CN113947360A - Scrap steel tracing method and system for scrap steel storage yard - Google Patents
Scrap steel tracing method and system for scrap steel storage yard Download PDFInfo
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Abstract
The invention provides a scrap steel tracing method and a scrap steel tracing system for a scrap steel yard, which comprise the following steps: creating a three-dimensional map of a scrap steel yard, wherein the three-dimensional map comprises a scrap steel pile position and a data acquisition equipment position, and generating a three-dimensional grid map of the scrap steel pile according to the three-dimensional map; when a vehicle travels to the inlet of the scrap steel yard, recognizing a license plate to generate tracking information, updating the tracking information corresponding to each movement behavior according to the movement behavior of the vehicle in the scrap steel yard until the vehicle exits from the outlet of the scrap steel yard, and outputting the tracking information corresponding to the vehicle; the moving behavior comprises the steps of storing scrap steel, pouring the scrap steel, processing and discharging the scrap steel; updating the three-dimensional grid map according to the output tracking information, and evaluating the scrap steel information of the scrap steel stock yard according to the three-dimensional grid map; the invention can automatically track and monitor the distribution change condition of the scrap steel in the scrap steel material pile in real time and realize unmanned management.
Description
Technical Field
The invention relates to the field of intelligent steel manufacturing, in particular to a scrap steel tracing method and a scrap steel tracing system for a scrap steel yard.
Background
At present, the management informatization and intelligentization degree of a steel scrap yard is generally low, and the following pain points exist: in the operation process, production data depends on manpower, and the data reliability is not high; after the scrap steel is put in storage, an effective means is lacked for tracking the scrap steel; after the scrap steel is processed and poured into a warehouse, the volume and the mass of the material pile are changed and can only be manually estimated. Along with the improvement of the refined and intelligent management requirements of the state on the steel industry, a set of reliable and efficient scrap steel tracing system is constructed, and the real-time dynamic supervision of the whole process of warehousing, dumping, processing and ex-warehouse is realized, which is urgent.
Disclosure of Invention
In view of the problems in the prior art, the invention provides a scrap tracing method and a scrap tracing system for a scrap yard, and mainly solves the problems that in the prior art, the management of the scrap yard depends on manpower, the real-time data state of the scrap yard cannot be effectively monitored, and the processing efficiency is low.
In order to achieve the above and other objects, the present invention adopts the following technical solutions.
A scrap tracing method for a scrap yard comprises the following steps:
creating a three-dimensional map of a scrap steel yard, wherein the three-dimensional map comprises a scrap steel pile position and a data acquisition equipment position, and generating a three-dimensional grid map of the scrap steel pile according to the three-dimensional map;
when a vehicle travels to the inlet of the scrap steel yard, recognizing a license plate to generate tracking information, updating the tracking information corresponding to each movement behavior according to the movement behavior of the vehicle in the scrap steel yard until the vehicle exits from the outlet of the scrap steel yard, and outputting the tracking information corresponding to the vehicle; the moving behavior comprises the steps of storing scrap steel, pouring the scrap steel, processing and discharging the scrap steel;
and updating the three-dimensional grid map according to the output tracking information, and evaluating the scrap steel information of the scrap steel stock yard according to the three-dimensional grid map, wherein the scrap steel information comprises scrap steel volume, mass and distribution.
Optionally, the data acquisition device includes a camera module and a three-dimensional data acquisition module; the data acquisition equipment is arranged in the scrap steel yard, and the data acquisition range covers the whole scrap steel yard; the camera module is bound with the three-dimensional data acquisition module, and when the license plate information is collected and identified by the camera module, the corresponding three-dimensional data acquisition module is triggered to acquire the three-dimensional point cloud data of the corresponding vehicle.
Optionally, when the vehicle travels to the entrance of the scrap steel yard, recognizing a license plate to generate tracking information, including:
creating a vehicle database, wherein all vehicle license plates used for scrap steel yard operation are stored in the vehicle database;
when a vehicle travels to an entrance of the scrap steel yard, awakening corresponding data acquisition equipment to acquire a license plate image of the current vehicle, identifying the license plate image to acquire license plate information, comparing the license plate information with a vehicle license plate in a vehicle database, judging whether the license plate corresponding to the current vehicle exists in the vehicle database or not, and if so, recording the vehicle information to generate tracking information of the entrance; wherein the tracking information at the portal comprises: the method comprises the following steps of license plate image, vehicle loading scrap type, vehicle loading scrap volume, vehicle loading scrap mass and vehicle current position.
