CN115027966A - Automatic identification method for automobile transportation steel coil - Google Patents
Automatic identification method for automobile transportation steel coil Download PDFInfo
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- CN115027966A CN115027966A CN202210787019.XA CN202210787019A CN115027966A CN 115027966 A CN115027966 A CN 115027966A CN 202210787019 A CN202210787019 A CN 202210787019A CN 115027966 A CN115027966 A CN 115027966A
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- steel coil
- point cloud
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
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Abstract
The invention discloses an automatic identification method for an automobile transportation steel coil, which comprises an acquisition device, an input device and a processing algorithm, wherein a driver drives a transportation vehicle to a parking space in a designated storage area according to work order information, the acquisition device acquires original data by operating the input device through the driver, and the processing algorithm finally calculates the information of the steel coil and a saddle through point cloud segmentation, fitting and the like. The method provided by the invention can replace manpower, and the manual loading and unloading can be carried out without the combination of visual observation and experience; the method provided by the invention adopts a multi-angle Nelder-Mead algorithm, and the coordinate accuracy is high.
Description
Technical Field
The invention relates to the technical field of steel coil transportation, in particular to an automatic identification method for automobile transportation steel coils.
Background
At present, when a steel coil transported by an automobile is loaded and unloaded by a steel mill, a manual mode is generally adopted, the mode mainly depends on the visual observation of a driver on a crown block and combines self experience to load and unload the steel coil transported by the automobile, but the accuracy of the coil taking and placing position cannot be guaranteed when a tool unloads the steel coil, the operation of lifting and adjusting the position of the steel coil for many times can exist, the working efficiency is influenced, and the occurrence of safety accidents can be possibly caused under the serious condition.
Chinese patent application publication No. CN111960283A discloses a visual identification automatic loading system for steel coils, which relates to the technical field of steel coil transportation and is used for automatically moving steel coils from a storage area to a steel coil transport vehicle. The transport vechicle driver confirms the vehicle to berth after driving the coil of strip transport vechicle to corresponding reservoir area according to the content in the work order, and controlling means gets the coil of strip and places on the corresponding position of coil of strip transport vechicle according to coil of strip information and vehicle position information control hoist clamp that reservoir area management system and collection system provided, and whole journey does not need crane driver and ground commander's participation can be with the loading of coil of strip smoothly, has avoided the artificial factor, and then has improved factor of safety.
The patent discloses that only the function of automatically identifying and loading steel coils is realized, and the automobile transporting the steel coils still needs to be unloaded manually, so that a method for automatically identifying the steel coils transported by the automobile is provided for solving the problems.
Disclosure of Invention
The invention aims to provide an automatic identification method for an automobile transportation steel coil, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic identification method for automobile transportation steel coils comprises an acquisition device, an input device and a processing algorithm, wherein a driver drives a transportation vehicle to a parking space of an appointed storage area according to work order information, the driver operates the input device, the acquisition device acquires original data, and the processing algorithm finally calculates the information of the steel coils and saddles through point cloud segmentation, fitting and the like.
Preferably, the saddle is fixed on the steel coil transport vehicle and used for placing the steel coil.
Preferably, the collection system is scanner cooperation cloud platform, and the scanner is fixed in on the cloud platform, and whole collection system fixes in the parking stall top, and every bay all is provided with fixed parking stall, and collection system presets the origin of coordinates, and accessible coordinate transformation makes the coordinate information of output unanimous with storehouse district coordinate information.
Preferably, the input device is an industrial-grade controller cooperating with a display, and the processing algorithm is run on the processor system.
Preferably, the calculated information of the steel coil and the saddle includes: the number of the steel coils and the saddles, the three-dimensional coordinate, the width of the steel coils and the outer diameter of the steel coils.
Preferably, the processing algorithm is used for partitioning and clustering point cloud data based on a point cloud database, and after steel coil point cloud data are preprocessed, the Nelder-Mead algorithm is used for taking an extreme value to search for the optimal cylinder direction vector under different angles.
Preferably, the point cloud data preprocessing method mainly depends on mean shift
And processing point cloud data.
