CN112801993A - State identification method - Google Patents
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- CN112801993A CN112801993A CN202110150096.XA CN202110150096A CN112801993A CN 112801993 A CN112801993 A CN 112801993A CN 202110150096 A CN202110150096 A CN 202110150096A CN 112801993 A CN112801993 A CN 112801993A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10024—Color image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20081—Training; Learning
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Abstract
The invention discloses a state identification method for identifying the state of a cargo compartment of a dump truck, which is characterized by comprising the following steps of: acquiring a shot image in a current state; selecting a marker from the captured image; acquiring the position of the marker in the shot image; acquiring the area ratio of the marker in the shot image; judging whether the marker reaches a preset position, if so, judging whether the area ratio is larger than a first threshold, and if so, determining that the cargo compartment of the dump truck is in a lifting state; if the area of the marker is not larger than the first threshold value, the dump truck cargo compartment is determined to be in a flat state; the shot image is shot by a camera module arranged at the bottom of the cargo compartment of the dump truck. The method is simple and effective, the characteristic collection is more obvious in the shooting process, and the judgment accuracy is more accurate; the device based on the method has lower cost.
Description
Technical Field
The invention relates to the technical field of building construction, in particular to a method, a device and a system for identifying the carriage state of a dump truck.
Background
The construction waste/muck transportation and metering work is popularized nationwide at present, namely, a dump truck loads soil from a construction site and unloads the soil from a waste site, a carriage of the dump truck is required to be horizontally arranged when the soil is loaded, the carriage of the dump truck is required to be lifted when the soil is unloaded, the horizontal arrangement/lifting state of the carriage is required to be accurately judged, accidents in the soil loading/unloading process are prevented, meanwhile, the production cost is reduced, and the working efficiency is improved.
At present, the existing shooting module is generally arranged at the top of a carriage and faces the inside of the carriage, so that the shooting module arranged in the way has unobvious characteristics and lower accuracy in the shooting process; most tippers still need install the shielding plate, prevent to shoot the module and cause the damage by rainwater, dust, cause the increase of cost.
Therefore, it is an urgent need to solve the problems of the art to provide a state identification method, device and system with more obvious characteristics, more accurate judgment of the car state and reduced cost.
Disclosure of Invention
The invention aims to provide a state identification method which is simple and effective, has more obvious characteristic acquisition in the shooting process and more accurate judgment accuracy; the device based on the method has lower cost.
Based on the above purposes, the technical scheme provided by the invention is as follows:
a state identification method is used for identifying the state of a cargo compartment of a dump truck, and is characterized by comprising the following steps:
acquiring a shot image in a current state;
selecting a marker from the captured image;
acquiring the position of the marker in the shot image;
acquiring the area ratio of the marker in the shot image;
judging whether the marker reaches a preset position, if so, judging whether the area ratio is larger than a first threshold, and if so, determining that the cargo compartment of the dump truck is in a lifting state; if the area of the marker is not larger than the first threshold value, the dump truck cargo compartment is determined to be in a flat state;
the shot image is shot by a camera module arranged at the bottom of the cargo compartment of the dump truck.
Preferably, the marker is specifically the bottom of the cargo compartment of the dump truck in the shot image.
Preferably, the preset position is the position of the bottom of the cargo compartment of the dump truck in the shot image when the dump truck is in the lifting or flat state.
Preferably, the obtaining of the area ratio of the marker in the captured image specifically includes:
extracting characteristic pixel points at the bottom of the dumper cargo compartment in the shot image;
acquiring the specific position of the characteristic pixel point;
and calculating the area ratio of the bottom of the cargo compartment of the dump truck in the shot image according to the set of the specific positions of the characteristic pixel points.
Preferably, the obtaining of the first threshold value comprises the following steps:
obtaining a plurality of dumper cargo box bottom image samples in a flat state;
training the image sample to obtain the area of the image at the bottom of the dump truck cargo compartment in a flat state;
and determining the area ratio threshold of the bottom of the dump truck cargo box as a first threshold according to the image area of the bottom of the dump truck cargo box in the flat state.
