CN113554003A - Mixing drum rotation direction identification method and device and electronic equipment - Google Patents
Mixing drum rotation direction identification method and device and electronic equipment Download PDFInfo
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- CN113554003A CN113554003A CN202111095634.6A CN202111095634A CN113554003A CN 113554003 A CN113554003 A CN 113554003A CN 202111095634 A CN202111095634 A CN 202111095634A CN 113554003 A CN113554003 A CN 113554003A
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Abstract
The invention provides a method and a device for identifying the rotation direction of a mixing drum and electronic equipment, wherein the method comprises the following steps: acquiring image data of a mixing drum on a mixing truck; extracting a first frame image and a second frame image from the image data, and determining a first coordinate of an identifier in the first frame image and a second coordinate of the identifier in the second frame image; and determining the rotation direction of the mixing drum based on the first coordinate and the second coordinate. The invention can accurately determine the rotation direction of the mixing drum based on the first coordinate and the second coordinate, and avoids the error caused by manually monitoring the rotation direction of the mixing drum in the traditional method. Meanwhile, an auxiliary detection device is not required to be additionally arranged on each stirring truck, so that the equipment cost is greatly reduced.
Description
Technical Field
The invention relates to the technical field of operation machinery, in particular to a method and a device for identifying the rotation direction of a mixing drum and electronic equipment.
Background
At present, concrete is increasingly applied, and after being produced from a mixing plant, the concrete needs to be transported to a construction site through a mixing truck for operations such as pumping, pouring and the like. The process that the concrete arrives the trucd mixer feed inlet from the stirring station is the feeding process of trucd mixer promptly, and the churn of trucd mixer should keep forward rotation during the feeding, if churn counter rotation, then can lead to the feeding failure and the flash appears, causes the concrete extravagant, and then increase cost.
Among the prior art, the trucd mixer feeding or the process of unloading rely on manual monitoring basically, judge if the churn turns to correctly etc. if manual monitoring, not only efficiency is lower, can influence the feeding or the unloading of trucd mixer owing to artifical error moreover.
Disclosure of Invention
The invention provides a method and a device for identifying the rotation direction of a mixing drum and electronic equipment, which are used for solving the defects of low efficiency and low accuracy in identifying the rotation direction of the mixing drum in the prior art.
The invention provides a method for identifying the rotation direction of a mixing drum, which comprises the following steps:
acquiring image data of a mixing drum on a mixing truck; an identifier is preset on the mixing drum;
extracting a first frame image and a second frame image from the image data, and determining a first coordinate of the identifier in the first frame image and a second coordinate of the identifier in the second frame image;
and determining the rotation direction of the mixing drum based on the first coordinate and the second coordinate.
According to the method for identifying the rotation direction of the mixing drum, the determining the rotation direction of the mixing drum based on the first coordinate and the second coordinate comprises the following steps:
determining a rotation vector for representing the rotation direction of the mixing drum based on the first coordinate and the second coordinate;
determining the rotation direction based on the rotation vector and the preset vector; the preset vector and the rotation vector are located on the same plane, and the direction of the preset vector is collinear with the rotation direction of the mixing drum.
According to the method for identifying the rotation direction of the mixing drum, the determining the rotation direction based on the rotation vector and the preset vector comprises the following steps:
calculating a number product between the rotation vector and the preset vector, and determining the rotation direction based on the number product.
According to the method for identifying the rotation direction of the mixing drum, the rotation direction is a forward rotation direction or a reverse rotation direction;
the determining the rotational direction based on the number product comprises:
when the preset vector is in the same direction as the forward rotation direction, if the product of the number is greater than 0, the rotation direction is the forward rotation direction; if the number product is less than 0, the rotating direction is a reverse rotating direction;
when the preset vector is in the same direction as the reverse rotation direction, if the product of the number is greater than 0, the rotation direction is the reverse rotation direction; if the number product is less than 0, the rotation direction is a forward rotation direction.
According to the method for identifying the rotation direction of the mixing drum, the step of determining the rotation direction of the mixing drum based on the rotation vector and the preset vector comprises the following steps:
and determining an included angle between the rotation vector and the preset vector based on the rotation vector and the preset vector, and determining the rotation direction based on the included angle.
