordinate and linear regression algorithm.
The plane coordinate value under rectangular coordinate system is converted by the point cloud data data of each sensing point, i.e., each point conversion
For the rectangular coordinate system coordinate of (l*cos θ, l*sin θ).Straight line is carried out in conjunction with each sensing point coordinate value and linear regression algorithm
Fitting operation.Fitting form can be y=kx+b form.After such calculation process, detection point data will be clearer
The feature for reflecting compartment profile helps to reduce measurement error, accurate to indicate the letter such as compartment car position feature, size characteristic
Breath.
In one embodiment of the invention, in above-mentioned apparatus, positioning unit 220 is suitable for being advised according to the variation of θ-l curve
It restrains and determines cut-point；Sensing point is divided into multiple groups according to determining cut-point.
For example, as shown in figure 3, with laser radar rotation in the planes when, data combine (θ, l) in two entry value
Also the alternating changing rule that gradually can become smaller or become larger with generation.According to limiting value changing rule, when be in P1,
When at P2, P3, P4, the amplitude of variation of data combination is maximum.Therefore, the changing rule that can be presented according to θ-l curve, which determines, to be divided
Cutpoint.Sensing point divides for multiple groups between different cut-points, forms the several areas P1-P2, P2-P3, P3-P4, P4-P1
Between.Just each point cloud data is clustered according to similarity rules in this way, the regular feature for the point cloud data for keeping these scattered
It is more apparent, it lays the foundation for information such as position feature, size characteristics that sensing point compartment is further accurately determined.
In one embodiment of the invention, in above-mentioned apparatus, positioning unit 220 is suitable for according to limiting value rule from detection
Cut-point corresponding with closure breast board side is determined in point；If there are the sections of l value mutation in curve, according to the section of l value mutation
Two endpoints determine cut-point corresponding with non-closed breast board side from sensing point.
For example, as shown in figure 3, P1, P2, P3, P4 respectively correspond four vertex in compartment.Car door is corresponded between P1-P4
There is closure and non-closed two kinds of situations in fence device, car door breast board.When compartment breast board in the closure state, can directly according to
The corresponding cut-point of P1, P2, P3, P4 is determined according to the variation of limiting value.When vehicle forms non-close when car door fence device is opened
When conjunction state, the l value that detection radar obtains data will mutate at P1 and P4, and l value can be shown as in the section P1-P4
Biggish numerical value.At this point, two endpoints P1 and P4 of mutation the section cut-point corresponding with non-closed breast board from sensing point determine.
So just fast and accurately compartment no matter when under closed state or non-closed two states can determine it respectively
Corresponding cut-point.
In one embodiment of the invention, in above-mentioned apparatus, positioning unit 220 is suitable for intersecting each position baseline
Positioning coordinate of the crosspoint coordinate arrived as compartment closure breast board side vertex；By cut-point corresponding with non-closed breast board side
Positioning coordinate of the coordinate as the non-closed breast board side in compartment vertex.
For example, compartment is closed the positioning on breast board side vertex as shown in figure 3, working as car door fence device in the closure state
The crosspoint coordinate that coordinate P1, P2, P3, P4 can directly be intersected by each position baseline determines.When car door fence device
When in non-occluded state, the crosspoint coordinate that P2, P3 can still intersect according to position baseline determines that P1, P4 can
Finally to be determined by limiting value rule cut-point corresponding with non-closed breast board from sensing point.In order to reduce whole system
Error, the repeatedly calculating method of averaging that can use determine P1, P4 coordinate.So just fast and accurately in compartment without punishing
It can determine its corresponding coordinate points respectively under closed state or non-closed two states.
It should be noted that the specific embodiment of above-mentioned each Installation practice is referred to aforementioned corresponding method embodiment
Specific embodiment carry out, details are not described herein.