Preferably, the method further comprises judging a magnitude relation between the area ratio and the first threshold value and the second threshold value,
if the area ratio is smaller than the first threshold value, determining that the cargo compartment of the dump truck is in a flat state;
if the area ratio is larger than the first threshold and smaller than the second threshold, the dump truck cargo compartment is determined to be in a lifting state;
and if the area ratio is larger than the second threshold value, determining that the cargo compartment of the dump truck is in an abnormal state.
Preferably, before acquiring the captured image in the current state, the method further includes the following steps:
acquiring the current speed and position of the dump truck;
judging whether the current position is the same as a preset position or not, if so, stopping executing to obtain a shot image in the current state and moving the dump truck to the preset position;
if the current speed is equal to 0, judging whether the current speed is 0, if not, stopping acquiring the shooting image in the current state and reducing the speed of the dump truck to 0.
A state recognition device comprises a state recognition unit,
the shooting module is arranged at the bottom of the carriage of the dump truck and used for acquiring an image in the current state;
the selecting module is used for selecting the markers with obvious pixel points in the image;
the calculating module is used for calculating the area ratio of the marker in the shot image;
the setting module is used for determining and setting the marker area ratio threshold as a first threshold;
and the judging module is used for judging whether the position of the marker in the shot image reaches a preset position and judging whether the area ratio of the marker in the shot image is greater than a first threshold value.
A computer storage medium having stored thereon a computer program which, when executed by a processor, implements a state recognition method as in any one of the above.
The state identification method is used for identifying that the cargo compartment of the dump truck is in a flat-laying state or a lifting state, shooting an image of the cargo compartment of the dump truck in the current state, selecting a proper marker from the image, determining whether the position of the marker in the image is at a preset position, if so, calculating the area ratio of the marker in the image, and judging whether the area ratio of the marker in the image is greater than a preset first threshold value, thereby determining that the cargo compartment of the dump truck is in the flat-laying state or the lifting state. According to the technical scheme, the area ratio of the marker in the image is calculated only by selecting the proper marker in the shot image in the current state and confirming that the marker is in the preset position, the state of the current dump truck cargo compartment can be judged by presetting the first threshold value, the calculation process is fast and efficient, the judgment result is accurate and error-free, the construction efficiency is improved, and meanwhile the device based on the method is lower in cost.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a state identification method according to the present invention;
FIG. 2 is a flowchart of step 4 provided in the embodiment of the present invention;
fig. 3 is a flowchart of acquiring a first threshold according to an embodiment of the present invention;
fig. 4 is a detailed flowchart of a state identification method according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a state identification device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Embodiments of the present invention are written in a progressive manner.
The embodiment of the invention provides a state identification method. The main technical problem who solves among the prior art, the shooting module is at the unobvious, the degree of accuracy is lower of shooting in-process characteristic, has increased the cost.
Referring to fig. 1, a state identification method for identifying the state of a cargo compartment of a dump truck includes the following steps:
s1, acquiring a shot image in a current state;
s2, selecting a marker from the shot image;
s3, acquiring the position of the marker in the shot image;
s4, acquiring the area ratio of the marker in the shot image;
s5, judging whether the marker reaches a preset position, if so, S51, judging whether the area ratio is larger than a first threshold value, and if so, determining that the cargo compartment of the dump truck is in a lifting state; s52, if the area of the marker is not larger than a first threshold value, determining that the cargo compartment of the dump truck is in a flat state;
the shot image is shot by a camera module arranged at the bottom of the cargo compartment of the dump truck.
