CN111814936A - Container identification method, system, equipment and storage medium based on space scanning - Google Patents
Container identification method, system, equipment and storage medium based on space scanning Download PDFInfo
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Abstract
The invention provides a container identification method, a system, equipment and a storage medium based on space scanning, wherein the method comprises the following steps: acquiring spatial scanning data of a crane for hoisting a container by a lifting appliance positioning device to establish a training set, and acquiring a prediction model for judging whether the crane hoists the container, wherein the spatial scanning data at least comprises position information of a lifting appliance and position information of the container; detecting space scanning data of the current state of the crane by adopting a lifting appliance positioning device; when the container is hoisted by the crane is judged through the prediction model, the rotation angle information and the focal length information of the target surface of the container and the container identification assembly are obtained according to the position information of the container in the space scanning data at the moment; the image acquisition device rotates according to the rotation angle information and shoots an image according to the focal length information; and carrying out image-text identification on the shot image to obtain the identification code of the container. The invention can identify the hoisted container and realize the intelligent tallying of the container.
Description
Technical Field
The invention relates to the field of sensor identification, in particular to a container identification method, a system, equipment and a storage medium based on space scanning in a crane container operation scene.
Background
At present, foreign wheel tally is a necessary link for loading and unloading operation of port containers. In the past, the tallying operation was performed by personnel at the operation site, and the labor intensity was high and the risk was high. With the development of camera technology, especially the technical innovation of artificial intelligence on the aspect of image detection, the realization of withdrawing and reducing the number of field tallers is possible. Through more accurate image recognition technology, replace artifical tally clerk to realize long-range intelligent recognition, be the must of present harbour intelligence tally development.
Compared with an intelligent shore crane for large-scale operation, the operation mode of fixed lifting and horizontal transferring is adopted, and the movement stroke is long. The loading and unloading operation of the portal crane and the fixed cantilever crane has the defects that the focusing distance is greatly changed due to the rotation of the suspension arm and the randomness of the parking position of the horizontal transport vehicle, so that the container information required by intelligent tallying is difficult to appear in a fixed picture. Moreover, because of the concentrated stacking of a large number of containers, information such as identification codes of a plurality of containers often appears in one picture, and the accuracy of image recognition for identifying the operated container identification codes is reduced. The intelligent identification function of partial operation can only be met by independently using a plurality of groups of fixed video acquisition positions. For common multi-lane operation, the horizontal operation cannot ensure that the information of the containers and vehicles needing to be identified is in the picture. Therefore, for a long time, the intelligent tallying of the gantry crane and the fixed cantilever crane cannot meet the requirements of intelligent identification and personnel simplification.
Therefore, the invention provides a container identification method, a system, equipment and a storage medium based on space scanning.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a container identification method, a system, equipment and a storage medium based on space scanning, overcomes the difficulties in the prior art, and can realize follow-up tracking identification on a hoisted container through fusion and guidance of a sling positioning sensor and a follow-up image sensor, thereby realizing intelligent tallying of container operation.
The embodiment of the invention provides a container identification method based on space scanning, which adopts at least one container identification component integrated with a spreader positioning device and an image acquisition device, and comprises the following steps:
s110, acquiring spatial scanning data of a crane for hoisting a container through a lifting appliance positioning device to establish a training set, and acquiring a prediction model for judging whether the crane hoists the container, wherein the spatial scanning data at least comprises position information of a lifting appliance and position information of the container;
s120, detecting space scanning data of the current state of the crane by adopting a lifting appliance positioning device;
s130, when the container is hung by the crane is judged through the prediction model, according to the position information of the container in the space scanning data at the moment, the rotation angle information and the focal length information of a target surface of the container and the container identification component are obtained;
s140, the image acquisition device rotates according to the rotation angle information and shoots an image according to the focal length information;
s150, image-text recognition is carried out on the shot image to obtain the recognition code of the surface of the container.
Preferably, the image acquisition device has an image sensor, a turning cradle head and a focusing module, the turning cradle head turns the image sensor of the image acquisition device to align with the container according to the rotation angle information, and the focusing module shoots an image with at least part of the outer surface of the container after adjusting the focal length of the image acquisition device according to the focal length information.
Preferably, the spreader positioning device is a point cloud sensor, the spatial scan data is a three-dimensional point cloud data set, the spreader position information is a three-dimensional point cloud set of the spreader surfaces, and the container position information is a three-dimensional point cloud set of the container surfaces.
Preferably, the sling positioning device is one or a combination of a 2D laser sensor, a 3D laser sensor, an infrared sensor, a millimeter wave radar, a monocular or binocular vision sensor.
Preferably, the prediction model judges that the crane hoists the container according to the condition that the container is located right below the crane and the container and the crane synchronously move in the horizontal direction.
Preferably, the point cloud sensor is a laser sensor, the laser sensor performs circumferential scanning based on a crane, a laser spot is generated on the surfaces of a lifting appliance and a container, the laser sensor is used as a coordinate origin, a training set is established according to a set of space coordinates of the laser spot obtained under a laser coordinate system of the laser sensor, and the set of space coordinates of the laser spot is established according to a first state that the container is lifted by the crane and a second state that the container is not lifted by the crane.