In conclusion technical solution of the present invention, detects compartment, the point cloud data of sensing point is obtained；According to point
Cloud data determine that sensing point is distributed, and are distributed according to sensing point sensing point being divided into multiple groups；According to the point cloud number of each group sensing point
According to straight line fitting is carried out respectively, using obtained straight line as the position baseline of each carriage in the compartment；Determined according to what is obtained
Position reference line determines the positioning coordinate on each vertex in the compartment.The beneficial effect of the technical solution is, utilizes such as laser thunder
Compartment detect and calculate by subsequent algorithm up to equal detecting devices, may be implemented to car sizes and location information
Fast and accurately measurement, for automatic loading and unloading device job parameter calibration and smoothly carry out operation accurate foundation is provided, improve
Working efficiency and data accuracy.
It should be understood that
Algorithm and display be not inherently related to any certain computer, virtual bench or other equipment provided herein.
Various fexible units can also be used together with teachings based herein.As described above, it constructs required by this kind of device
Structure be obvious.In addition, the present invention is also not directed to any particular programming language.It should be understood that can use various
Programming language realizes summary of the invention described herein, and the description done above to language-specific is to disclose this hair
Bright preferred forms.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the present invention and help to understand one or more of the various inventive aspects, In
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. required to protect
Shield the present invention claims features more more than feature expressly recited in each claim.More precisely, as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim itself
All as a separate embodiment of the present invention.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in the following claims, embodiment claimed is appointed
Meaning one of can in any combination mode come using.
Various component embodiments of the invention can be implemented in hardware, or to run on one or more processors
Software module realize, or be implemented in a combination thereof.It will be understood by those of skill in the art that can be used in practice
Microprocessor or digital signal processor (DSP) realize one in compartment locating and detecting device according to an embodiment of the present invention
The some or all functions of a little or whole components.The present invention is also implemented as executing method as described herein
Some or all device or device programs (for example, computer program and computer program product).Such realization
Program of the invention can store on a computer-readable medium, or may be in the form of one or more signals.This
The signal of sample can be downloaded from an internet website to obtain, and is perhaps provided on the carrier signal or mentions in any other forms
For.
For example, Fig. 4 shows the structural schematic diagram of electronic equipment according to an embodiment of the invention.The electronic equipment
400 include processor 410 and the memory for being arranged to storage computer executable instructions (computer readable program code)
420.Memory 420 can be such as flash memory, EEPROM (electrically erasable programmable read-only memory), EPROM, hard disk or
The electronic memory of ROM etc.Memory 420 has the computer stored for executing any method and step in the above method
The memory space 430 of readable program code 431.For example, the memory space 430 for storing computer readable program code can be with
Including being respectively used to realize each computer readable program code 431 of the various steps in above method.It is computer-readable
Program code 431 can read or be written to this one or more calculating from one or more computer program product
In machine program product.These computer program products include such as hard disk, the journey of compact-disc (CD), storage card or floppy disk etc
Sequence code carrier.Such computer program product is usually computer readable storage medium described in such as Fig. 5.Fig. 5 is shown
A kind of structural schematic diagram of computer readable storage medium according to an embodiment of the invention.The computer-readable storage medium
Matter 500 is stored with the computer readable program code 431 for executing steps of a method in accordance with the invention, can be by electronic equipment
400 processor 410 is read, and when computer readable program code 431 is run by electronic equipment 400, leads to the electronic equipment
400 execute each step in method described above, specifically, the computer of the computer-readable recording medium storage
Readable program code 431 can execute method shown in any of the above-described embodiment.Computer readable program code 431 can be with
Appropriate form is compressed.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be through the same hardware branch
To embody.The use of word first, second, and third does not indicate any sequence.These words can be explained and be run after fame
Claim.
Claims (10)
1. a kind of compartment position finding and detection method, which is characterized in that the compartment is the target compartment of automatic loading, this method packet
It includes:
Compartment is detected, the point cloud data of sensing point is obtained；
It determines that sensing point is distributed according to point cloud data, is distributed according to sensing point and sensing point is divided into multiple groups；
Straight line fitting is carried out respectively according to the point cloud data of each group sensing point, using obtained straight line as each carriage in the compartment
Position baseline；
The positioning coordinate on each vertex in the compartment is determined according to obtained position baseline.