The state identification method is used for identifying that the cargo compartment of the dump truck is in a flat-laying state or a lifting state, shooting an image of the cargo compartment of the dump truck in the current state, selecting a proper marker from the image, determining whether the position of the marker in the image is at a preset position, if so, calculating the area ratio of the marker in the image, and judging whether the area ratio of the marker in the image is greater than a preset first threshold value, thereby determining that the cargo compartment of the dump truck is in the flat-laying state or the lifting state. According to the technical scheme, the area ratio of the marker in the image is calculated only by selecting the proper marker in the shot image in the current state and confirming that the marker is in the preset position, the state of the current dump truck cargo compartment can be judged by presetting the first threshold value, the calculation process is fast and efficient, the judgment result is accurate and error-free, the construction efficiency is improved, and meanwhile the device based on the method is lower in cost.
Preferably, the marker is embodied as the bottom of the cargo compartment of the dump truck in the captured image.
In the actual application process, the bottom of the cargo compartment of the dump truck is selected as a marker. The shooting module is used for shooting images of the dumper in a flat state and a lifting state, and the bottom of the dumper cargo compartment is easy to obtain in the images, so that the calculation is convenient.
Preferably, the preset position is the position of the bottom of the cargo compartment of the dump truck in the shot image when the dump truck is in the lifting or flat state.
In the actual application process, when the dump truck is in a lifting or horizontal state, the position of the bottom of the cargo compartment of the dump truck is determined according to the previously shot image sample.
Preferably, step S4 is specifically:
A1. extracting characteristic pixel points at the bottom of the dumper cargo compartment in the shot image;
A2. acquiring the specific position of the characteristic pixel point;
A3. and calculating the area ratio of the bottom of the cargo compartment of the dump truck in the shot image according to the set of the specific positions of the characteristic pixel points.
In the actual application process, the part with obvious chromatic aberration at the bottom of the cargo compartment of the dump truck can be selected as a characteristic pixel point according to the requirement; determining the specific position of the characteristic pixel point in the 3D view; and calculating the area of the bottom of the cargo compartment of the dump truck according to the positions of the characteristic pixel points in the 3D view, and dividing the area by the area of the shot image to obtain the area ratio.
Preferably, the obtaining of the first threshold value comprises the steps of:
B1. obtaining a plurality of dumper cargo box bottom image samples in a flat state;
B2. training an image sample to obtain the area of an image at the bottom of the dump truck cargo compartment in a flat state;
B3. and determining the area ratio threshold of the bottom of the dump truck cargo box as a first threshold according to the image area of the bottom of the dump truck cargo box in the flat state.
In the actual application process, a plurality of dumper flat-laying state image samples are obtained, an AI technology is adopted to train the image samples for a plurality of times, the bottom image area of the dumper in the flat-laying state is obtained, and the ratio threshold of the bottom area of the dumper cargo box is determined as a first threshold according to the bottom image area of the dumper cargo box in the flat-laying state. It should be noted that the image area of the bottom of the cargo compartment of the dump truck may change due to the vehicle, road conditions, etc. For a better understanding of the present solution, for example: in this embodiment, the area of the image at the bottom of the dump truck cargo box in the flat state occupies 0 to 5% of the area of the shot image, that is, 5% is used as the first threshold, and when the area of the image at the bottom of the dump truck cargo box exceeds 5%, the dump truck is determined to be in the lifting state.
Preferably, S6, judging the size relation between the area occupation ratio and the first threshold value and the second threshold value,
if the area ratio is smaller than the first threshold value, the dump truck cargo compartment is determined to be in a flat state;
if the area ratio is larger than the first threshold and smaller than the second threshold, the dump truck cargo compartment is determined to be in the lifting state;
and if the area ratio is larger than the second threshold value, determining that the cargo compartment of the dump truck is in an abnormal state.
In the actual application process, a second threshold value is set, and the second threshold value and the first threshold value are the area proportion of the bottom image of the cargo compartment of the dump truck in the shot image. Similarly, the second threshold value is obtained in the same manner as the first threshold value. For a better understanding of the present solution, for example: in this embodiment, the area of the image at the bottom of the dump truck cargo box in the lifting state of different degrees accounts for 5-90% of the area of the shot image, that is, 90% is used as the second threshold, and when the area of the bottom of the dump truck cargo box is less than 5%, the dump truck is in a flat state; when the area percentage of the bottom of the cargo compartment of the dump truck is between 5 and 90 percent, the dump truck is in a lifting state; when the area percentage of the bottom of the cargo compartment of the dump truck is more than 90 percent, the dump truck is in an abnormal state.