Optionally, the updating the tracking information when the vehicle enters the storage of the scrap steel comprises:
after the vehicle enters the scrap steel yard, updating the corresponding state of the tracking information at the entrance into a warehousing driving state;
acquiring a vehicle license plate image in the vehicle running process through the data acquisition equipment, and identifying a license plate to determine a vehicle running track;
when a vehicle runs to an inlet of a warehousing stock pile, acquiring a vehicle license plate through data acquisition equipment at a corresponding position, identifying the license plate, acquiring three-dimensional point cloud data of scrap steel loaded by the vehicle, identifying the volume of the scrap steel, judging whether the vehicle finishes unloading, and updating the tracking information into a warehousing stock;
after the vehicles are unloaded, the vehicles leave the warehouse stockpile outlet, vehicle license plates are obtained according to data acquisition equipment at the warehouse stockpile outlet, and the tracking information state is updated to be warehouse-in completion;
and respectively recording the quality of the vehicles when the vehicles enter and leave the warehouse according to weighing modules at an inlet and an outlet of the warehousing stockpile, and acquiring the warehousing quality of the scrap steel.
Optionally, the updating the tracking information when the vehicle performs the scrap steel dumping includes:
when a vehicle arrives at a material loading pile of a reverse warehouse, acquiring a vehicle license plate through data acquisition equipment at a corresponding position, identifying the license plate, and updating the tracking information state into the material loading pile of the reverse warehouse after the license plate is identified;
after the vehicle is loaded, acquiring three-dimensional point cloud data of the steel scrap loaded on the vehicle through the data acquisition equipment, and updating the steel scrap loading information in the tracking information, wherein the steel scrap loading information comprises a steel scrap loading image, steel scrap three-dimensional point cloud data, a steel scrap type and a steel scrap volume;
after the loading is finished, the vehicle moves to the designated data acquisition equipment to acquire the license plate of the vehicle, the license plate is identified, and the state of the tracking information of the corresponding vehicle is updated to be in the dump;
in the process that the vehicle runs to the unloading material pile, vehicle information is obtained through data acquisition equipment on a running path, the moving track of the vehicle is determined according to the obtained vehicle information, and tracking information corresponding to the vehicle is updated;
and when the vehicle moves to the unloading position, acquiring three-dimensional point cloud data of the steel scrap loaded by the vehicle through the data acquisition equipment at the corresponding position, updating the steel scrap loading information in the tracking information, and updating the tracking information state of the vehicle to be that the vehicle is in a fallen state.
Optionally, the method further comprises: acquiring tracking information of processing equipment, transferring the steel scraps unloaded by the vehicles to a corresponding stock pile through the processing equipment to finish warehousing, and updating the tracking information of the processing equipment, wherein the processing equipment comprises a steel grabbing machine;
updating the tracking information of the processing device includes:
acquiring an image of the processing equipment through the data acquisition equipment at the corresponding position, returning the image to the unique identification mark for identifying the processing equipment at the system end, and updating the state of the tracking information of the corresponding processing equipment into the processing after the identification is passed;
acquiring corresponding stockpile data in real time in the operation process of the processing equipment, wherein the stockpile data comprises a stockpile visible light image and three-dimensional point cloud data; identifying the material pile data and acquiring material pile real-time change data, wherein the material pile real-time change data comprises scrap steel distribution, mass change and volume change;
determining scrap steel information transferred by the processing equipment according to the real-time change data of the material pile, wherein the scrap steel information comprises: scrap steel mass, volume and density; and after the operation is finished, updating the state of the tracking information of the corresponding processing equipment to finish unloading and warehousing.
Optionally, the updating the tracking information when the vehicle performs the steel scrap delivery includes:
the method comprises the following steps that a vehicle travels to a warehouse-out material pile, a vehicle license plate image is obtained through data acquisition equipment at a corresponding position, license plate recognition is carried out, and the state of tracking information of the corresponding vehicle is updated into warehouse-out loading according to a license plate recognition result;
in the vehicle loading process, light images and three-dimensional point cloud data of a vehicle loading area are collected through data collection equipment and are transmitted back to a system end to obtain vehicle loading scrap steel information, wherein the vehicle loading scrap steel information comprises a loading scrap steel volume and a loading scrap steel type;
after the loading is finished, updating the state of the tracking information of the corresponding vehicle into the warehouse-out state;
recording the moving track of the vehicle, and recording the weight of the vehicle after the vehicle moves to the weighing module;
and when the vehicle reaches the outlet of the scrap steel yard, acquiring a vehicle license plate image according to the data acquisition equipment at the corresponding position, identifying the license plate, and updating the state of the tracking information of the corresponding vehicle into a warehouse according to the identification result.