According to the method for identifying the rotation direction of the mixing drum, the rotation direction is a forward rotation direction or a reverse rotation direction;
said determining said rotational direction based on said included angle comprises:
when the preset vector is in the same direction with the forward rotation direction, if the included angle is an acute angle, the rotation direction is the forward rotation direction; if the included angle is an obtuse angle, the rotating direction is a reverse rotating direction;
when the preset vector is in the same direction with the reverse rotation direction, if the included angle is an acute angle, the rotation direction is the reverse rotation direction; and if the included angle is an obtuse angle, the rotating direction is a forward rotating direction.
According to the method for identifying the rotation direction of the mixing drum provided by the invention, the rotation direction of the mixing drum is determined, and then the method further comprises the following steps:
when the rotation direction is determined to be the reverse rotation direction, controlling the mixer truck to unload materials;
and when the rotation direction is determined to be the positive rotation direction, controlling the stirring vehicle to feed.
According to the present invention, the method for identifying the rotation direction of the mixing drum, wherein the determining of the first coordinate of the identifier in the first frame image and the second coordinate of the identifier in the second frame image comprises:
performing identifier identification on the first frame image to obtain the first coordinate;
and performing identifier identification on the second frame image to obtain the second coordinate.
The invention also provides a device for identifying the rotation direction of the mixing drum, which comprises:
the image acquisition unit is used for acquiring image data of a mixing drum on the mixing truck; an identifier is preset on the mixing drum;
a coordinate determination unit configured to extract a first frame image and a second frame image from the image data, and determine a first coordinate of the identifier in the first frame image and a second coordinate of the identifier in the second frame image;
and the mixer truck control unit is used for determining the rotation direction of the mixing drum based on the first coordinate and the second coordinate.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of any one of the above methods for identifying the rotation direction of the mixing drum.
The present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for identifying a rotation direction of a mixing drum as in any one of the above-mentioned methods.
According to the method, the device and the electronic equipment for identifying the rotation direction of the mixing drum, the first frame image and the second frame image are extracted from the image data of the mixing drum, and the first coordinate of the identifier in the first frame image and the second coordinate of the identifier in the second frame image are determined, so that the rotation direction of the mixing drum can be accurately determined based on the first coordinate and the second coordinate, and errors caused by the fact that the rotation direction of the mixing drum is monitored manually in a traditional method are avoided. Meanwhile, an auxiliary detection device is not required to be additionally arranged on each stirring truck, so that the equipment cost is greatly reduced.
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In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for identifying the rotation direction of a mixing drum according to the present invention;
FIG. 2 is a second schematic flow chart of the method for identifying the rotation direction of the mixing drum according to the present invention;
FIG. 3 is a schematic view of a rotation vector and a predetermined vector when the mixing drum rotates in a forward direction;
FIG. 4 is a schematic view of a rotation vector and a predetermined vector when the mixing drum rotates in a reverse direction;
FIG. 5 is a schematic structural diagram of a device for identifying the rotation direction of a mixing drum according to the present invention;
fig. 6 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Among the prior art, the trucd mixer feeding or the process of unloading rely on manual monitoring basically, judge if the churn turns to correctly etc. if manual monitoring, not only efficiency is lower, can influence the feeding or the unloading of trucd mixer owing to artifical error moreover.
In addition, in the prior art, each mixer truck is provided with an auxiliary detection device, the device comprises a detection sensor and is used for detecting the rotation direction of the mixing drum, but the method needs to additionally add the auxiliary detection device on each mixer truck, so that the cost is high, and when the detection sensor breaks down, the arrangement is dispersed, the replacement and the maintenance are not easy, and the equipment maintenance cost is increased.
In view of the above, the present invention provides a method for identifying the rotation direction of a mixing drum. Fig. 1 is a schematic flow chart of a method for identifying a rotation direction of a mixing drum provided by the invention, and as shown in fig. 1, the method comprises the following steps:
Specifically, since the mixing drum on the mixing truck is usually in a rotating state, such as in a forward rotation or a reverse rotation, the image data acquired in the embodiment of the present invention is video data or image data of the mixing drum in the rotating state.