Preferably, the focal length information is obtained according to a distance between the spatial coordinate of the center point of the target surface of the container and the spatial coordinate of the container identification assembly, and the rotation angle information is obtained according to a direction between the spatial coordinate of the center point of the target surface of the container and the spatial coordinate of the container identification assembly.
Preferably, spatial location information for a plurality of surfaces of the container is generated from a set of three-dimensional point clouds of the surfaces of the container,
when the angle between the square surface at one end of the container and the container identification assembly is within a first preset threshold, taking the space coordinate of the middle point of the square surface as a target coordinate; or, when the angle between a rectangular surface of the container and the container identification component is within a second preset threshold, taking the spatial coordinate of the midpoint of a preset area in the rectangular surface as a target coordinate;
and obtaining focal length information and rotation angle information according to the target coordinates.
Preferably, the container identification assembly is secured to a surface of a crane.
Preferably, the crane is a gantry crane, and two of the container identification assemblies are disposed on the gantry crane, one being disposed under a cockpit and the other being disposed at a land-side door leg of the gantry crane.
Preferably, a preset target placing position of the container is obtained according to the identification code of the container, and the crane hoists the container to the target placing position.
The embodiment of the invention also provides a container identification system based on space scanning, which is used for realizing the container identification method based on space scanning, and the container identification system based on space scanning comprises:
the container identification assembly comprises a lifting appliance positioning device and an image acquisition device, wherein the lifting appliance positioning device is one or a combination of a 2D laser sensor, a 3D laser sensor, an infrared sensor, a millimeter wave radar, a monocular or binocular vision sensor, the image acquisition device is provided with an image sensor, a steering cloud platform and a focusing module, and the steering cloud platform and the focusing module are respectively connected with the container identification assembly.
Preferably, the container identification assembly is fixed to the surface of the crane, and the container identification assembly integrates a spreader positioning device and an image acquisition device for detecting the position of the container.
Preferably, the container identification assembly comprises:
one end of the first bracket is fixed on the surface of the crane;
the duckbill bracket is arranged on the upper surface of the other end of the first bracket;
a second bracket, wherein the lower surface of the second bracket is connected with the duckbill bracket;
the lifting appliance positioning device is arranged on the upper surface of the second support; and
and the image acquisition device is arranged on the lower surface of the other end of the first support, and a steering cloud platform and a focal module of the image acquisition device are connected with the lifting appliance positioning device through data lines.
Preferably, the crane is a gantry crane, and two of the container identification assemblies are disposed on the gantry crane, one being disposed under a cockpit and the other being disposed at a land-side door leg of the gantry crane.
Preferably, the crane is a fixed jib crane.
The embodiment of the invention also provides a container identification device based on space scanning, which comprises:
a processor;
a memory having stored therein executable instructions of the processor;
wherein the processor is configured to perform the steps of the above-described spatial scanning based container identification method via execution of executable instructions.
Embodiments of the present invention also provide a computer-readable storage medium for storing a program, which when executed implements the steps of the above-mentioned space scanning-based container identification method.
The container identification method, the system, the equipment and the storage medium based on the space scanning can realize the follow-up tracking identification of the hoisted container through the fusion of the hoist positioning sensor and the guide follow-up image sensor, thereby realizing the intelligent tallying of the container operation.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, with reference to the accompanying drawings.
Fig. 1 is a flow chart of a container identification method based on spatial scanning according to the present invention.
Fig. 2 is a schematic view of a scene for implementing the space scanning-based container identification method of the present invention.
Fig. 3 is a schematic structural diagram of a container identification component in the container identification system based on spatial scanning according to the present invention.
Fig. 4 to 7 are schematic diagrams of the implementation process of the container identification method based on space scanning.
Fig. 8 is a schematic structural diagram of a container identification device based on spatial scanning according to the present invention. And
fig. 9 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.
Reference numerals
1 Container identification Assembly
11 first support
12 duckbill holder
14 second support
15 hoist positioner
16 image acquisition device
2 Crane
21 hoist
22 boom
3 Container
4 container
5 Container identification assembly
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repetitive description will be omitted.
Fig. 1 is a flow chart of a container identification method based on spatial scanning according to the present invention. Fig. 2 is a schematic diagram of a space scanning based container identification method embodying the present invention. The embodiment of the invention provides a container identification method based on space scanning, which adopts at least one container identification assembly 1 integrated with a spreader positioning device 15 and an image acquisition device 16, and comprises the following steps:
s110, a training set is established by collecting spatial scanning data of the crane 2 for hoisting the container 4 through the lifting appliance positioning device 15, a prediction model for judging whether the crane 2 hoists the container 4 is obtained, and the spatial scanning data at least comprises position information of the lifting appliance 21 and position information of the container 4.
And S120, detecting the space scanning data of the current state of the crane 2 by adopting the lifting appliance positioning device 15.