A scrap tracing system for a scrap yard, comprising:
the map creating module is used for creating a three-dimensional map of a scrap steel yard, the three-dimensional map comprises a scrap steel pile position and a data acquisition equipment position, and a three-dimensional grid map of the scrap steel pile is generated according to the three-dimensional map;
the tracking module is used for identifying license plates to generate tracking information when a vehicle travels to the inlet of the scrap steel yard, updating the tracking information corresponding to each moving behavior according to the moving behaviors of the vehicle in the scrap steel yard until the vehicle exits from the outlet of the scrap steel yard, and outputting the tracking information corresponding to the vehicle; the moving behavior comprises the steps of storing scrap steel, pouring the scrap steel, processing and discharging the scrap steel;
and the distribution acquisition module is used for updating the three-dimensional grid map according to the output tracking information and evaluating the steel scrap information of the steel scrap stock yard according to the three-dimensional grid map, wherein the steel scrap information comprises the volume, the mass and the distribution of the steel scrap.
Optionally, the method further comprises: the setting is used for showing the visual module of the real-time information of whole steel scrap yard steel scrap, and wherein, the real-time information includes: the plane distribution diagram of the scrap yard, the three-dimensional grid diagram, the volume of the material pile, the quality of the material pile, the type of scrap stored in the material pile and the volume change of the material pile.
Optionally, the system further comprises an equipment management module, wherein the equipment management module is used for managing information of various types of equipment in the scrap steel yard, associating the data acquisition equipment with an event, and activating the corresponding data acquisition equipment according to the event, wherein the event comprises that a vehicle arrives at a specified position and a license plate passes identification; the device information includes a device name, a device number, a device location, a device communication state, and device acquisition data.
As described above, the scrap tracing method and system for a scrap yard according to the present invention have the following advantageous effects.
The unmanned tracking of the scrap steel can be realized, the scrap steel can be tracked in the whole process of warehousing, dumping, processing and ex-warehouse, particularly, after the scrap steel is subjected to dumping, processing and the like, the scrap steel in the same batch can be dispersedly stored or packaged, and various information of the scrap steel, such as type, volume, quality, storage time, distribution and the like, can still be accurately traced.
Drawings
Fig. 1 is a schematic flow chart of a scrap tracing method for a scrap yard according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Referring to fig. 1, the present invention provides a scrap tracing method for a scrap yard, including the following steps.
Step S1, creating a three-dimensional map of a scrap yard, wherein the three-dimensional map comprises a scrap pile position and a data acquisition equipment position, and generating a three-dimensional grid map of the scrap pile according to the three-dimensional map;
step S2, when a vehicle travels to the entrance of the scrap steel yard, recognizing a license plate to generate tracking information, updating the tracking information corresponding to each movement behavior according to the movement behaviors of the vehicle in the scrap steel yard until the vehicle exits from the exit of the scrap steel yard, and outputting the tracking information corresponding to the vehicle; the moving behavior comprises the steps of storing scrap steel, pouring the scrap steel, processing and discharging the scrap steel;
and step S3, updating the three-dimensional grid map according to the output tracking information, and evaluating the scrap steel information of the scrap steel stock ground according to the three-dimensional grid map, wherein the scrap steel information comprises scrap steel volume, mass and distribution.
In step S1, a three-dimensional map of the scrap yard can be constructed by displaying and managing the facilities of the entire scrap yard through the ArcGIS map. The three-dimensional map can record the position, the reserve volume, the type and other information of the scrap steel pile. The travel route of the vehicle in the scrap steel yard can be planned according to the three-dimensional map. The display information comprises a device number, a device name, a device position, a device communication state, sensing data and the like. Meanwhile, equipment can be added, deleted and changed in the map, the equipment is controlled (equipment holder control, start and stop and the like), and the equipment and a specific event can be bound. The data acquisition equipment comprises a camera module and a three-dimensional data acquisition module; the data acquisition equipment is arranged in the scrap steel yard, and the data acquisition range covers the whole scrap steel yard; the camera module is bound with the three-dimensional data acquisition module, and after the license plate information is collected and identified by the camera module, the corresponding three-dimensional data acquisition module is triggered to acquire the three-dimensional point cloud data of the corresponding vehicle. The camera module may include a camera and the three-dimensional data acquisition module may include a laser scanner. Exemplarily, a camera at a warehouse location entrance is set to bind an event for activating the laser scanner, after the camera shoots a license plate, the number of the license plate is identified through a data acquisition module, the license plate number is compared with data in a database, the vehicle is confirmed to be a warehouse-in vehicle, and the laser scanner is activated to start scanning a stockpile. And identifying the license plate number, the shooting time and the camera position information through the camera, and generating a track of the scrap steel by combining a GIS map. Furthermore, the three-dimensional map can be divided into grids, points in the three-dimensional map are mapped into grids, and a point set is represented through the grids to obtain the three-dimensional grid map. The volume of the material pile can be quickly estimated through regular grids in the three-dimensional grid diagram, and the quality of the material pile can be automatically estimated according to the type of scrap steel of the material pile. And the statistical evaluation is not needed manually, so that the processing efficiency is improved. And subsequently, determining the mass or volume change of the material pile according to the tracking information, dynamically updating the three-dimensional grid map, and visually displaying the three-dimensional grid map. The manner in which points in a particular three-dimensional map are mapped to a grid is not limited herein.