2. the method as described in claim 1, which is characterized in that it is described that compartment is detected, obtain the point of multiple sensing points
Cloud data include:
Control laser radar drops in the preset height section apart from platform floor, is carried out by the laser radar along plane
360 degree of detections；
The plane right-angle coordinate of the plane is determined according to the laser radar；
The distance l and sensing point and the flat square of origin according to sensing point apart from the plane right-angle coordinate are sat
The origin of mark system connects the straight line to be formed with the angle theta of the plane right-angle coordinate x-axis, obtains the point cloud number of each sensing point
According to.
3. method according to claim 2, which is characterized in that the point cloud data according to each group sensing point carries out directly respectively
Line is fitted
Coordinate (l*cos θ, l*sin θ) of each sensing point in the plane right-angle coordinate is determined, according to the coordinate and line
Property regression algorithm carry out straight line fitting.
4. method according to claim 2, which is characterized in that it is described to determine that sensing point is distributed according to point cloud data, according to spy
Sensing point is divided into multiple groups and includes: by measuring point distribution
Cut-point is determined according to the changing rule of θ-l curve；
The sensing point is divided into multiple groups according to determining cut-point.
5. method as claimed in claim 4, which is characterized in that the changing rule according to θ-l curve determines cut-point packet
It includes:
Cut-point corresponding with closure breast board side is determined from sensing point according to limiting value rule；
If there are the section of l value mutation in the curve, determined from sensing point according to the two of the section of l value mutation endpoints with it is non-
It is closed the corresponding cut-point in breast board side.
6. method as claimed in claim 4, which is characterized in that the position baseline that the basis obtains determines that the compartment is each
The positioning coordinate on vertex includes:
The crosspoint coordinate that each position baseline is intersected is as the positioning coordinate on compartment closure breast board side vertex；
Using the coordinate of cut-point corresponding with non-closed breast board side as the positioning coordinate on the non-closed breast board side in compartment vertex.
7. method according to claim 2, which is characterized in that this method further include:
It controls laser radar to rise, if detecting in uphill process, the l value in predetermined angle mutates, and obtains laser thunder
Depth up to the height apart from the platform floor as the compartment.
8. a kind of compartment locating and detecting device, which is characterized in that the compartment is the target compartment of automatic loading, the device packet
It includes:
Probe unit obtains the point cloud data of sensing point for detecting to compartment；
Positioning unit is distributed according to sensing point sensing point being divided into multiple groups for determining that sensing point is distributed according to point cloud data；
Straight line fitting is carried out respectively according to the point cloud data of each group sensing point, using obtained straight line determining as each carriage in the compartment
Position reference line；The positioning coordinate on each vertex in the compartment is determined according to obtained position baseline.
9. a kind of electronic equipment, wherein the electronic equipment includes: processor；And it is arranged to the executable finger of storage computer
The memory of order, the executable instruction execute the processor as described in any one of claim 1-7
Method.