Furthermore, the mixer drum is pre-set with an identifier, i.e. the rotation direction of the identifier can be used to characterize the rotation direction of the mixer drum. The identifier may be a part with a specific shape on the mixing drum, or may be a geometric symbol that is marked on the mixing drum manually, for example, the geometric symbol is marked on the mixing drum manually, and the geometric symbol is clearly distinguished from the surrounding environment. In the embodiment of the present invention, the identifier may be set at a position of the mixing drum close to the material receiving hopper at a fixed distance in the circumferential direction, so that it is avoided that the image data of the identifier that is not blocked needs to be re-acquired after the identifier is blocked in the acquired image data, and the acquisition time of the image data is wasted.
In order to determine the rotation direction of the mixing drum, the embodiment of the invention determines the rotation direction of the identifier by acquiring the image data recorded with the identifier information, namely, the rotation direction of the identifier is determined based on the image data, and the rotation direction of the identifier is the rotation direction of the mixing drum.
In order to record the information of the identifier in the acquired image data, the image data may be acquired by the imaging device after the churn is detected to enter the specific area, and the imaging device may be controlled to acquire the image data after the identifier on the churn is detected to enter the specific area. The image data may also be obtained in real time, which is not limited in the embodiment of the present invention.
It can be understood that the camera device can be arranged above the discharging area and/or the feeding area of the mixing drum, so that image data can be clearly acquired. Further, the imaging device may be mounted on a moving vehicle, and the moving vehicle may acquire image data of the mixing drum on any one of the mixing trucks.
In addition, in order to prevent the camera device from shaking, part of the image data has no identifier information recorded therein, and in this case, after the initial image data is acquired by the camera device, the initial image data may be filtered and screened, for example, the initial image data is identified, and the initial image data recorded with the identifier information is retained, so that it is ensured that the identifier information is recorded in the finally acquired image data.
Specifically, the first frame image may be an image frame in which the identifier appears for the first time in the image data, or may also be an image frame in which the identifier appears for the nth time, and the second frame image may be a continuous frame image of the first frame image, for example, the first frame image may be an image frame corresponding to time t, and the second frame image may be an image frame corresponding to time t + 2. The first frame image and the second frame image may be image frames separated by a preset time period, for example, the first frame image may be an image frame corresponding to time t, and the second frame image may be an image frame corresponding to time t + n. I.e. the first coordinates are different from the second coordinates,
in addition, the identifier appears in the images of the continuous frames periodically, for example, the identifier appears in a fixed period according to the following rule: first appearance-appearance for a period of time-disappearance of the identifier-reappearance. Therefore, the embodiment of the present invention may use the image frame in which the identifier appears for the first time in the fixed period as the first frame image, and use the other image frame in which the identifier appears for any one frame in the fixed period as the second frame image.
Since the identifier information is recorded in the video data, the identifier information is recorded in both the first frame image and the second frame image. Meanwhile, due to the fact that the time difference exists between the first frame image and the second frame image, the coordinates of the identifiers in the first frame image and the second frame image are different, namely the first coordinate is different from the second coordinate, namely the identifiers in the second frame image move relative to the identifiers in the first frame image, and the moving direction of the identifiers can represent the rotating direction of the mixing drum.
It should be noted that, in the case of multiple identifiers, one or more identifiers may appear in a specific area, and in the case of multiple identifiers, the embodiment of the present invention may select the position change of the unique identifier to determine the first coordinate and the second coordinate.
Therefore, after the first frame image and the second frame image are extracted, the two images can be identified, and the first coordinate and the second coordinate of the identifier in the two images can be determined.
It should be noted that, before the first frame image and the second frame image are extracted from the image data, denoising processing may be performed on the image data, so that the first coordinate and the second coordinate may be accurately determined based on the denoised influence data, and the precision of the determination of the rotation direction of the mixing drum may be further improved. For example, the image data may be subjected to video pull analysis, and then the image data subjected to pull analysis is subjected to denoising, enhancement and other processing, so as to achieve denoising of the image data, and further accurately judge the rotation direction of the mixing drum based on the denoised image data.
And step 130, determining the rotation direction of the mixing drum based on the first coordinate and the second coordinate.
Specifically, a rotation vector can be determined based on the first coordinate and the second coordinate, and the vector carries not only the speed information of the rotation of the mixing drum but also the rotation direction information of the mixing drum, so that after the rotation vector is obtained, the rotation direction of the mixing drum can be determined.
After the rotation direction of the mixing drum is determined, the mixer truck is controlled to feed or discharge materials based on the rotation direction. When the mixing drum rotates in the forward direction, the mixing drum can perform feeding operation; when the mixing drum rotates reversely, the mixing drum can carry out unloading operation.