S130, when the container 4 is judged to be hoisted by the crane 2 through the prediction model, the rotation angle information and the focal length information of a target surface of the container 4 and the container identification assembly 1 are obtained according to the position information of the container 4 in the space scanning data at the moment.
And S140, the image acquisition device 16 rotates according to the rotation angle information and shoots an image according to the focal length information.
S150, image-text recognition is carried out on the shot image to obtain the recognition code of the surface of the container 4.
And S160, obtaining the preset target placing position of the container 4 according to the identification code of the container 4, and hoisting the container 4 to the target placing position by the crane 2.
Aiming at the characteristic that the gantry crane cannot standardize the position initiated by each operation, the invention adopts the combination of multiple sensors to identify the grabbing and placing states of the operation lifting appliance and the container in real time and track the real-time position of the lifting appliance.
In a preferred embodiment, the image capturing device 16 has an image sensor, a steering head for rotating the image sensor of the image capturing device 16 according to the rotation angle information to align the container 4, and a focusing module for adjusting the focal length of the image capturing device 16 according to the focal length information to capture an image of at least a portion of the outer surface of the container 4.
Because of the randomness of the loading and unloading operation of the portal crane and the large movement range of the spreader, the invention determines whether the spreader lifts the container by the prediction model obtained by the spreader positioning device 15 and the spatial scanning data of the historical lifting of the spreader, and when the spreader lifts the container, the spatial position of the container is determined according to the spatial scanning data obtained by the spreader positioning device 15, so that the image acquisition device 16 can accurately align to the container through angular rotation, and the image acquisition device 16 can accurately focus on the container through the focal distance obtained by the spatial position, thereby obtaining the most cleaned container image and greatly improving the accuracy of the subsequent container identification. The interference of other containers 3 stacked on the ground to the container identification is effectively prevented.
In a preferred embodiment, the spreader positioning device 15 is a point cloud sensor, the spatial scan data is a three-dimensional point cloud data set, the position information of the spreader 21 is a three-dimensional point cloud set of the spreader 21, and the position information of the container 4 is a three-dimensional point cloud set of the surfaces of the container 4, but not limited thereto. The three-dimensional point cloud data set is obtained by using an infrared image acquisition device, a two-dimensional laser sensor accumulative scanning mode, a three-dimensional laser scanner or a photographic scanner, and is relatively large in number and dense, namely dense point cloud. The point cloud is a collection of a vast number of points on the surface characteristic of the object. The point cloud obtained according to the laser measurement principle comprises three-dimensional coordinates (XYZ) and laser reflection Intensity (Intensity). The point cloud obtained according to the photogrammetry principle comprises three-dimensional coordinates (XYZ) and color information (RGB). And combining laser measurement and photogrammetry principles to obtain a point cloud comprising three-dimensional coordinates (XYZ) and color information (RGB). After obtaining the spatial coordinates of each sampling Point on the surface of the object, a set of points is obtained, which is called "Point Cloud".
In a preferred embodiment, the spreader positioning device 15 is one or a combination of a 2D laser sensor, a 3D laser sensor, an infrared sensor, a millimeter wave radar, a monocular or binocular vision sensor. The principle of the 3D laser sensor used in the invention is that when a laser beam irradiates the surface of an object, the reflected laser beam carries information such as direction, distance and the like. When the laser beam is scanned along a certain trajectory, the reflected laser spot information is recorded while scanning, and since the scanning is extremely fine, a large number of laser spots can be obtained, and a laser point cloud can be formed.
In a preferred embodiment, the prediction model determines that the crane 2 is lifting the container 4 based on satisfying both that the container 4 is directly below the crane 2 and that the container 4 and the crane 2 are moving synchronously in the horizontal direction. Since the container 4 lifted by the crane 2 is located right under the crane 2 due to the influence of gravity and performs the synchronous motion in the horizontal direction along with the crane 2, the prediction model can accurately distinguish the lifted container 4 from a large number of containers (including the containers 3 stacked on the ground) according to the spatial position according to the above characteristics
In a preferred embodiment, the point cloud sensor is a laser sensor, the laser sensor performs circumferential scanning based on the crane 2, generates a laser spot on the surfaces of the spreader 21 and the container 4, uses the laser sensor as a coordinate origin to establish a training set according to a set of spatial coordinates of the laser spot obtained under a laser coordinate system of the laser sensor, and according to a set of spatial coordinates of the laser spot in a first state where the crane 2 hoists the container 4 and a second state where the crane 2 does not hoist the container 4.
In a preferred embodiment, the focal distance information is obtained from a distance between the spatial coordinates of the center point of the target surface of the container 4 and the spatial coordinates of the container recognition assembly 1, and the rotation angle information is obtained from a direction between the spatial coordinates of the center point of the target surface of the container 4 and the spatial coordinates of the container recognition assembly 1.
