CN115112508B - Device and method for identifying soft and hard bags of consigned luggage in civil aviation airport - Google Patents
Device and method for identifying soft and hard bags of consigned luggage in civil aviation airport Download PDFInfo
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Abstract
The application relates to the technical field of baggage sorting and discloses a device and a method for identifying soft and hard baggage packages of consigned baggage in a civil aviation airport, wherein the device comprises a rack, a press-touch module, a distance measuring module and a vision module; the rack is erected above the baggage conveying equipment; the press-contact module is arranged on the rack and used for contacting and extruding the luggage to enable the luggage to generate concave deformation and collecting concave extrusion force at the concave part of the luggage; the distance measuring module is arranged on the rack and used for sensing the passing of the luggage and collecting the height distance between the upper surface of the luggage and the lower end of the press contact module; the vision module is arranged on the rack and used for acquiring concave RGB images and concave point cloud images of the luggage extrusion concave position. The problem of current luggage consignment in-process, can't accomplish the soft or hard bag automatic identification of luggage categorised automatically is solved in this application.
Description
Technical Field
The application relates to the technical field of baggage sorting, in particular to a device and a method for identifying soft and hard bags of consigned baggage in a civil aviation airport.
Background
At present, if luggage for airport passengers is soft luggage such as a backpack, a cloth bag, a woven bag and the like, framing treatment is required, and damage to the luggage in the conveying and sorting processes is avoided; when luggage is piled up on the trailer after being sorted, soft luggage and hard luggage need to be piled up in layers, the soft luggage needs to be placed on the upper layer of the hard luggage, the soft luggage is prevented from being crushed, and the luggage is also arranged when being piled up on an airplane. Soft and hard baggage identification is beneficial to optimizing baggage sorting strategies, reducing baggage breakage rate and improving baggage consignment service quality.
At present, soft luggage framing, luggage loading and stacking on a vehicle and planes and luggage stacking on a plane are basically completed manually, so that soft and hard luggage identification mainly depends on identification of operators by means of self experience, and reliable and mature automatic sorting equipment does not exist. However, in order to realize the automatic processing of the processes of baggage framing, baggage car stacking, baggage airplane stacking, and the like, identification of soft and hard baggage is one of the necessary conditions.
Disclosure of Invention
Based on the technical problems, the application provides a device and a method for identifying soft and hard bags of consignment luggage in a civil aviation airport, and solves the problem that automatic identification and classification of the soft and hard bags of luggage cannot be automatically completed in the existing luggage consignment process.
In order to solve the technical problems, the technical scheme adopted by the application is as follows:
a device for identifying soft and hard bags of consigned luggage in a civil aviation airport comprises a rack, a press touch module, a distance measuring module and a vision module; the rack is erected above the baggage conveying equipment; the press-contact module is arranged on the rack and used for contacting and extruding the luggage, so that the luggage generates concave deformation, and the concave extrusion force at the concave position of the luggage is collected; the distance measuring module is arranged on the rack and used for sensing the passing of the luggage and collecting the height distance between the upper surface of the luggage and the lower end of the press contact module; the vision module is arranged on the rack and used for acquiring concave RGB images and concave point cloud images of the luggage extrusion concave position.
Further, the press-contact module comprises a linear driving mechanism and a contact rod; the linear driving mechanism is vertically arranged on the rack; the contact rod is in driving connection with the movable end of the linear driving mechanism through a pressure sensor.
Further, the linear driving mechanism is a servo electric cylinder.
Further, the pressure touch module still includes the pressure touch control module, the pressure touch module is used for based on the height distance with sunken extrusion force control the falling speed of contact lever specifically includes:
if the height distance is greater than a preset safety distance, the descending speed is a first speed;
if the height distance is smaller than a preset safety distance, the descending speed is a second speed;
if the depression extrusion force is equal to the preset safety pressure, the descending speed is zero;
wherein the first speed is greater than the second speed.