In step S2, when the vehicle travels to the entrance of the scrap yard, recognizing the license plate and generating tracking information may include: creating a vehicle database, wherein all vehicle license plates used for scrap steel yard operation are stored in the vehicle database; when a vehicle travels to an entrance of a scrap steel yard, awakening corresponding data acquisition equipment to acquire a license plate image of the current vehicle, identifying the license plate image to acquire license plate information, comparing the license plate information with a vehicle license plate in a vehicle database, judging whether the license plate corresponding to the current vehicle exists in the vehicle database, and if so, recording the vehicle information to generate tracking information at the entrance; wherein the tracking information at the portal includes: the method comprises the following steps of license plate image, vehicle loading scrap type, vehicle loading scrap volume, vehicle loading scrap mass and vehicle current position.
In one embodiment, when the vehicle travels to the entrance of the scrap steel yard, the license plate is identified to generate tracking information, and the method comprises the following steps: creating a vehicle database, wherein all vehicle license plates used for scrap steel yard operation are stored in the vehicle database; when a vehicle travels to an entrance of a scrap steel yard, awakening corresponding data acquisition equipment to acquire a license plate image of the current vehicle, identifying the license plate image to acquire license plate information, comparing the license plate information with a vehicle license plate in a vehicle database, judging whether the license plate corresponding to the current vehicle exists in the vehicle database, and if so, recording the vehicle information to generate tracking information at the entrance; wherein the tracking information at the portal includes: the method comprises the following steps of license plate image, vehicle loading scrap type, vehicle loading scrap volume, vehicle loading scrap mass and vehicle current position.
In one embodiment, updating the tracking information when the vehicle performs the storage of the scrap steel includes:
after the vehicle enters the scrap steel yard, updating the corresponding state of the tracking information at the entrance into a warehousing driving state;
acquiring a vehicle license plate image in the vehicle driving process through data acquisition equipment, and identifying a license plate to determine a vehicle driving track;
when a vehicle runs to an inlet of a warehousing material pile, acquiring a vehicle license plate through data acquisition equipment at a corresponding position, identifying the license plate, acquiring three-dimensional point cloud data of scrap steel loaded by the vehicle, identifying the volume of the scrap steel, judging whether the vehicle finishes unloading, and updating tracking information to be in warehousing and unloading;
after the vehicles are unloaded, the vehicles leave the warehouse stockpile outlet, vehicle license plates are obtained according to data acquisition equipment at the warehouse stockpile outlet, and the tracking information state is updated to be warehouse-in completion;
and respectively recording the quality of the vehicles when the vehicles enter and leave the warehouse according to weighing modules at an inlet and an outlet of the warehousing stockpile, and acquiring the warehousing quality of the scrap steel.
The concrete warehousing process is as follows:
s101, when a truck arrives at a yard entrance, an upper camera takes pictures of a carriage for archiving, the type of scrap steel is identified, a lower camera identifies a license plate number, and warehousing tracking is triggered; and generating a piece of tracking information comprising the license plate number, the scrap steel type, the warehousing starting time and the warehousing state (in warehousing).
S202, the truck drives into a storage yard, and a camera deployed beside a road during driving captures the whole course and identifies a license plate;
s203, weighing the truck when the truck reaches the wagon balance, and pushing the cargo with the cargo loading mass m to the system;
s204, when the truck arrives at a warehouse entrance, and after the truck is identified by a designated camera, activating a laser scanner, and updating the tracking information state into warehousing blanking;
s205, the freight car arrives at a discharging point to finish discharging, the laser scanner scans in the discharging process, and the information of the scrap steel pile is updated in real time;
s206, the truck leaves the warehouse exit, the designated camera identifies, and the laser scanner is closed;
s207, when the truck reaches the wagon balance, calculating the mass (m) of the batch of scrap steel by using the no-load mass m without loadScrap steel＝mCarrying cargo-mNo load) And updating the tracking information state to be finished in storage.