Therefore, compared with the method that the feeding or discharging process of the mixer truck in the prior art basically depends on manual monitoring, the rotating direction of the mixing drum can be automatically and quickly determined, the feeding or discharging of the mixer truck is controlled based on the rotating direction, and errors caused by manual monitoring are avoided. Compared with the prior art that the auxiliary detection device is arranged on each mixing truck to detect the rotation direction of the mixing drum, the image data acquired in the embodiment of the invention can be acquired through one camera device, the rotation direction of the mixing drum can be determined based on the image data, the auxiliary detection device does not need to be additionally arranged on each mixing truck, and the cost is lower.
According to the method for identifying the rotation direction of the mixing drum, provided by the embodiment of the invention, the first frame image and the second frame image are extracted from the image data of the mixing drum, and the first coordinate of the identifier in the first frame image and the second coordinate of the identifier in the second frame image are determined, so that the rotation direction of the mixing drum can be accurately determined based on the first coordinate, the second coordinate and the preset vector, and errors caused by the fact that the rotation direction of the mixing drum is monitored manually in a traditional method are avoided. Meanwhile, in the embodiment of the invention, an auxiliary detection device is not required to be additionally arranged on each stirring truck, so that the equipment cost is greatly reduced.
Based on the above embodiment, determining the rotation direction of the mixing drum based on the first coordinate and the second coordinate includes:
determining a rotation vector for representing the rotation direction of the mixing drum based on the first coordinate and the second coordinate;
and determining the rotation direction based on the rotation vector and a preset vector, wherein the preset vector and the rotation vector are positioned on the same plane, and the direction of the preset vector is collinear with the rotation direction of the mixing drum.
In particular, the first coordinate P is determined1And a second coordinate P2Then, a rotation vector can be obtained
Based on the rotation vector
The angle, or the product of the quantities, from the predetermined vector may determine the direction of rotation. The preset vector and the rotation vector are located on the same plane, and the preset vector may be a horizontal axis unit vector, a vertical axis unit vector, or a combination thereof. Wherein the rotation vector can be described by a camera image coordinate system, which is located on the camera photosensitive element. The preset vector is collinear with the rotation direction of the mixing drum, namely the preset vector can be in the same direction with the forward rotation direction or in the same direction with the reverse rotation direction, so that the rotation direction of the mixing drum can be judged by taking the preset vector as a reference.
For example, if the predetermined vector is a horizontal axis unit vector, i.e. the predetermined vector is in the same direction as the forward rotation direction, then when the predetermined vector is rotated
When the included angle between the rotating direction and the preset vector is an acute angle or the product of the number is more than 0, the rotating direction is positive rotation.
Based on any of the above embodiments, determining the rotation direction based on the rotation vector and the preset vector includes:
a number product between the rotation vector and a preset vector is calculated, and a rotation direction is determined based on the number product.
As shown in fig. 2, identifiers are arranged at fixed intervals along the circumferential direction, and then a monitoring video of a discharging area is obtained by a professional imaging device when the mixing drum works, so as to obtain a first frame image; based on a preset algorithm model, detecting and identifying the first frame image, and acquiring a first coordinate P of a preset identifier in an image coordinate system1Then, a second frame image in the same video is obtained, the second frame image is detected and identified, and a second coordinate P of the preset identifier in the image coordinate system is obtained2(ii) a By P1Coordinate points and P2Coordinate point calculation vector
(ii) a Finding a vector
And the number product of the unit vector and the horizontal axis of the image coordinate system is marked as lambda, and the rotation direction is judged based on the lambda value. The first frame image can be obtained by shooting through a monitoring camera and is uploaded to the embedded edge force calculation module. The monitoring video frame of the mixer truck material inlet and outlet area acquired by the embedded edge force calculation module comprises a mixing station discharge opening, the mixer truck material receiving hopper and the mixer truck mixing drum comprise identifiers, and the acquisition of the monitoring video frame can be carried out in real time so as to show real-time pictures of the concrete mixer truck in the concrete loading process.
Wherein, P1Characterised by the position information, P, of the identifier in the first image frame2Characterised by the position information, P, of the identifier in the second image frame1And P2Have spatial invariance and time continuity, thereby obtaining the vector
The speed variation of the mixing drum in the time difference between the first frame image and the second frame image can be roughly characterized, and the variation comprises two pieces of information, wherein the first piece is direction information used for representing the rotation direction of the mixing drum, and the second piece is speedAnd degree information used for representing the rotation speed of the mixing drum.