Preferably, the Nelder-Mead algorithm provides an initial point X in the function argument space 1 Constructing N initial points X 2 ...X N+1 With the 0 th element to form N +1 initial values, so that x 1+i At the i-th component ratio x i If x is 0.05 1 Is 0, then X 1+i Is set to δ 0.00025, and after the initial point configuration is completed, a loop is started until the condition is satisfied and the loop is exited.
Preferably, the Nelder-Mead algorithm loops the first step: sorting the point cloud data according to size; the second step is that: calculate the average of the previous N points
The third step: calculating x N+1 Reflection point r for m 2m-x N+1 (ii) a The fourth step: if f (x) 1 )≤f(r)＜f(x N ) Let x N+1 Entering the next cycle; the fifth step: if f (r) < f (x) 1 ) Calculating the extension point s as m +2 (m-x) N+1 ) If f(s) < f (r), let x N+1 And go to the next cycle, otherwise let x N+1 R and enter the next cycle; and a sixth step: if f (x) N )≤f(r)＜f(x N+1 ) Let c 1 M + (r-m)/2 if f (c) 1 ) < f (r), let x N+1 ＝c 1 Entering the next circulation, otherwise executing the last step; the seventh step: if f (x) N+1 ) F (r) let c 2 ＝m+(x N+1 -m)/2 if f (c) 2 )＜f(x N+1 ) Let x be N+1 ＝c 2 Entering the next cycle, otherwise executing the last step; eighth step: let v i ＝x 1 +(x i -x 1 ) 2(i ═ 2.. N +1), using v i Is assigned to x i And entering the next cycle. And repeating the steps according to different angles to find out the optimal cylinder direction vector.
Compared with the prior art, the invention has the beneficial effects that:
1. the method provided by the invention can replace manpower, and the manual loading and unloading are not required to be carried out by means of visual observation and combination experience;
2. the method provided by the invention adopts a multi-angle Nelder-Mead algorithm, and the coordinate accuracy is high.
Drawings
FIG. 1 is a schematic view of the scanning and recognition principle of the present invention;
fig. 2 is a schematic structural view of the collecting device of the present invention.
In the figure: the device comprises a collecting device 1, a crown block 2, a steel coil 3, a steel coil transport vehicle 5 and a saddle 51.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1 and 2, as a first embodiment of the present invention, the embodiment provides an automatic identification method for an automobile transportation steel coil, which includes an acquisition device 1, an input device, and a processing algorithm, after a driver receives a car dispatching order, the driver parks an automobile 5 in a corresponding parking space in a storage area, the acquisition device 1 acquires information of the steel coil and a saddle on the automobile by the driver operating in the input device, that is, in front of a computer, the processing algorithm finally calculates information of the steel coil 3 and the saddle 51 through point cloud segmentation, fitting, and the like, and the crown block 2 automatically loads and unloads the steel coil.
Example 2
Referring to fig. 1, a second embodiment of the present invention is based on the previous embodiment, specifically, a saddle 51 is fixedly installed on the steel coil transportation vehicle 5, the saddle 51 is used for placing the steel coil 3, the steel coil 3 is fixedly placed on the saddle 51, a driver drives the steel coil transportation vehicle 5 to reach a parking space, and a parking frame with a fixed size is drawn on the parking space, so that when the driver parks the vehicle, the vehicle body of the steel coil transportation vehicle 5 is completely located in the parking frame, and the vehicle body angle is correct.
Specifically, the input device is an industrial controller matched with a display, and the processing algorithm is operated on the processor system. Driver according to dispatch list information and 3 information on the car coil of strip before the operation computer, will correspond 3 pictures of coil of strip and drag the car and correspond saddle 51 position, and 3 information on the car coil of strip include: the coil number of the steel coil 3 and the position of the steel coil 3 corresponding to the saddle 51 on the vehicle.