In one embodiment, updating the tracking information when the vehicle performs a scrap dump includes:
when a vehicle arrives at a material loading pile of a reverse warehouse, acquiring a vehicle license plate through data acquisition equipment at a corresponding position, identifying the license plate, and updating the tracking information state into the material loading pile of the reverse warehouse after the license plate is identified;
after the vehicle is loaded, acquiring three-dimensional point cloud data of the steel scrap loaded on the vehicle through data acquisition equipment, and updating the steel scrap loading information in the tracking information, wherein the steel scrap loading information comprises a steel scrap loading image, steel scrap three-dimensional point cloud data, a steel scrap type and a steel scrap volume;
after the loading is finished, the vehicle moves to the designated data acquisition equipment to acquire the license plate of the vehicle, the license plate is identified, and the state of the tracking information of the corresponding vehicle is updated to be in the dump;
in the process that the vehicle runs to the unloading material pile, vehicle information is obtained through data acquisition equipment on a running path, the moving track of the vehicle is determined according to the obtained vehicle information, and tracking information corresponding to the vehicle is updated;
and when the vehicle moves to the unloading position, acquiring three-dimensional point cloud data of the steel scrap loaded by the vehicle through the data acquisition equipment at the corresponding position, updating the steel scrap loading information in the tracking information, and updating the tracking information of the vehicle to be in a state of being inverted.
The concrete library transfer process is as follows:
when the truck and the steel grabbing machine arrive at a warehouse, a designated camera in the warehouse recognizes, a laser scanner is activated, and the tracking information is updated to be in the process of dumping into the warehouse and loading;
s208, loading the goods by the truck, scanning the carriage and the target material pile by the laser scanner in the unloading process, and updating the information of the scrap material pile;
s209, after the goods loading of the truck is finished, turning off the laser scanner through the appointed camera, and updating the tracking information into a storage-reversing state;
s210, transferring a truck, and shooting by a camera along the way;
s211, when the truck arrives at a discharging position, a designated camera activates a laser scanner to scan a carriage and a target material pile, and the tracking information updating state is in the process of dumping;
s212, finishing blanking, scanning by the laser scanner in the blanking process, updating the scrap steel pile information, and tracking the information updating state to be finished when the dumping is finished.
In one embodiment, tracking information of processing equipment can be acquired, the scrap steel unloaded by the vehicle is transferred to a corresponding stock pile through the processing equipment to finish warehousing, and the tracking information of the processing equipment is updated, wherein the processing equipment comprises a steel grabbing machine;
updating the tracking information of the processing device includes:
acquiring an image of the processing equipment through the data acquisition equipment at the corresponding position, returning the image to the unique identification mark for identifying the processing equipment at the system end, and updating the state of the tracking information of the corresponding processing equipment into the processing after the identification is passed;
acquiring corresponding stockpile data in real time in the operation process of processing equipment, wherein the stockpile data comprises a stockpile visible light image and three-dimensional point cloud data; identifying stockpile data and acquiring stockpile real-time change data, wherein the stockpile real-time change data comprises scrap steel distribution, mass change and volume change;
determining scrap steel information transferred by the processing equipment according to the real-time change data of the material pile, wherein the scrap steel information comprises: scrap steel mass, volume and density; and after the operation is finished, updating the state of the tracking information of the corresponding processing equipment to finish unloading and warehousing.
The specific processing flow can comprise:
s213, when the steel grabbing machine arrives at a warehouse, a designated camera in the warehouse recognizes, a laser scanner is activated, and the tracking information is updated to be in processing;
s214, updating the information of the scrap steel pile in real time (scrap steel distribution, weight and volume change) in the operation process of the steel grabbing machine; after packaging, identifying the type of the steel scrap again through a camera return system, and estimating the weight, the volume and the density of the packaged steel scrap according to the changed volume;
s215, after the operation is finished, the steel grabbing machine passes through the appointed camera, the laser scanner is closed, and the tracking information updating state is that unloading and warehousing are completed.
In one embodiment, updating the tracking information when the vehicle performs the steel scrap shipment comprises:
the method comprises the following steps that a vehicle travels to a warehouse-out material pile, a vehicle license plate image is obtained through data acquisition equipment at a corresponding position, license plate recognition is carried out, and the state of tracking information of the corresponding vehicle is updated into warehouse-out loading according to a license plate recognition result;
in the vehicle loading process, light images and three-dimensional point cloud data of a vehicle loading area are collected through data collection equipment and are transmitted back to a system end to obtain vehicle loading scrap steel information, wherein the vehicle loading scrap steel information comprises a loading scrap steel volume and a loading scrap steel type;
after the loading is finished, updating the state of the tracking information of the corresponding vehicle into the warehouse-out state;
recording the moving track of the vehicle, and recording the weight of the vehicle after the vehicle moves to the weighing module;
and when the vehicle reaches the outlet of the scrap steel yard, acquiring a vehicle license plate image according to the data acquisition equipment at the corresponding position, identifying the license plate, and updating the state of the tracking information of the corresponding vehicle into a warehouse according to the identification result.