According to any of the above embodiments, the rotation direction is a forward rotation direction or a reverse rotation direction;
determining a rotation direction based on the number product, comprising:
when the preset vector is in the same direction with the forward rotation direction, if the number product is greater than 0, the rotation direction is the forward rotation direction; if the number product is less than 0, the rotating direction is a reverse rotating direction;
when the preset vector is in the same direction with the reverse rotation direction, if the number product is greater than 0, the rotation direction is the reverse rotation direction; if the number product is less than 0, the rotation direction is a forward rotation direction.
Specifically, based on the above embodiment, the number product λ may be determined, and when the preset vector is in the same direction as the forward rotation direction, if λ >0, the rotation direction of the mixing drum may be determined to be the forward rotation direction, corresponding to the feeding operation of the mixing drum, and at this time, the concrete may be normally loaded into the mixing drum of the concrete mixer truck; if lambda is less than 0, the rotation direction of the mixing drum can be determined to be the reverse rotation direction, corresponding to the unloading operation of the mixing drum, and at the moment, the concrete loaded in the mixing drum of the mixing truck can be unloaded normally.
Similarly, when the preset vector is in the same direction with the reverse rotation direction, if λ <0, the rotation direction of the mixing drum can be determined to be the forward rotation direction, corresponding to the feeding operation of the mixing drum, and at this time, the concrete can be normally loaded into the mixing drum of the concrete mixer truck; if lambda is larger than 0, the rotation direction of the mixing drum can be determined to be the reverse rotation direction, corresponding to the unloading operation of the mixing drum, and at the moment, the concrete loaded in the mixing drum of the mixing truck can be unloaded normally.
Therefore, the rotating direction of the mixing drum can be judged by observing the positive and negative values of the number product lambda values, and the worker is reminded through the judged rotating direction, so that the loss caused by misoperation of the worker is prevented.
Based on any one of the above embodiments, determining the rotation direction of the mixing drum based on the rotation vector and the preset vector includes:
and determining an included angle between the rotation vector and a preset vector based on the rotation vector and the preset vector, and determining a rotation direction based on the included angle.
Specifically, based on the rotation vector and the preset vector, an included angle between the rotation vector and the preset vector can be determined, and if the preset vector is a unit vector of a horizontal axis, the rotation direction is positive rotation when the included angle is an acute angle; when the included angle is an obtuse angle, the rotating direction is reverse rotation.
According to any of the above embodiments, the rotation direction is a forward rotation direction or a reverse rotation direction;
determining a direction of rotation based on the included angle, comprising:
when the preset vector is in the same direction with the forward rotation direction, if the included angle is an acute angle, the rotation direction is forward rotation; if the included angle is an obtuse angle, the rotating direction is reverse rotation;
when the preset vector and the reverse rotation direction are in the same direction, if the included angle is an acute angle, the rotation direction is the reverse rotation direction; if the included angle is an obtuse angle, the rotation direction is a forward rotation direction.
Specifically, based on the above embodiment, an included angle between the preset vector and the rotation vector can be determined, when the preset vector is in the same direction as the forward rotation direction, if the included angle is an acute angle, the rotation direction of the mixing drum can be determined to be the forward rotation direction, the feeding operation of the mixing drum is corresponded, and at this time, the concrete can be loaded into the mixing drum of the concrete mixer truck normally; if the included angle is an obtuse angle, the rotating direction of the mixing drum can be determined to be a reverse rotating direction, the discharging operation of the mixing drum is corresponded, and at the moment, the concrete loaded in the mixing drum of the mixing truck can be discharged normally.
Similarly, when the preset vector is in the same direction with the reverse rotation direction, if the included angle is an obtuse angle, the rotation direction of the mixing drum can be determined to be the forward rotation direction, the feeding operation of the mixing drum is corresponded, and at the moment, the concrete can be loaded into the mixing drum of the concrete mixing truck normally; if the included angle is an acute angle, the rotating direction of the mixing drum can be determined to be a reverse rotating direction, the discharging operation of the mixing drum is corresponded, and at the moment, the concrete loaded in the mixing drum of the mixing truck can be normally discharged.