Further, still include luggage conveying equipment control module, luggage conveying equipment control module includes:
a size recognition unit for calculating a baggage length of the baggage along a conveying direction through the baggage point cloud image acquired by the vision module;
a time control unit for controlling the time of the clock based on the function
Calculating the time interval
Wherein d represents the length of the luggage,
representing a conveying speed of the baggage conveying device;
and the starting and stopping control unit is used for suspending the luggage conveying equipment after the interval time when the distance measuring module senses that luggage passes through.
A method for identifying soft and hard bags of consigned luggage in a civil aviation airport, which is based on the identification device for soft and hard bags of consigned luggage in the civil aviation airport, comprises the following steps:
acquiring depression data of a luggage squeezing position, wherein the depression data comprises depression squeezing force, a depression RGB image and a depression point cloud image of the luggage squeezing depression;
comparing and screening the luggage data with sample data in a sample set based on a similarity algorithm, wherein the sample data comprises sample extrusion force, a sample RGB image, a sample point cloud image and a sample hardness level;
if the sample data similar to the luggage data is screened out, taking the sample hardness level of the sample data as the luggage hardness level of the luggage;
and if the sample data similar to the luggage data is not screened out, inputting the luggage data into a classification identification model to obtain the luggage soft and hard grade of the luggage.
Further, the step of inputting the baggage data into a classification recognition model to obtain the baggage soft and hard levels of the baggage further includes:
and storing the baggage data and the corresponding baggage soft and hard grades into the sample set.
Further, the comparing and screening the luggage data and the sample data in the sample set based on the similarity algorithm comprises:
acquiring a difference value between the depression extrusion force and the sample extrusion force, and acquiring a first similarity based on the difference value;
inputting the concave RGB image and the sample RGB image into a Simese network model to obtain a second similarity;
calculating the similarity of the sunken point cloud image and the sample point cloud image to obtain a third similarity;
and comparing the first similarity, the second similarity and the third similarity with preset similar conditions to judge whether the luggage data is similar to the sample data or not.
Further, a specific formula for calculating the similarity between the concave point cloud image and the sample point cloud image is as follows:
wherein r (A, B) represents a third similarity, A represents a sunken point cloud image, B represents a sample point cloud image, and the higher the value of r (A, B), the more similar the sunken point cloud image A and the sample point cloud image B are;
the weight of the point is represented by a weight,
the distance of the point cloud is represented,
represents the ith sub-point cloud in the N sub-point cloud sets obtained by K-means clustering the concave point cloud image A,
the point with the largest depth in the vertical direction, namely the center position pushed by the push rod,
representing a hyper-parameter;
wherein the content of the first and second substances,
the concrete formula of (1) is as follows:
wherein h represents an adjustable parameter;
wherein the content of the first and second substances,
the concrete formula of (2) is as follows:
wherein the content of the first and second substances,
representing the distance between the point cloud X and the point cloud Y, X representing the points in the point cloud subset X, and Y representing the points in the point cloud subset Y.
Further, the classification identification model comprises a two-dimensional convolution network, a three-dimensional point cloud convolution network, a normalization layer, a vector splicing layer and a full connection layer; inputting the luggage data into a classification recognition model, and obtaining the luggage hardness and softness grade of the luggage comprises the following steps:
inputting the sunken RGB image into the two-dimensional convolution network to obtain a first output result;
inputting the sunken point cloud image into the three-dimensional point cloud convolution network to obtain a second output result;
inputting the first output result, the second output result and the depression extrusion force into the normalization layer for processing, and then inputting the normalization processing result into the vector splicing layer to obtain a splicing vector;
and inputting the splicing vector into the full-connection layer to obtain the luggage soft and hard grade classification result of the luggage.