The specific ex-warehouse process can comprise:
s216, identifying the truck by a designated camera in the warehouse, activating a laser scanner, and updating the tracking information into the out-warehouse loading state;
s217, loading the goods by the truck, scanning the material pile by the laser scanner in the unloading process, and updating the information of the steel scrap material pile;
s218, after the goods loading of the truck is finished, the laser scanner is turned off through the appointed camera, and the tracking information is updated to be in the delivery;
s219, transferring the truck, and shooting by a camera along the way;
s220, weighing the wagon from the wagon to the wagon balance, and pushing the system;
s221, when the truck arrives at an exit, the camera is designated to recognize, and the tracking information is updated to be delivered.
In step S3, the process may jump to the three-dimensional grid map according to the tracking information obtained in step S2 to check the scrap distribution at different stages of the scrap yard. The tracking information comprises warehousing (warehousing vehicle license plate, warehousing start-stop time, steel scrap archived photo, steel scrap type, steel scrap volume, steel scrap quality, storage position, warehousing vehicle track and the like), dumping (dumping vehicle license plate, dumping start-stop time, dumping vehicle track and the like), processing (operating equipment number, processing start-stop time, processing steel scrap batch, processing steel scrap quality), ex-warehouse (ex-warehouse vehicle license plate number, ex-warehouse start-stop time, ex-warehouse steel scrap batch, ex-warehouse steel scrap quality and ex-warehouse vehicle track).
The embodiment also provides a scrap tracing system of the scrap yard, which is used for executing the scrap tracing method of the scrap yard in the method embodiment. Since the technical principle of the system embodiment is similar to that of the method embodiment, repeated description of the same technical details is omitted.
In one embodiment, a scrap tracking system for a scrap yard comprises:
the map creating module is used for creating a three-dimensional map of a scrap steel yard, the three-dimensional map comprises a scrap steel pile position and a data acquisition equipment position, and a three-dimensional grid map of the scrap steel pile is generated according to the three-dimensional map;
the tracking module is used for identifying license plates to generate tracking information when a vehicle travels to the inlet of the scrap steel yard, updating the tracking information corresponding to each moving behavior according to the moving behaviors of the vehicle in the scrap steel yard until the vehicle exits from the outlet of the scrap steel yard, and outputting the tracking information corresponding to the vehicle; the moving behavior comprises the steps of storing scrap steel, pouring the scrap steel, processing and discharging the scrap steel;
and the distribution acquisition module is used for updating the three-dimensional grid map according to the output tracking information and evaluating the steel scrap information of the steel scrap stock yard according to the three-dimensional grid map, wherein the steel scrap information comprises the volume, the mass and the distribution of the steel scrap.
In an embodiment, a visualization module for displaying real-time information of the scrap steel of the whole scrap steel yard can be further provided, wherein the real-time information comprises: the plane distribution diagram of the scrap yard, the three-dimensional grid diagram, the volume of the material pile, the quality of the material pile, the type of scrap stored in the material pile and the volume change of the material pile.
In one embodiment, the system further comprises an equipment management module, wherein the equipment management module is used for managing information of various types of equipment in the scrap steel yard, associating the data acquisition equipment with an event, and activating the corresponding data acquisition equipment according to the event, wherein the event comprises that a vehicle arrives at a specified position and a license plate passes identification; the device information includes a device name, a device number, a device location, a device communication state, and device acquisition data.
The visualization module can display the real-time information of the scrap steel of the whole scrap steel yard, including a plane distribution diagram and a three-dimensional grid diagram. Activating a three-dimensional scanner after the stock pile in the warehouse is changed every time, updating stock pile information, and calculating the volume according to the grid size and the quantity; and calculating the changed mass (respectively calculating if the material pile is split) according to the density (obtained by measuring and calculating the volume and the mass after the scrap steel is put in storage). The types of the steel scraps are more, the shape difference of each type is larger, and in order to guarantee the precision of volume measurement and calculation, the three-dimensional grid graph can adaptively adjust the size of the grid according to the types of the steel scraps. The three-dimensional grid map can also acquire data information of the tracking module and display detailed information of each batch of scrap steel.