Therefore, the rotating direction of the mixing drum can be judged based on the size of the included angle between the preset vector and the rotating vector, the worker is reminded through the judged rotating direction, and the loss caused by misoperation of the worker is prevented.
As shown in FIG. 3, the predetermined vector is a horizontal axis unit vector, i.e. the predetermined vector is in the same direction as the forward rotation direction when the rotation vector is rotated
And when the included angle between the unit vector and the horizontal axis is an acute angle, judging that the rotation direction of the mixing drum is positive rotation. As shown in FIG. 4, the default vector is a horizontal axis unit vector when the vector is rotated
And when the included angle between the unit vector of the horizontal shaft and the unit vector of the horizontal shaft is an obtuse angle, the rotating direction of the mixing drum is judged to be reverse rotation.
Based on any one of the above embodiments, determining the rotation direction of the mixing drum further includes:
when the rotation direction is determined to be the reverse rotation direction, controlling the mixer truck to unload materials;
and controlling the stirring vehicle to feed when the rotation direction is determined to be the positive rotation direction.
In particular, the mixing drum is usually rotated in only two directions, one being a forward direction of rotation, in which case feeding operations, such as concrete loading operations, can be performed, and the other being a reverse direction of rotation, in which case discharging operations, such as concrete discharging operations, can be performed.
Therefore, after the rotation direction of the mixing drum is determined, the mixing truck can be controlled to discharge or feed materials based on the rotation direction, and the problem that the material waste is caused due to the fact that the rotation direction is not matched with the operation type, and the operation progress is further influenced is solved. For example, in the process of loading, the concrete mixer truck often needs the mixing drum to keep rotating in the forward direction, otherwise, the concrete cannot be loaded into the mixing drum, so that the concrete overflows, and the cost is increased.
Based on any of the above embodiments, determining first coordinates of the identifier in the first frame image and second coordinates of the identifier in the second frame image comprises:
performing identifier identification on the first frame image to obtain a first coordinate;
and performing identifier identification on the second frame image to obtain a second coordinate.
Specifically, feature extraction is carried out on the identifier in the first frame image, and the coordinate of the identifier in the image coordinate system is obtained and marked as P1. The first frame image may be the image at which the identifier first appears in the video frame. The feature extraction may be based on a model constructed by a template matching algorithm, an edge extraction algorithm, a corner detection algorithm or an artificial intelligence vision algorithm or algorithms related thereto. The method comprises the steps of extracting features of a first frame image, detecting and identifying the first frame image based on the extracted features, judging the position of the identified result in an image coordinate system, and representing the position information of the mixing drum at the moment, wherein the position is marked as P1The image coordinate system is a physical coordinate system carried by the camera when the camera leaves a factory, and the camera can be corrected by a manufacturer when the camera leaves the factory by taking the pixels as basic units.
Similarly, from the monitoring video frame in the feeding area of the mixing drum, the second frame image with the identifier is obtained, the second frame image is a sequence frame of the first frame image, and after the first frame image with the identifier characteristic is obtained, the next second frame image is obtained, or the sequence frame image with the identifier characteristic in the same video is obtained. In general, after the first frame image with the identifier is acquired, the identifier continues to appear in the field of view of the camera for a period of time, so that a series of video frames with the identifier feature are obtained, and one frame image is arbitrarily screened from the series of video frames as the second frame image with the identifier.
The second frame image is detected and recognized, and the coordinates P of the preset identifier in the image coordinate system are acquired2. The detection and identification are performed by a feature extraction method, and in order to ensure consistency of detection and identification results, a specific feature extraction method should be consistent with a feature extraction method used by the first frame image. Extracting the features of the second frame image based on the extracted featuresThe feature detects and identifies the second frame image, and the position information of the mixing drum at the moment can be represented by judging the position of the identified result in the image coordinate system, and the position is marked as P2The image coordinate system is a physical coordinate system carried by the camera when the camera leaves a factory, and the camera can be corrected by a manufacturer when the camera leaves the factory by taking the pixels as basic units.
The present invention provides a device for identifying the rotation direction of a mixing drum, and the device for identifying the rotation direction of a mixing drum described below and the method for identifying the rotation direction of a mixing drum described above can be referred to in correspondence with each other.