In a preferred embodiment, the spatial location information of the plurality of surfaces of the container 4 is generated from a set of three-dimensional point clouds of the container 4. Since at most three sides of the container 4 are illuminated by the laser sensor at the same time, and three other sides of the container 4 are not illuminated by the laser sensor, the three-dimensional point cloud collection of the container 4 may have at least one and at most three surfaces of the rectangular container 4. Considering that the container 4 is provided with the identification code at a plurality of positions around the body, but not all surfaces are in the best shooting position (the surface with the identification code is vertically opposite to the container identification component 1), the angle difference between the two surfaces needs to be considered, when the angle between the square surface at one end of the container 4 and the container identification component 1 is within a first preset threshold value, the first preset threshold value can be 45 degrees, the space coordinate of the midpoint of the square surface is taken as the target coordinate, and the square surface is corrected to the container identification component 1, and the shot picture is easier to recognize the identification code. Alternatively, when the angle between a rectangular surface of the container 4 and the container identification module 1 is within a second predetermined threshold, which may be 45 °, the spatial coordinates of the midpoint of the predetermined area in the rectangular surface are taken as the target coordinates (since the identification code is usually marked at the upper left position of the rectangular side surface of the container, the upper left rectangular area of the rectangular side surface of the container can be taken as the predetermined area, but not limited thereto), and the rectangular surface is corrected to make it easier to recognize the identification code for the container identification module 1 from the photographed image. And then acquiring focal length information and rotation angle information according to the target coordinates, and shooting container pictures.
In a preferred embodiment, the container identification assembly 1 is fixed to the surface of the crane 2, but not limited thereto.
In a preferred embodiment, the crane 2 is a gantry crane, two container identification assemblies are arranged on the gantry crane, one container identification assembly 1 is arranged below the cockpit, and the other container identification assembly 5 can be arranged at the landing side door leg of the gantry crane, but not limited thereto.
In a preferred embodiment, the crane 2 is a fixed jib crane, but not limited thereto.
The system can be composed of a main identification system (such as the container identification component 1 in fig. 2) and an auxiliary identification system (such as the container identification component 5 in fig. 2), and various sensors are linked to process and complete identification. Compared with other devices and systems which use simple visual identification, the invention has better identification effect on the starting point of multi-lane and random operation and horizontal operation under the gantry crane. The sensors in the sensor fusion system include, but are not limited to, 2D laser detection devices, 3D laser detectors, monocular or monocular vision cameras, millimeter wave radars, etc., and can be used for active and passive detection devices or devices for target detection.
In the system, the main identification system is composed of a positioning sensor and an identification sensor and is connected by an integrated bracket so as to ensure the consistency of observation coordinates. The design determines a unified sensing coordinate system through a unified mechanical support structure, and avoids a joint calibration process required in a common multi-sensor system. And the loss of engineering implementation period caused by field calibration is reduced to the maximum extent while the identification precision is ensured. In actual engineering installation, the main identification system is installed below a cab of the portal crane and synchronously moves along with the directions of the cab and the suspension arm so as to ensure the identified forward view. In addition, in order to ensure that the identification precision can meet the use requirement, an auxiliary identification sensing system is arranged on the remote door leg on the land side of the portal crane for supplementary identification. And the auxiliary recognition system carries out linkage control according to the main recognition system to realize the detection and recognition of the angle to the target.
The system adopts a follow-up tracking technology in the identification process. Aiming at most of the portal crane scenes, the main identification system can complete all identification. The positioning sensor in the main identification system follows the position of the locking spreader through detection signals (including but not limited to laser, camera images, millimeter wave radar and infrared detection), and calculates the position relation between each identification surface of the container and the main and auxiliary identification systems.
The target location calculation process is as follows:
wherein:
(xi，yi，zi) Representing the coordinate position of an object in space, and the origin of coordinates (0, 0, 0) is the physical center of the positioning sensor.
riRepresenting positioning sensor object detection data information.
And calculating a rotation matrix R and a local matrix T of the two frames of static data by performing static registration on the two frames of sensor detection data. The specific algorithm is as follows:
and (4) multi-frame detection data matching of an iterative closest point algorithm. Suppose a sensor is positioned at a certain timeReceiving a set of probe data P ═ P1，p2，...，pnObtaining a second group of detection data Q ═ Q after rotation and translation1，q2，...，qn}. By iterating the closest point method, a matching pair corresponding to the same point in three-dimensional space in P, Q can be obtained.
Assuming that the rotation of the positioning sensor is R and the translation vector is t, the formula of converting the point in the P coordinate system into the point in the Q coordinate system is
qi＝R·pi+t
And the objective function of the positioning detection is
By defining the density core of the front and back groups of detection data as
Due to the last item
Is p'i＝pi-μp，q′i＝qi-μqThen the objective function can be simplified as:
let R*，t*For an optimal solution, the optimization problem can be divided into two steps:
t*＝μq-R·μp
for step 1, it is unfolded to obtain
Order to
Decompose by SVD to have
W＝USVT
Corresponding to unique U, V combinations, corresponding
R*＝UVT
t*＝μq-R·μp
After the rotation matrix between the front group of data and the rear group of data is calculated, the rotation in the horizontal direction can be ignored when the gantry crane rotates, so that the rotation matrix can be obtained
cosα＝R*[0，0]
sinα＝R*[1，0]
Wherein alpha e [ -180 DEG, 180 DEG ]
The rotating distance of the gantry crane between the front and rear groups of detection data can be obtained through alpha, and the total rotating angle of the gantry crane relative to the reference frame in the operation process can be obtained through continuous multi-frame calculation, so that the operation occurrence position judgment is facilitated.