10. a kind of computer readable storage medium, wherein the computer-readable recording medium storage one or more program,
One or more of programs when being executed by a processor, realize such as method of any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910604082.3A CN110488308A (en) | 2019-07-05 | 2019-07-05 | A kind of compartment position finding and detection method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910604082.3A CN110488308A (en) | 2019-07-05 | 2019-07-05 | A kind of compartment position finding and detection method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110488308A true CN110488308A (en) | 2019-11-22 |
Family
ID=68546114
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910604082.3A Pending CN110488308A (en) | 2019-07-05 | 2019-07-05 | A kind of compartment position finding and detection method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110488308A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112432647A (en) * | 2020-11-09 | 2021-03-02 | 深圳市汇川技术股份有限公司 | Positioning method, device and system of carriage and computer readable storage medium |
| CN112731431A (en) * | 2020-12-28 | 2021-04-30 | 华晟（青岛）智能装备科技有限公司 | Positioning detection device and method for van truck |
| CN113469871A (en) * | 2020-03-30 | 2021-10-01 | 长沙智能驾驶研究院有限公司 | Carriage loadable space detection method and device based on three-dimensional laser |
| CN114724138A (en) * | 2022-05-11 | 2022-07-08 | 西安华光信息技术有限责任公司 | Gravity center offset detection method for train loading 3D model |
| CN115984278A (en) * | 2023-03-20 | 2023-04-18 | 四川吉埃智能科技有限公司 | Loading stacking planning method and system based on full-characteristic information of vehicle to be loaded |
| CN116594024A (en) * | 2023-07-13 | 2023-08-15 | 安丘博阳机械制造有限公司 | Carriage measurement and positioning method and scanning system based on two-dimensional laser radar |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101960254A (en) * | 2008-09-18 | 2011-01-26 | 三菱重工业株式会社 | Method and device for identifying a position inside of a space |
| CN202171487U (en) * | 2011-06-17 | 2012-03-21 | 北京光电技术研究所 | Device for measuring volume of horizontal metal tank |
| CN103512490A (en) * | 2012-06-28 | 2014-01-15 | 中联重科股份有限公司 | Box inner cavity size detection system |
| JP2015052555A (en) * | 2013-09-09 | 2015-03-19 | 株式会社神戸製鋼所 | Measurement method of inside of furnace refractory worn state |
| CN106932784A (en) * | 2017-04-20 | 2017-07-07 | 河北科技大学 | Wagon box based on two-dimensional laser radar describes device 3 D scanning system measuring method |
| CN107025642A (en) * | 2016-01-27 | 2017-08-08 | 百度在线网络技术（北京）有限公司 | Vehicle's contour detection method and device based on cloud data |
| CN107388970A (en) * | 2017-08-30 | 2017-11-24 | 江苏嘉胜石油科技有限公司 | A kind of tank body capacity check system and method |
| CN108007383A (en) * | 2017-12-01 | 2018-05-08 | 哈尔滨工业大学深圳研究生院 | Outline of house developing algorithm based on range of triangle |
| CN108398083A (en) * | 2018-01-29 | 2018-08-14 | 湖南三德科技股份有限公司 | A kind of compartment localization method and positioning device |
-
2019
- 2019-07-05 CN CN201910604082.3A patent/CN110488308A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101960254A (en) * | 2008-09-18 | 2011-01-26 | 三菱重工业株式会社 | Method and device for identifying a position inside of a space |
| CN202171487U (en) * | 2011-06-17 | 2012-03-21 | 北京光电技术研究所 | Device for measuring volume of horizontal metal tank |
| CN103512490A (en) * | 2012-06-28 | 2014-01-15 | 中联重科股份有限公司 | Box inner cavity size detection system |
| JP2015052555A (en) * | 2013-09-09 | 2015-03-19 | 株式会社神戸製鋼所 | Measurement method of inside of furnace refractory worn state |
| CN107025642A (en) * | 2016-01-27 | 2017-08-08 | 百度在线网络技术（北京）有限公司 | Vehicle's contour detection method and device based on cloud data |
| CN106932784A (en) * | 2017-04-20 | 2017-07-07 | 河北科技大学 | Wagon box based on two-dimensional laser radar describes device 3 D scanning system measuring method |
| CN107388970A (en) * | 2017-08-30 | 2017-11-24 | 江苏嘉胜石油科技有限公司 | A kind of tank body capacity check system and method |
| CN108007383A (en) * | 2017-12-01 | 2018-05-08 | 哈尔滨工业大学深圳研究生院 | Outline of house developing algorithm based on range of triangle |