Based on any one of the above embodiments, the present invention provides a device for identifying a rotation direction of a mixing drum, as shown in fig. 5, including:
an image obtaining unit 510, configured to obtain image data of a mixing drum on a mixer truck; an identifier is preset on the mixing drum;
the image obtaining unit 510 includes an analysis module and a preprocessing module, the analysis module is configured to obtain the image data and perform video pull analysis on the image data, and the preprocessing module is configured to perform denoising and enhancement processing on the image data after the video pull analysis.
A coordinate determination unit 520, configured to extract a first frame image and a second frame image from the image data, and determine a first coordinate of the identifier in the first frame image and a second coordinate of the identifier in the second frame image;
a direction identifying unit 530, configured to determine a rotation direction of the mixing drum based on the first coordinate and the second coordinate.
Based on any of the above embodiments, the direction identifying unit 530 includes:
a first determining unit, configured to determine, based on the first coordinate and the second coordinate, a rotation vector for representing a rotation direction of the mixing drum;
a second determination unit configured to determine the rotation direction based on the rotation vector and the preset vector; the preset vector and the rotation vector are located on the same plane, and the direction of the preset vector is collinear with the rotation direction of the mixing drum.
Based on any of the above embodiments, the second determining unit is configured to:
calculating a number product between the rotation vector and the preset vector, and determining the rotation direction based on the number product.
According to any of the above embodiments, the rotation direction is a forward rotation direction or a reverse rotation direction;
the second determination unit is configured to:
when the preset vector is in the same direction as the forward rotation direction, if the product of the number is greater than 0, the rotation direction is the forward rotation direction; if the number product is less than 0, the rotating direction is a reverse rotating direction;
when the preset vector is in the same direction as the reverse rotation direction, if the product of the number is greater than 0, the rotation direction is the reverse rotation direction; if the number product is less than 0, the rotation direction is a forward rotation direction.
Based on any of the above embodiments, the second determining unit is configured to:
and determining an included angle between the rotation vector and the preset vector based on the rotation vector and the preset vector, and determining the rotation direction based on the included angle.
According to any of the above embodiments, the rotation direction is a forward rotation direction or a reverse rotation direction;
the second determination unit is configured to:
when the preset vector is in the same direction with the forward rotation direction, if the included angle is an acute angle, the rotation direction is the forward rotation direction; if the included angle is an obtuse angle, the rotating direction is a reverse rotating direction;
when the preset vector is in the same direction with the reverse rotation direction, if the included angle is an acute angle, the rotation direction is the reverse rotation direction; and if the included angle is an obtuse angle, the rotating direction is a forward rotating direction.
Based on any one of the above embodiments, the mixer truck further comprises a mixer truck control unit configured to:
when the rotation direction is determined to be the reverse rotation direction, controlling the mixer truck to unload materials;
and when the rotation direction is determined to be the positive rotation direction, controlling the stirring vehicle to feed.
According to any of the above embodiments, the coordinate determination unit 520 is configured to:
performing identifier identification on the first frame image to obtain the first coordinate;
and performing identifier identification on the second frame image to obtain the second coordinate.
Fig. 6 is a schematic structural diagram of an electronic device provided in the present invention, and as shown in fig. 6, the electronic device may include: a processor (processor)610, a communication interface (communication interface)620, a memory (memory)630 and a communication bus 640, wherein the processor 610, the communication interface 620 and the memory 630 are communicated with each other via the communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform a churn rotation direction identification method, the method comprising: acquiring image data of a mixing drum on a mixing truck; an identifier is preset on the mixing drum; extracting a first frame image and a second frame image from the image data, and determining a first coordinate of the identifier in the first frame image and a second coordinate of the identifier in the second frame image; and determining the rotation direction of the mixing drum based on the first coordinate and the second coordinate.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method for identifying the rotation direction of a mixing drum provided by the above methods, the method comprising: acquiring image data of a mixing drum on a mixing truck; an identifier is preset on the mixing drum; extracting a first frame image and a second frame image from the image data, and determining a first coordinate of the identifier in the first frame image and a second coordinate of the identifier in the second frame image; and determining the rotation direction of the mixing drum based on the first coordinate and the second coordinate.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to perform the method for identifying the rotation direction of a mixing drum provided in each of the above methods, the method comprising: acquiring image data of a mixing drum on a mixing truck; an identifier is preset on the mixing drum; extracting a first frame image and a second frame image from the image data, and determining a first coordinate of the identifier in the first frame image and a second coordinate of the identifier in the second frame image; and determining the rotation direction of the mixing drum based on the first coordinate and the second coordinate.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A method for identifying the rotation direction of a mixing drum is characterized by comprising the following steps:
acquiring image data of a mixing drum on a mixing truck; an identifier is preset on the mixing drum;
extracting a first frame image and a second frame image from the image data, and determining a first coordinate of the identifier in the first frame image and a second coordinate of the identifier in the second frame image;
determining the rotation direction of the mixing drum based on the first coordinate and the second coordinate;
the determining the rotation direction of the mixing drum based on the first coordinate and the second coordinate comprises:
determining a rotation vector for representing the rotation direction of the mixing drum based on the first coordinate and the second coordinate;
determining the rotation direction based on the rotation vector and a preset vector; the preset vector and the rotation vector are located on the same plane, and the direction of the preset vector is collinear with the rotation direction of the mixing drum.