Referring to fig. 2, collection system 1 is scanner cooperation cloud platform, and the scanner is fixed in on the cloud platform, and whole collection system 1 is fixed in the parking stall top, and every bay all is provided with fixed parking stall, and collection system 1 presets the origin of coordinates, and accessible coordinate transformation makes the coordinate information of output unanimous with storehouse district coordinate information. After the input of the input device is completed, the input device clicks to request scanning, the scanner of the acquisition device 1 starts to acquire, and the information of the steel coil 3 and the saddle 51 calculated by the processor comprises: the number, three-dimensional coordinates, the width of the steel coil 3 and the outer diameter of the steel coil 3 are determined, the interface feeds back the completion of the collection after the collection is completed, a driver clicks to start the hoisting, and the warehouse area management system automatically assigns the crown block 2 to perform coil unloading operation.
Specifically, the processing algorithm is used for partitioning and clustering point cloud data based on a point cloud database, and after steel coil 3 point cloud data are preprocessed, an extreme value is taken by using a Nelder-Mead algorithm to find the optimal cylinder direction vector under different angles. The acquisition device 1 is preset with a coordinate origin, which is not consistent with the coordinate origin of the library management system and needs to convert coordinates. The original point cloud data collected by the collecting device 1 is primarily filtered, and only the point cloud above the ground is extracted, and the vehicle body boundary and four vertexes are extracted according to the edge data and row and column information of the point cloud, so that whether the vehicle position and the vehicle angle meet the parking standard or not is judged. Extracting steel coil point cloud, extracting rough steel coil point cloud by various filtering combination means, adopting KD-Tree European type clustering to screen out discrete point cloud and simultaneously aggregate point cloud of the same type, carrying out cylinder fitting on the point cloud data, firstly carrying out data preprocessing based on mean shift, and the steel coil 3 point cloud data preprocessing method mainly depends on mean shift
And (3) processing point cloud data, calculating the axis direction of the cylinder from different angles, taking an extreme value by using a Nelder-Mead algorithm to find an optimal solution under different angles, wherein the optimal solution is the theoretically optimal axis direction, and finally sequentially solving the information of the center coordinate and the radius of the cylinder.
Specifically, the Nelder-Mead algorithm provides an initial point X in the function argument space 1 Constructing N initial points X 2 ...X N+1 With the 0 th element to form N +1 initial values, so that x 1+i At the ith component ratio x i If x is 0.05 1 Is 0, then X 1+i Is set to δ 0.00025, and after the initial point configuration is completed, a loop is started until the condition is satisfied and the loop is exited.
Specifically, the Nelder-Mead algorithm loops through the first step: sorting the point cloud data according to size; the second step is that: calculate the average of the previous N points
The third step: calculating x N+1 Reflection point r for m 2m-x N+1 (ii) a The fourth step: if f (x) 1 )≤f(r)＜f(x N ) Let x N+1 Entering the next cycle; the fifth step: if f (r) < f (x) 1 ) Calculating the extension point s as m +2 (m-x) N+1 ) If f(s) < f (r), let x N+1 S and go to the next cycle, otherwise let x N+1 R and enter the next cycle; and a sixth step: if f (x) N )≤f(r)＜f(x N+1 ) Let c 1 M + (r-m)/2 if f (c) 1 ) < f (r), let x N+1 ＝c 1 Entering the next circulation, otherwise executing the last step; the seventh step: if f (x) N+1 ) F (r) let c 2 ＝m+(x N+1 -m)/2, if f (c) 2 )＜f(x N+1 ) Let x N+1 ＝c 2 Entering the next circulation, otherwise executing the last step; the eighth step: let v i ＝x 1 +(x i -x 1 ) N +1, with v i Is assigned to x i And entering the next cycle. And repeating the steps according to different angles to find out the optimal cylinder direction vector.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The automatic identification method for the automobile transportation steel coil comprises a collection device (1), an input device and a processing algorithm, and is characterized in that: a driver drives a transport vehicle to a designated parking space in a storage area according to work order information, the driver operates an input device, a collection device (1) collects the original data to obtain original data, and a processing algorithm finally calculates information of a steel coil (3) and a saddle (51) through point cloud segmentation, fitting and the like.
2. The method for automatically identifying the steel coils in automobile transportation according to claim 1, wherein the method comprises the following steps: saddle (51) fixed mounting is on coil of strip transport vechicle (5), saddle (51) are used for placing coil of strip (3).