And calling main and auxiliary recognition systems of two fixed machine positions of the portal crane for tracking and scanning according to the real-time position and angle fed back by the recognition result, so as to realize accurate real-time follow-up of the container. And then, the box type, the box number, the operation vehicle and the operation lane are accurately and continuously identified through an artificial intelligence identification technology, and data are synchronized to an operation system end. Because the tracking mechanism is adopted in the identification process, the container can be identified no matter the container is loaded on a ship or unloaded. The identification window is not limited to the container being located in the ground bracket, in the air, during the loading and unloading of the cabin.
The secondary recognition system is complementary to the primary recognition system. The auxiliary recognition system is installed at the landing side door leg of the crane and adopts a fixed machine position without rotating along with the suspension arm. Under the control of the main identification system, the tracking identification of the container and the operation information is realized. When the main recognition system cannot complete recognition due to occlusion or poor angle, supplementary recognition capability is provided. And the auxiliary identification system calculates the observation angle of the auxiliary identification system based on the relative position relation and the target data provided by the positioning sensor of the main identification system so as to complete the rotation control of the camera.
Compared with other intelligent goods sorting systems of the gantry crane, the integrated identification system can complete the identification process, a large number of pan-tilt cameras are not needed, and the construction difficulty is greatly reduced. And the implementation difference caused by the model, height and size of the crane is avoided.
The main identification system adopts an integrated design, and realizes follow-up tracking identification by using a multi-sensor fusion identification mode. The positioning sensors in the master identification system can provide accurate position information of spreaders, containers, vehicles. And guiding the recognition sensors in the main and auxiliary recognition systems to finish accurate recognition. And the complementary detection is realized by various sensors to obtain better recognition effect.
The main identification system in the invention adopts a standard supporting structure. The problem that a plurality of sensors need to be calibrated in advance is solved through the fixed structure, and the delivery capacity of products which leave factories and meet scene application conditions is greatly improved.
The invention also realizes multi-view follow-up through an auxiliary identification system. And the recognition results of different angles are fused to obtain more accurate recognition precision. Meanwhile, the problem that the identification cannot be carried out in advance due to shielding of special working conditions such as ground double-box operation, transverse operation, empty-weight loading and unloading operation, in-cabin operation and the like is solved.
Fig. 3 is a schematic structural diagram of a container identification component in the container identification system based on spatial scanning according to the present invention. As shown in fig. 3, an embodiment of the present invention further provides a container identification system based on spatial scanning, which is used to implement the above container identification method based on spatial scanning, and the container identification system based on spatial scanning includes: a container identification assembly 1, which integrates a spreader positioning device 15 and an image acquisition device 16, but is not limited thereto. The lifting appliance positioning device 15 is one or a combination of a 2D laser sensor, a 3D laser sensor, an infrared sensor, a millimeter wave radar and a monocular or binocular vision sensor, the image acquisition device 16 is provided with an image sensor, a steering cloud platform and a focusing module, and the steering cloud platform and the focusing module are respectively connected with the container identification component. The steering cloud platform can drive image sensor and focus the module and rotate based on the loop wheel machine for image sensor can aim at the container accurately.
In a variation, the spreader positioning device 15 and the image capturing device 16 may be separately disposed, for example, but not limited to, being disposed at different heights of the crane 2.
In a preferred embodiment, the container identification assembly is secured to the surface of the crane 2.
In a preferred embodiment, the container identification assembly comprises:
a first bracket 11, one end of the first bracket 11 is fixed on the surface of the crane 2.
A duckbill holder 12 disposed on an upper surface of the other end of the first holder 11.
A second support 14, the lower surface of the second support 14 being connected to the duckbill support 12.
And a sling positioning device 15 arranged on the upper surface of the second bracket 14. And
and the image acquisition device 16 is arranged on the lower surface of the other end of the first support 11, and a steering cloud platform and a focal module of the image acquisition device 16 are connected with the lifting appliance positioning device 15 through data lines.
In a preferred embodiment, the crane 2 is a gantry crane, and two container identification assemblies are provided on the gantry crane, one below the cockpit and the other at the landing side door legs of the gantry crane.
In a preferred embodiment, the image capturing device 16 has an image sensor, a steering head for rotating the image sensor of the image capturing device 16 according to the rotation angle information to align the container 4, and a focusing module for adjusting the focal length of the image capturing device 16 according to the focal length information to capture an image of at least a portion of the outer surface of the container 4.
In a preferred embodiment, the focal distance information is obtained from a distance between the spatial coordinates of the center point of the target surface of the container 4 and the spatial coordinates of the container recognition assembly 1, and the rotation angle information is obtained from a direction between the spatial coordinates of the center point of the target surface of the container 4 and the spatial coordinates of the container recognition assembly 1.