| CN108398083A (en) * | 2018-01-29 | 2018-08-14 | 湖南三德科技股份有限公司 | A kind of compartment localization method and positioning device |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113469871A (en) * | 2020-03-30 | 2021-10-01 | 长沙智能驾驶研究院有限公司 | Carriage loadable space detection method and device based on three-dimensional laser |
| CN113469871B (en) * | 2020-03-30 | 2023-07-14 | 长沙智能驾驶研究院有限公司 | Carriage loadable space detection method and device based on three-dimensional laser |
| CN112432647A (en) * | 2020-11-09 | 2021-03-02 | 深圳市汇川技术股份有限公司 | Positioning method, device and system of carriage and computer readable storage medium |
| CN112432647B (en) * | 2020-11-09 | 2023-04-25 | 深圳市汇川技术股份有限公司 | Carriage positioning method, device and system and computer readable storage medium |
| CN112731431A (en) * | 2020-12-28 | 2021-04-30 | 华晟（青岛）智能装备科技有限公司 | Positioning detection device and method for van truck |
| CN114724138A (en) * | 2022-05-11 | 2022-07-08 | 西安华光信息技术有限责任公司 | Gravity center offset detection method for train loading 3D model |
| CN115984278A (en) * | 2023-03-20 | 2023-04-18 | 四川吉埃智能科技有限公司 | Loading stacking planning method and system based on full-characteristic information of vehicle to be loaded |
| CN115984278B (en) * | 2023-03-20 | 2023-07-07 | 四川吉埃智能科技有限公司 | Loading and stacking planning method and system based on full-feature information of vehicle to be loaded |
| CN116594024A (en) * | 2023-07-13 | 2023-08-15 | 安丘博阳机械制造有限公司 | Carriage measurement and positioning method and scanning system based on two-dimensional laser radar |
| CN116594024B (en) * | 2023-07-13 | 2023-10-20 | 安丘博阳机械制造有限公司 | Carriage measurement and positioning method and scanning system based on two-dimensional laser radar |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110488308A (en) | A kind of compartment position finding and detection method and device | |
| JP2020172400A (en) | Warehouse high speed arrangement method, machine and memory medium | |
| US9488725B2 (en) | Method and device for detecting objects in the surroundings of a vehicle | |
| CN105005033B (en) | For calibrating the method and radar system of radar sensor | |
| CN107687855B (en) | Robot positioning method and device and robot | |
| CN109870705A (en) | Boundary target identification method and device based on laser radar | |
| CN111179351B (en) | Parameter calibration method and device and processing equipment thereof | |
| CN108037492A (en) | The test system of radar performance and the method using its progress radar performance test | |
| CN109581389A (en) | A kind of method and apparatus identifying parking space boundary | |
| CN111007485A (en) | Image processing method and device and computer storage medium | |
| CN110850882A (en) | Charging pile positioning method and device of sweeping robot | |
| CN110488280A (en) | A kind of modification method and device, vehicle, storage medium of parking stall profile | |
| CN112816976A (en) | Container door orientation detection method and system, storage medium and electronic device | |
| GB2536227A (en) | Pipettor Autoteaching | |
| CN113917479A (en) | Vehicle included angle calculation method and device, computer equipment and storage medium | |
| US6211888B1 (en) | Planar flow display method | |
| CN109990744A (en) | Volume measuring method, device, system and computer readable storage medium | |
| CN108917595A (en) | Glass on-line measuring device based on machine vision | |
| CN106557818A (en) | System and method for generating the path of parts processed physical contours | |
| CN112967347A (en) | Pose calibration method and device, robot and computer readable storage medium | |
| BR112015013194B1 (en) | Method and apparatus arranged for determining a speed of a vessel, and computer readable storage medium | |
| US20170197309A1 (en) | Robot control system and method | |
| CN106908010B (en) | A kind of curvature measurement method and device | |
| US20120059829A1 (en) | Object classification | |
| CN115950356A (en) | Bucket coordinate calibration method and device, updating method and equipment and excavator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191122 |
|
| RJ01 | Rejection of invention patent application after publication |