3. The automatic identification method for the automobile transportation steel coil according to claim 1, characterized in that: collection system (1) is scanner cooperation cloud platform, and the scanner is fixed in on the cloud platform, and whole collection system (1) is fixed in the parking stall top, and every is striden the district and all is provided with fixed parking stall, and the origin of coordinates is predetermine in collection system (1), and accessible coordinate transformation makes the coordinate information of output unanimous with storehouse district coordinate information.
4. The method for automatically identifying the steel coils in automobile transportation according to claim 1, wherein the method comprises the following steps: the input device is an industrial controller matched with a display, and a processing algorithm is operated on the processor system.
5. The method for automatically identifying the steel coils in automobile transportation according to claim 1, wherein the method comprises the following steps: the calculated information of the steel coil (3) and the saddle (51) comprises: the number of the steel coils (3) and the saddles (51), the three-dimensional coordinate, the width of the steel coils (3) and the outer diameter of the steel coils (3).
6. The method for automatically identifying the steel coils in automobile transportation according to claim 1, wherein the method comprises the following steps: the processing algorithm is used for carrying out segmentation and clustering on point cloud data based on a point cloud base, and after steel coil (3) point cloud data are preprocessed, the Nelder-Mead algorithm is used for taking an extreme value to find the optimal cylinder direction vector under different angles.
7. The method for automatically identifying the automobile transportation steel coil according to claim 6, characterized in that: the steel coil (3) point cloud data preprocessing method mainly depends on mean shift
To point cloud numberAnd (6) processing.
8. The method for automatically identifying the automobile transportation steel coil according to claim 6, characterized in that: the Nelder-Mead algorithm needs to provide an initial point X in the function argument space 1 Constructing N initial points X 2 ...X N+1 With the 0 th element to form N +1 initial values, so that x 1+i At the i-th component ratio x i If x is 0.05 1 Is 0, then X 1+i Is set to δ 0.00025, and after the initial point configuration is completed, a loop is started until the condition is satisfied and the loop is exited.
9. The method for automatically identifying the automobile transportation steel coil according to claim 8, characterized in that: the Nelder-Mead algorithm loops through the first step: sorting the point cloud data according to size; the second step: calculate the average of the previous N points
The third step: calculating x N+1 Reflection point r 2m-x for m N+1 (ii) a The fourth step: if f (x) 1 )≤f(r)＜f(x N ) Let x be N+1 Entering the next cycle; the fifth step: if f (r) < f (x) 1 ) Calculating the extension point s as m +2 (m-x) N+1 ) If f(s) < f (r), let x N+1 And go to the next cycle, otherwise let x N+1 R and enter the next cycle; and a sixth step: if f (x) N )≤f(r)＜f(x N+1 ) Let c 1 M + (r-m)/2 if f (c) 1 ) < f (r), let x N+1 ＝c 1 Entering the next circulation, otherwise executing the last step; the seventh step: if f (x) N+1 ) F ≤ f (r) let c 2 ＝m+(x N+1 -m)/2 if f (c) 2 )＜f(x N+1 ) Let x N+1 ＝c 2 Entering the next cycle, otherwise executing the last step; eighth step: let v i ＝x 1 +(x i -x 1 ) N +1, with v i Is assigned to x i And entering the next cycle. According to different anglesAnd repeating the steps to find out the optimal cylinder direction vector.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210787019.XA CN115027966A (en) | 2022-07-06 | 2022-07-06 | Automatic identification method for automobile transportation steel coil |
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| CN202210787019.XA CN115027966A (en) | 2022-07-06 | 2022-07-06 | Automatic identification method for automobile transportation steel coil |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117784169A (en) * | 2024-02-27 | 2024-03-29 | 唐山港集团股份有限公司 | 3D point cloud-based steel coil contour measurement method, equipment and medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117784169A (en) * | 2024-02-27 | 2024-03-29 | 唐山港集团股份有限公司 | 3D point cloud-based steel coil contour measurement method, equipment and medium |
| CN117784169B (en) * | 2024-02-27 | 2024-05-07 | 唐山港集团股份有限公司 | 3D point cloud-based steel coil contour measurement method, equipment and medium |
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