In a preferred embodiment, the spreader positioning device 15 is a point cloud sensor, the spatial scan data is a three-dimensional point cloud data set, the position information of the spreader 21 is a three-dimensional point cloud set of the spreader 21, and the position information of the container 4 is a three-dimensional point cloud set of the surfaces of the container 4, but not limited thereto. The three-dimensional point cloud data set is point cloud obtained by using a three-dimensional laser scanner or a photographic scanner, and the number of points is relatively large and relatively dense, namely dense point cloud. The point cloud is a collection of a vast number of points on the surface characteristic of the object. The point cloud obtained according to the laser measurement principle comprises three-dimensional coordinates (XYZ) and laser reflection Intensity (Intensity). The point cloud obtained according to the photogrammetry principle comprises three-dimensional coordinates (XYZ) and color information (RGB). And combining laser measurement and photogrammetry principles to obtain a point cloud comprising three-dimensional coordinates (XYZ), laser reflection Intensity (Intensity) and color information (RGB). After obtaining the spatial coordinates of each sampling Point on the surface of the object, a set of points is obtained, which is called "Point Cloud".
In a preferred embodiment, the spreader positioning device 15 is one or a combination of a 2D laser sensor, a 3D laser sensor, an infrared sensor, a millimeter wave radar, a monocular or binocular vision sensor. The principle of the 3D laser sensor used in the invention is that when a laser beam irradiates the surface of an object, the reflected laser beam carries information such as direction, distance and the like. When the laser beam is scanned along a certain trajectory, the reflected laser spot information is recorded while scanning, and since the scanning is extremely fine, a large number of laser spots can be obtained, and a laser point cloud can be formed.
Fig. 4 to 7 are schematic views of the implementation states of the container identification method based on space scanning according to the present invention. As shown in fig. 4, the container identification system based on space scanning of the present invention is used as follows: the container identification assembly 1 is fixed on the surface of the crane 2, the crane 2 is a portal crane, the outer end of the boom 22 of the crane 2 is hung with a spreader 21 for lifting the container 3 on the ground, two container identification assemblies are arranged on the portal crane, one container identification assembly 1 is arranged under the cockpit, and the other container identification assembly 5 can be arranged on the landing side door leg of the portal crane, but not limited thereto. The container identification assembly 1 integrates a spreader positioning device 15 and an image acquisition device 16. The image acquisition device 16 is provided with an image sensor, a turning cradle head and a focusing module, the turning cradle head turns the image sensor of the image acquisition device 16 to align with the lifted container 4 according to the rotation angle information, and the focusing module adjusts the focal length of the image acquisition device 16 according to the focal length information and then shoots an image with at least part of the outer surface of the container 4. The lifting appliance positioning device 15 is a 3D laser sensor and can scan the space form around the lifting machine, and the lifting appliance positioning device 15 collects the space scanning data of the lifting machine 2 for lifting the container 4 to establish a training set. As shown in fig. 5, the spatial scan data obtained by the 3D laser sensor is a three-dimensional point cloud data set (G101, G102, G103, G104 … … are laser points generated on the surface of the container 4; J101, J102, J103, … … are laser points generated on the surface of the spreader 21, each having spatial coordinates in a laser coordinate system established by the 3D laser sensor), the position information of the spreader 21 is a three-dimensional point cloud set of the spreader 21, and the position information of the container 4 is a three-dimensional point cloud set of a plurality of surfaces of the container 4. Spatial scan data when the container 4 is hoisted by the artificially marked crane 2 and spatial scan data when the container 4 is not hoisted by the crane 2 are collected in the training set. With the training set, for example: the prediction model for judging whether the crane 2 hoists the container 4 is obtained by machine learning or neural network algorithm, and the process of obtaining the prediction model can use the prior art and is not described herein again. The spatial scan data comprises at least position information of the spreader 21 and position information of the container 4.
When the crane is used on site, the space scanning data of the current state of the crane 2 is detected by the lifting appliance positioning device 15. And when the crane 2 is judged to hoist the container 4 through the prediction model, the rotation angle information and the focal length information of a target surface of the container 4 and the container identification component 1 are obtained according to the position information of the container 4 in the space scanning data at the moment. Referring to fig. 6, when the angle between the square surface (the square surface between four points F1, F2, F3 and F4 in fig. 6) at one end of the container 4 and the container identification module 1 is within a first predetermined threshold, which may be 45 °, the spatial coordinates of the midpoint (F9) of the square surface are taken as target coordinates, and the square surface corrects the container identification module 1 so that the identification code is easier to recognize from the photographed image. And according to the target coordinates and the rotation angle information and the focal length information of the container identification assembly 1. The steering cradle head of the image acquisition device 16 rotates the image sensor of the image acquisition device 16 to aim at the container 4 according to the rotation angle information, and the focusing module shoots an image with at least partial outer surface of the container 4 after adjusting the focal length of the image acquisition device 16 according to the focal length information.