Preferably, before the step S1, the method further includes the following steps:
acquiring the current speed and position of the dump truck;
judging whether the current position is the same as the preset position or not, if so, stopping executing to obtain the shot image in the current state and moving the dump truck to the preset position;
if the current speed is equal to 0, judging whether the current speed is 0, if not, stopping acquiring the shooting image in the current state and reducing the speed of the dump truck to 0.
In the actual application process, before the state of the cargo compartment of the dump truck is identified, the current speed and the current position of the dump truck are judged, the dump truck is parked at a preset soil unloading or loading position, and the speed is 0 at the moment; the state of the cargo compartment of the dump truck can be identified. Therefore, whether the position of the dump truck is the same as the preset position or not is judged, if not, the dump truck is moved to the preset position, and if so, the state recognition of the cargo compartment is executed; similarly, it is determined whether the speed of the dump truck is 0, and if not, the speed of the dump truck is reduced to 0, and if 0, the state recognition of the cargo bed is performed.
A state recognition device comprises a state recognition unit,
the shooting module is arranged at the bottom of the carriage of the dump truck and used for acquiring an image in the current state;
the selecting module is used for selecting the markers with obvious pixel points in the image;
the calculating module is used for calculating the area ratio of the marker in the shot image;
the setting module is used for determining and setting a marker area ratio threshold as a first threshold;
and the judging module is used for judging whether the position of the marker in the shot image reaches a preset position and judging whether the area ratio of the marker in the shot image is greater than a first threshold value.
In the actual application process, the shooting module acquires the image in the current state, and the image can be shot in the direction according to actual needs, such as: the shooting direction can be consistent with the direction of the rearview mirror of the dump truck, and the bottom image of the cargo compartment of the dump truck is shot; or the shooting direction is opposite to the direction facing the rearview mirror of the dump truck, and the image of the back of the cab is shot. After the position of the marker in the image is determined, the selection module selects a specific marker in the image, the calculation module calculates the area ratio of the marker in the image, a marker ratio threshold value is set as a first threshold value according to the area ratio, and the judgment module judges whether the area ratio is greater than the first threshold value or not to be used as a condition for identifying the lifting or horizontal state of the carriage of the dump truck.
A computer storage medium having a computer program stored thereon, the computer program when executed by a processor implementing any of the state recognition methods described above.
The computer storage medium provided by the embodiment can execute and implement the state identification method, so that the technical effects same as those of the embodiment of the method can be achieved.
In the embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the modules is only one division of logical functions, and other divisions may be realized in practice, such as: multiple modules or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or modules may be electrical, mechanical or other.
In addition, all functional modules in the embodiments of the present invention may be integrated into one processor, or each module may be separately used as one device, or two or more modules may be integrated into one device; each functional module in each embodiment of the present invention may be implemented in a form of hardware, or may be implemented in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by program instructions and related hardware, where the program instructions may be stored in a computer-readable storage medium, and when executed, the program instructions perform the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Read Only Memory (ROM), a magnetic disk, or an optical disk.
The state identification method, device and system provided by the invention are described in detail above. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A state identification method is used for identifying the state of a cargo compartment of a dump truck, and is characterized by comprising the following steps:
acquiring a shot image in a current state;
selecting a marker from the captured image;
acquiring the position of the marker in the shot image;
acquiring the area ratio of the marker in the shot image;
judging whether the marker reaches a preset position, if so, judging whether the area ratio is larger than a first threshold, and if so, determining that the cargo compartment of the dump truck is in a lifting state; if the area of the marker is not larger than the first threshold value, the dump truck cargo compartment is determined to be in a flat state;
the shot image is shot by a camera module arranged at the bottom of the cargo compartment of the dump truck.