And the equipment management module is used for displaying and managing the equipment of the whole scrap steel yard through the ArcGIS map. The presentation information includes a device number, a device name, a device location, a device communication status, sensing data, and the like. Meanwhile, equipment can be added, deleted and changed in the map, the equipment is controlled (equipment holder control, start and stop and the like), and the equipment and a specific event can be bound. For example, a camera arranged at a warehouse entrance is bound with an event for activating the laser scanner, after the camera shoots a license plate, the number of the license plate is identified by the data acquisition module and is compared with data in a database to confirm that the vehicle is a warehouse-in vehicle, and the laser scanner is activated to start scanning a stockpile. And identifying the license plate number, the shooting time and the camera position information through the camera, and generating a track of the scrap steel by combining a GIS map.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A scrap tracing method for a scrap yard is characterized by comprising the following steps:
creating a three-dimensional map of a scrap steel yard, wherein the three-dimensional map comprises a scrap steel pile position and a data acquisition equipment position, and generating a three-dimensional grid map of the scrap steel pile according to the three-dimensional map;
when a vehicle travels to the inlet of the scrap steel yard, recognizing a license plate to generate tracking information, updating the tracking information corresponding to each movement behavior according to the movement behavior of the vehicle in the scrap steel yard until the vehicle exits from the outlet of the scrap steel yard, and outputting the tracking information corresponding to the vehicle; the moving behavior comprises the steps of storing scrap steel, pouring the scrap steel, processing and discharging the scrap steel;
and updating the three-dimensional grid map according to the output tracking information, and evaluating the scrap steel information of the scrap steel stock yard according to the three-dimensional grid map, wherein the scrap steel information comprises scrap steel volume, mass and distribution.
2. The scrap steel tracing method for a scrap steel yard according to claim 1, wherein the data collecting apparatus includes a camera module and a three-dimensional data collecting module; the data acquisition equipment is arranged in the scrap steel yard, and the data acquisition range covers the whole scrap steel yard; the camera module is bound with the three-dimensional data acquisition module, and when the license plate information is collected and identified by the camera module, the corresponding three-dimensional data acquisition module is triggered to acquire the three-dimensional point cloud data of the corresponding vehicle.
3. The scrap steel tracing method for a scrap steel yard according to claim 1, wherein identifying a license plate generates tracking information when a vehicle travels to the entrance of the scrap steel yard, comprising:
creating a vehicle database, wherein all vehicle license plates used for scrap steel yard operation are stored in the vehicle database;
when a vehicle travels to an entrance of the scrap steel yard, awakening corresponding data acquisition equipment to acquire a license plate image of the current vehicle, identifying the license plate image to acquire license plate information, comparing the license plate information with a vehicle license plate in a vehicle database, judging whether the license plate corresponding to the current vehicle exists in the vehicle database or not, and if so, recording the vehicle information to generate tracking information of the entrance; wherein the tracking information at the portal comprises: the method comprises the following steps of license plate image, vehicle loading scrap type, vehicle loading scrap volume, vehicle loading scrap mass and vehicle current position.
4. The scrap steel tracing method for a scrap steel yard according to claim 1, wherein updating the tracking information when the vehicle performs the storage of the scrap steel includes:
after the vehicle enters the scrap steel yard, updating the corresponding state of the tracking information at the entrance into a warehousing driving state;
acquiring a vehicle license plate image in the vehicle running process through the data acquisition equipment, and identifying a license plate to determine a vehicle running track;
when a vehicle runs to an inlet of a warehousing stock pile, acquiring a vehicle license plate through data acquisition equipment at a corresponding position, identifying the license plate, acquiring three-dimensional point cloud data of scrap steel loaded by the vehicle, identifying the volume of the scrap steel, judging whether the vehicle finishes unloading, and updating the tracking information into a warehousing stock;
after the vehicles are unloaded, the vehicles leave the warehouse stockpile outlet, vehicle license plates are obtained according to data acquisition equipment at the warehouse stockpile outlet, and the tracking information state is updated to be warehouse-in completion;
and respectively recording the quality of the vehicles when the vehicles enter and leave the warehouse according to weighing modules at an inlet and an outlet of the warehousing stockpile, and acquiring the warehousing quality of the scrap steel.
5. The scrap steel tracing method for a scrap steel yard according to claim 1, wherein updating the tracking information when the vehicle performs the scrap steel dumping includes:
when a vehicle arrives at a material loading pile of a reverse warehouse, acquiring a vehicle license plate through data acquisition equipment at a corresponding position, identifying the license plate, and updating the tracking information state into the material loading pile of the reverse warehouse after the license plate is identified;
after the vehicle is loaded, acquiring three-dimensional point cloud data of the steel scrap loaded on the vehicle through the data acquisition equipment, and updating the steel scrap loading information in the tracking information, wherein the steel scrap loading information comprises a steel scrap loading image, steel scrap three-dimensional point cloud data, a steel scrap type and a steel scrap volume;
after the loading is finished, the vehicle moves to the designated data acquisition equipment to acquire the license plate of the vehicle, the license plate is identified, and the state of the tracking information of the corresponding vehicle is updated to be in the dump;
in the process that the vehicle runs to the unloading material pile, vehicle information is obtained through data acquisition equipment on a running path, the moving track of the vehicle is determined according to the obtained vehicle information, and tracking information corresponding to the vehicle is updated;
and when the vehicle moves to the unloading position, acquiring three-dimensional point cloud data of the steel scrap loaded by the vehicle through the data acquisition equipment at the corresponding position, updating the steel scrap loading information in the tracking information, and updating the tracking information state of the vehicle to be that the vehicle is in a fallen state.