Alternatively, referring to fig. 7, when the angle between a rectangular surface of the container 4 (the rectangular surface between four points F1, F4, F5 and F8 in fig. 7) and the container identification module 1 is within a second predetermined threshold, which may be 45 °, the spatial coordinates of the midpoint (F10) of a predetermined area (predetermined on the side of the container according to the identification code) in the rectangular surface are taken as the target coordinates, and the rectangular surface corrects the identification code for the container identification module 1, so that the identification code can be more easily recognized from the photographed image. And then, acquiring focal length information and rotation angle information according to the target coordinates, and shooting container pictures, so that the cleanest container image is acquired, and the accuracy of subsequent container identification is greatly improved. The interference of other containers 3 stacked on the ground to the container identification is effectively prevented. According to the target coordinates (F10) and the rotation angle information and the focal distance information of the container identification assembly 1. The steering cradle head of the image acquisition device 16 rotates the image sensor of the image acquisition device 16 to aim at the container 4 according to the rotation angle information, and the focusing module shoots an image with at least partial outer surface of the container 4 after adjusting the focal length of the image acquisition device 16 according to the focal length information.
Finally, the image-text recognition is carried out on the shot image, and the recognition code "ABCD 1234" of the surface of the container 4 is obtained. The preset target placing position (for example, 21 cabinet position) of the container 4 is obtained according to the identification code "ABCD 1234" of the container 4, and the crane 2 lifts the container 4 to the target placing position.
The embodiment of the invention also provides a container identification device based on space scanning, which comprises a processor. A memory having stored therein executable instructions of the processor. Wherein the processor is configured to perform the steps of the spatial scanning based container identification method via execution of executable instructions.
As mentioned above, the container identification device based on space scanning can realize follow-up tracking identification on a hoisted container through the fusion of the hoist positioning sensor and the guide follow-up image sensor, thereby realizing intelligent tallying of container operation.
As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or program product. Thus, various aspects of the invention may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" platform.
Fig. 8 is a schematic structural diagram of a container identification device based on spatial scanning according to the present invention. An electronic device 600 according to this embodiment of the invention is described below with reference to fig. 8. The electronic device 600 shown in fig. 8 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 8, the electronic device 600 is embodied in the form of a general purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one memory unit 620, a bus 630 connecting the different platform components (including the memory unit 620 and the processing unit 610), a display unit 640, etc.
Wherein the storage unit stores program code executable by the processing unit 610 to cause the processing unit 610 to perform steps according to various exemplary embodiments of the present invention described in the above-mentioned electronic prescription flow processing method section of the present specification. For example, processing unit 610 may perform the steps as shown in fig. 1.
The storage unit 620 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM)6201 and/or a cache memory unit 6202, and may further include a read-only memory unit (ROM) 6203.
The memory unit 620 may also include a program/utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 600, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 600 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 650. Also, the electronic device 600 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via the bus 630. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, to name a few.
Embodiments of the present invention further provide a computer-readable storage medium for storing a program, where the program implements the steps of the container identification method based on spatial scanning when executed. In some possible embodiments, the aspects of the present invention may also be implemented in the form of a program product comprising program code for causing a terminal device to perform the steps according to various exemplary embodiments of the present invention described in the above-mentioned electronic prescription flow processing method section of this specification, when the program product is run on the terminal device.
As described above, when the program of the computer-readable storage medium of this embodiment is executed, the slave tracking identification of the hoisted container can be realized by the crane positioning sensor fusion guide slave image sensor, so as to realize the intelligent tallying of the container operation.
Fig. 9 is a schematic structural diagram of a computer-readable storage medium of the present invention. Referring to fig. 9, a program product 800 for implementing the above method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
In summary, the container identification method, system, device and storage medium based on spatial scanning can realize follow-up tracking identification on the hoisted container through the fusion of the sling positioning sensor and the guide follow-up image sensor, thereby realizing intelligent tallying of container operation.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (17)
1. A container identification method based on space scanning is characterized in that at least one container identification assembly integrating a spreader positioning device and an image acquisition device is adopted, and the method comprises the following steps:
acquiring spatial scanning data of a crane for hoisting a container by a lifting appliance positioning device to establish a training set, and acquiring a prediction model for judging whether the crane hoists the container, wherein the spatial scanning data at least comprises position information of a lifting appliance and position information of the container;
detecting space scanning data of the current state of the crane by adopting a lifting appliance positioning device;
when the container is judged to be hoisted by the crane through the prediction model, the rotation angle information and the focal length information of a target surface of the container and the container identification component are obtained according to the position information of the container in the space scanning data;
the image acquisition device rotates according to the rotation angle information and shoots an image according to the focal length information;
and carrying out image-text recognition on the shot image to obtain the identification code of the surface of the container.
2. The space scanning-based container identification method according to claim 1, wherein the image capturing device has an image sensor, a steering console, and a focusing module, the steering console rotates the image sensor of the image capturing device to align with the container according to the rotation angle information, and the focusing module adjusts the focal length of the image capturing device according to the focal length information to capture an image of at least a part of the outer surface of the container.