2. The method for identifying the rotation direction of a mixing drum according to claim 1, wherein the determining the rotation direction based on the rotation vector and the preset vector comprises:
calculating a number product between the rotation vector and the preset vector, and determining the rotation direction based on the number product.
3. The method according to claim 2, wherein the rotation direction is a forward rotation direction or a reverse rotation direction;
the determining the rotational direction based on the number product comprises:
when the preset vector is in the same direction as the forward rotation direction, if the product of the number is greater than 0, the rotation direction is the forward rotation direction; if the number product is less than 0, the rotating direction is a reverse rotating direction;
when the preset vector is in the same direction as the reverse rotation direction, if the product of the number is greater than 0, the rotation direction is the reverse rotation direction; if the number product is less than 0, the rotation direction is a forward rotation direction.
4. The method for identifying the rotation direction of the mixing drum according to claim 1, wherein the determining the rotation direction of the mixing drum based on the rotation vector and a preset vector comprises:
and determining an included angle between the rotation vector and the preset vector based on the rotation vector and the preset vector, and determining the rotation direction based on the included angle.
5. The method according to claim 4, wherein the rotation direction is a forward rotation direction or a reverse rotation direction;
said determining said rotational direction based on said included angle comprises:
when the preset vector is in the same direction with the forward rotation direction, if the included angle is an acute angle, the rotation direction is the forward rotation direction; if the included angle is an obtuse angle, the rotating direction is a reverse rotating direction;
when the preset vector is in the same direction with the reverse rotation direction, if the included angle is an acute angle, the rotation direction is the reverse rotation direction; and if the included angle is an obtuse angle, the rotating direction is a forward rotating direction.
6. The method for identifying the rotation direction of a mixing drum according to any one of claims 1 to 5, wherein the determining the rotation direction of the mixing drum further comprises:
when the rotation direction is determined to be the reverse rotation direction, controlling the mixer truck to unload materials;
and when the rotation direction is determined to be the positive rotation direction, controlling the stirring vehicle to feed.
7. The method according to any one of claims 1 to 5, wherein said determining a first coordinate of said identifier in said first frame image and a second coordinate of said identifier in said second frame image comprises:
performing identifier identification on the first frame image to obtain the first coordinate;
and performing identifier identification on the second frame image to obtain the second coordinate.
8. A churn direction of rotation recognition device, its characterized in that includes:
the image acquisition unit is used for acquiring image data of a mixing drum on the mixing truck; an identifier is preset on the mixing drum;
a coordinate determination unit configured to extract a first frame image and a second frame image from the image data, and determine a first coordinate of the identifier in the first frame image and a second coordinate of the identifier in the second frame image;
the direction identification unit is used for determining the rotation direction of the mixing drum based on the first coordinate and the second coordinate;
the direction recognition unit includes:
a first determining unit, configured to determine, based on the first coordinate and the second coordinate, a rotation vector for representing a rotation direction of the mixing drum;
a second determination unit configured to determine the rotation direction based on the rotation vector and the preset vector; the preset vector and the rotation vector are located on the same plane, and the direction of the preset vector is collinear with the rotation direction of the mixing drum.
9. An electronic device comprising a memory, a processor and a computer program stored on said memory and executable on said processor, characterized in that said processor implements the steps of the method for identifying the direction of rotation of a mixing drum according to any one of claims 1 to 7 when executing said program.
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Application publication date: 20211026 |