6. The scrap tracking method for a scrap yard according to claim 1, further comprising: acquiring tracking information of processing equipment, transferring the steel scraps unloaded by the vehicles to a corresponding stock pile through the processing equipment to finish warehousing, and updating the tracking information of the processing equipment, wherein the processing equipment comprises a steel grabbing machine;
updating the tracking information of the processing device includes:
acquiring an image of the processing equipment through the data acquisition equipment at the corresponding position, returning the image to the unique identification mark for identifying the processing equipment at the system end, and updating the state of the tracking information of the corresponding processing equipment into the processing after the identification is passed;
acquiring corresponding stockpile data in real time in the operation process of the processing equipment, wherein the stockpile data comprises a stockpile visible light image and three-dimensional point cloud data; identifying the material pile data and acquiring material pile real-time change data, wherein the material pile real-time change data comprises scrap steel distribution, mass change and volume change;
determining scrap steel information transferred by the processing equipment according to the real-time change data of the material pile, wherein the scrap steel information comprises: scrap steel mass, volume and density; and after the operation is finished, updating the state of the tracking information of the corresponding processing equipment to finish unloading and warehousing.
7. The scrap steel tracing method for a scrap steel yard according to claim 1, wherein updating the tracking information when the vehicle performs the discharge of the scrap steel includes:
the method comprises the following steps that a vehicle travels to a warehouse-out material pile, a vehicle license plate image is obtained through data acquisition equipment at a corresponding position, license plate recognition is carried out, and the state of tracking information of the corresponding vehicle is updated into warehouse-out loading according to a license plate recognition result;
in the vehicle loading process, light images and three-dimensional point cloud data of a vehicle loading area are collected through data collection equipment and are transmitted back to a system end to obtain vehicle loading scrap steel information, wherein the vehicle loading scrap steel information comprises a loading scrap steel volume and a loading scrap steel type;
after the loading is finished, updating the state of the tracking information of the corresponding vehicle into the warehouse-out state;
recording the moving track of the vehicle, and recording the weight of the vehicle after the vehicle moves to the weighing module;
and when the vehicle reaches the outlet of the scrap steel yard, acquiring a vehicle license plate image according to the data acquisition equipment at the corresponding position, identifying the license plate, and updating the state of the tracking information of the corresponding vehicle into a warehouse according to the identification result.
8. A scrap tracing system for a scrap yard, comprising:
the map creating module is used for creating a three-dimensional map of a scrap steel yard, the three-dimensional map comprises a scrap steel pile position and a data acquisition equipment position, and a three-dimensional grid map of the scrap steel pile is generated according to the three-dimensional map;
the tracking module is used for identifying license plates to generate tracking information when a vehicle travels to the inlet of the scrap steel yard, updating the tracking information corresponding to each moving behavior according to the moving behaviors of the vehicle in the scrap steel yard until the vehicle exits from the outlet of the scrap steel yard, and outputting the tracking information corresponding to the vehicle; the moving behavior comprises the steps of storing scrap steel, pouring the scrap steel, processing and discharging the scrap steel;
and the distribution acquisition module is used for updating the three-dimensional grid map according to the output tracking information and evaluating the steel scrap information of the steel scrap stock yard according to the three-dimensional grid map, wherein the steel scrap information comprises the volume, the mass and the distribution of the steel scrap.
9. The scrap tracking system for a scrap yard according to claim 8 further comprising: the setting is used for showing the visual module of the real-time information of whole steel scrap yard steel scrap, and wherein, the real-time information includes: the plane distribution diagram of the scrap yard, the three-dimensional grid diagram, the volume of the material pile, the quality of the material pile, the type of scrap stored in the material pile and the volume change of the material pile.
10. The scrap steel tracing system of a scrap steel yard according to claim 8, further comprising an equipment management module for managing various types of equipment information in the scrap steel yard, associating data collection equipment with events, and activating corresponding data collection equipment according to the events, wherein the events include arrival of a vehicle at a designated location and passing of license plate recognition; the device information includes a device name, a device number, a device location, a device communication state, and device acquisition data.
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