3. The method of claim 1, wherein the spreader positioning device is a point cloud sensor, the spatial scan data is a three-dimensional point cloud data set, the spreader position information is a three-dimensional point cloud set of surfaces of the spreader, and the container position information is a three-dimensional point cloud set of surfaces of the container.
4. The space scanning-based container identification method according to claim 3, wherein the point cloud sensor is a laser sensor, the laser sensor performs circumferential scanning based on a crane, a laser spot is generated on the surfaces of a spreader and a container, the laser sensor is used as a coordinate origin to establish a training set according to a set of space coordinates of the laser spot obtained under a laser coordinate system of the laser sensor in a first state that the crane hoists the container and a set of space coordinates of the laser spot in a second state that the crane does not hoist the container.
5. The space scanning based container identification method according to claim 1, wherein the spreader positioning device is one or a combination of a 2D laser sensor, a 3D laser sensor, an infrared sensor, a millimeter wave radar, a monocular or binocular vision sensor.
6. The method of claim 1, wherein the prediction model determines that the crane hoists the container based on simultaneous satisfaction of the container being directly under the crane and the container moving horizontally in synchronization with the crane.
7. The space scanning-based container recognition method of claim 1, wherein the focal distance information is obtained from a distance between the spatial coordinates of the center point of the target surface of the container and the spatial coordinates of the container recognition assembly, and the rotation angle information is obtained from a direction between the spatial coordinates of the center point of the target surface of the container and the spatial coordinates of the container recognition assembly.
8. The method of claim 1, wherein the spatial scanning-based container identification method generates spatial location information of a plurality of surfaces of the container from a three-dimensional point cloud set of the container surfaces,
when the angle between the square surface at one end of the container and the container identification assembly is within a first preset threshold, taking the space coordinate of the middle point of the square surface as a target coordinate; or, when the angle between a rectangular surface of the container and the container identification component is within a second preset threshold, taking the spatial coordinate of the midpoint of a preset area in the rectangular surface as a target coordinate;
and obtaining focal length information and rotation angle information according to the target coordinates.
9. The spatial scanning based container identification method of claim 1, wherein said container identification assembly is fixed to a surface of a crane.
10. The space scanning-based container identification method as claimed in claim 1, wherein the crane is a gantry crane, two of the container identification assemblies are disposed on the gantry crane, one is disposed under a cockpit, and the other is disposed at a landing side door leg of the gantry crane.
11. The method as claimed in claim 1, wherein the preset target position is obtained according to the identification code of the container, and the crane lifts the container to the target position.
12. A space scanning-based container identification system, for implementing the space scanning-based container identification method according to claim 1, comprising:
the container identification assembly comprises a lifting appliance positioning device and an image acquisition device, wherein the lifting appliance positioning device is one or a combination of a 2D laser sensor, a 3D laser sensor, an infrared sensor, a millimeter wave radar, a monocular or binocular vision sensor, the image acquisition device is provided with an image sensor, a steering cloud platform and a focusing module, and the steering cloud platform and the focusing module are respectively connected with the container identification assembly.
13. The spatial scanning based container identification system of claim 12, wherein said container identification assembly is affixed to a surface of said crane, said container identification assembly integrating a spreader positioning device and an image capture device that detect container position.
14. The spatial scanning based container identification system of claim 13, wherein the container identification component comprises:
one end of the first bracket is fixed on the surface of the crane;
the duckbill bracket is arranged on the upper surface of the other end of the first bracket;
a second bracket, wherein the lower surface of the second bracket is connected with the duckbill bracket;
the lifting appliance positioning device is arranged on the upper surface of the second support; and
and the image acquisition device is arranged on the lower surface of the other end of the first support, and a steering cloud platform and a focal module of the image acquisition device are connected with the lifting appliance positioning device through data lines.
15. The spatial scanning based container identification system of claim 12, wherein said crane is a gantry crane, two of said container identification assemblies are disposed on said gantry crane, one being disposed under a cockpit and the other being disposed at a land side door leg of said gantry crane.
16. A space scanning based container identification device, comprising:
a processor;
a memory having stored therein executable instructions of the processor;
wherein the processor is configured to perform the steps of the space scanning based container identification method of any one of claims 1 to 11 via execution of executable instructions.
17. A computer readable storage medium storing a program, wherein the program is executed to implement the steps of the method for identifying a container based on spatial scanning according to any one of claims 1 to 11.
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| CN112734838A (en) * | 2020-12-31 | 2021-04-30 | 网络通信与安全紫金山实验室 | Space target positioning method, equipment and storage medium |
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| CN112565505A (en) * | 2020-12-08 | 2021-03-26 | 广州绿怡信息科技有限公司 | Mobile phone identification device and image acquisition method thereof |
| CN112734838A (en) * | 2020-12-31 | 2021-04-30 | 网络通信与安全紫金山实验室 | Space target positioning method, equipment and storage medium |
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| CN114782483B (en) * | 2022-06-17 | 2022-09-16 | 广州港数据科技有限公司 | Intelligent tallying tracking method and system for quayside crane |
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