2. The state recognition method according to claim 1, wherein the marker is a bottom of a cargo bed of the dump truck in the captured image.
3. The state recognition method according to claim 2, wherein the preset position is a position where the bottom of the cargo compartment of the dump truck is located in the captured image when the dump truck is in a lifted or laid-flat state.
4. The state recognition method according to claim 3, wherein the obtaining of the area ratio of the marker in the captured image is specifically:
extracting characteristic pixel points at the bottom of the dumper cargo compartment in the shot image;
acquiring the specific position of the characteristic pixel point;
and calculating the area ratio of the bottom of the cargo compartment of the dump truck in the shot image according to the set of the specific positions of the characteristic pixel points.
5. The state recognition method of claim 4, wherein obtaining the first threshold value comprises:
obtaining a plurality of dumper cargo box bottom image samples in a flat state;
training the image sample to obtain the area of the image at the bottom of the dump truck cargo compartment in a flat state;
and determining the area ratio threshold of the bottom of the dump truck cargo box as a first threshold according to the image area of the bottom of the dump truck cargo box in the flat state.
6. The state recognition method according to claim 1, further comprising judging a magnitude relation between the area ratio and the first threshold value and the second threshold value,
if the area ratio is smaller than the first threshold value, determining that the cargo compartment of the dump truck is in a flat state;
if the area ratio is larger than the first threshold and smaller than the second threshold, the dump truck cargo compartment is determined to be in a lifting state;
and if the area ratio is larger than the second threshold value, determining that the cargo compartment of the dump truck is in an abnormal state.
7. The state recognition method according to claim 1, further comprising, before acquiring the captured image in the current state, the steps of:
acquiring the current speed and position of the dump truck;
judging whether the current position is the same as a preset position or not, if so, stopping executing to obtain a shot image in the current state and moving the dump truck to the preset position;
if the current speed is equal to 0, judging whether the current speed is 0, if not, stopping acquiring the shooting image in the current state and reducing the speed of the dump truck to 0.
8. A state recognition device, comprising,
the shooting module is arranged at the bottom of the carriage of the dump truck and used for acquiring an image in the current state;
the selecting module is used for selecting the markers with obvious pixel points in the image;
the calculating module is used for calculating the area ratio of the marker in the shot image;
the setting module is used for determining and setting the marker area ratio threshold as a first threshold;
and the judging module is used for judging whether the position of the marker in the shot image reaches a preset position and judging whether the area ratio of the marker in the shot image is greater than a first threshold value.
9. A computer storage medium, characterized in that the computer storage medium has stored thereon a computer program which, when being executed by a processor, implements a state recognition method according to any one of claims 1 to 7.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113222970A (en) * | 2021-05-31 | 2021-08-06 | 中邮信息科技(北京)有限公司 | Vehicle loading rate detection method and device, computer equipment and storage medium |
| CN113536234A (en) * | 2021-07-14 | 2021-10-22 | 广西柳工机械股份有限公司 | Mining area transportation frequency detection method and device, computer equipment and storage medium |
| CN115830128A (en) * | 2023-02-15 | 2023-03-21 | 成都全景德康医学影像诊断中心有限公司 | Face positioning measurement method, device and system |
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2021
- 2021-02-03 CN CN202110150096.XA patent/CN112801993A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113222970A (en) * | 2021-05-31 | 2021-08-06 | 中邮信息科技(北京)有限公司 | Vehicle loading rate detection method and device, computer equipment and storage medium |
| CN113536234A (en) * | 2021-07-14 | 2021-10-22 | 广西柳工机械股份有限公司 | Mining area transportation frequency detection method and device, computer equipment and storage medium |
| CN115830128A (en) * | 2023-02-15 | 2023-03-21 | 成都全景德康医学影像诊断中心有限公司 | Face positioning measurement method, device and system |
| CN115830128B (en) * | 2023-02-15 | 2023-05-12 | 成都全景德康医学影像诊断中心有限公司 | Face positioning measurement method, device and system |
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