Compared with the prior art, the beneficial effects of this application are:
this application has synthesized and has utilized power touch control and image recognition technique, touches module contact and presses luggage through pressing, touches and presses the mechanism and takes force sensor certainly, after detecting pressure, examines the RGB picture and some cloud data that acquire luggage deformation with the vision module, through big data analysis and image recognition technique, synthesizes the soft, hard degree of judging luggage, accomplishes soft, hard luggage automatic identification and classification.
According to the method and the device, the soft and hard luggage can be automatically and rapidly identified and classified, the optimization of subsequent luggage consignment sorting strategies is facilitated, the breakage rate of the luggage is reduced, and the service quality of the luggage consignment is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. Wherein:
fig. 1 is a schematic structural diagram of a device for identifying soft and hard bags of consigned baggage at a civil aviation airport.
Fig. 2 is a schematic diagram of the internal structure of the press-contact module.
Fig. 3 is a schematic flow chart of a method for identifying soft and hard baggage of consigned baggage in a civil aviation airport.
Fig. 4 is a schematic flowchart of a process of comparing and screening the baggage data with sample data in a sample set based on a similarity algorithm.
Fig. 5 is a schematic flow chart of inputting the baggage data into a classification recognition model to obtain the baggage soft and hard levels of the baggage.
FIG. 6 is a block diagram of a classification recognition model.
The system comprises a 1 pressure touch module, a 101 linear driving mechanism, a 102 pressure sensor, a 103 contact rod, a 2 vision module, a 3 rack, 4 luggage, 5 luggage conveying equipment and a 6 distance measuring module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be described clearly and completely in the following with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without any inventive step, are within the scope of protection of the application.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. As used in this application, the terms "first," "second," and the like do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
Fig. 1 to 2 are schematic structural views of a device for identifying soft and hard bags of checked-in baggage at a civil aviation airport according to some embodiments of the present invention, and the device for identifying soft and hard bags of checked-in baggage at a civil aviation airport according to the present invention will be described with reference to fig. 1 to 2. It should be noted that fig. 1-2 are only examples and are not intended to limit the specific shape and structure of the baggage bag recognition device for civil aviation airport.
Referring to fig. 1-2, in some embodiments, an identification device for soft and hard baggage of civil aviation airport consignment includes a frame 3, a press touch module 1, a distance measurement module 6 and a vision module 2; the frame 3 is erected above the baggage conveying device 5; the press-contact module 1 is arranged on the rack 3 and used for contacting and pressing the luggage 4, so that the luggage 4 is deformed in a concave manner, and the concave pressing force of the concave position of the luggage 4 is collected; the distance measuring module 6 is arranged on the rack 3 and used for sensing the passing of the luggage 4 and collecting the height distance between the upper surface of the luggage 4 and the lower end of the press-contact module 1; the vision module 2 is arranged on the rack 3 and is used for acquiring a concave RGB image and a concave point cloud image of the extrusion concave position of the luggage 4.
In the embodiment, when the luggage 4 is conveyed to the front lower part of the luggage 4 soft and hard bag identification device through the luggage 4 conveying mechanism, the distance measuring module 6 on the device detects the luggage 4 and triggers, and collects the height distance between the upper surface of the luggage 4 and the lower end of the press-contact module 1. And at the same time, the baggage 4 conveying mechanism is stopped after a certain time interval is delayed, so that the baggage 4 is stopped right below the device.
The follow-up control is pressed and is touched module 1 and is said carefully and press luggage 4, makes luggage 4 produce sunken deformation to gather the sunken extrusion force of 4 sunken departments of luggage. At this time, a dent appears on the surface of the luggage 4, and the vision module 2 acquires a dent RGB image and a dent point cloud image of the position. Substituting the sunken extrusion force, the sunken RGB image and the sunken point cloud image into a big data analysis and image recognition technology, comprehensively judging the soft and hard degrees of the luggage 4, and finishing the automatic recognition and classification of the soft and hard luggage 4.
In addition, this application has avoided single information to the erroneous judgement of 4 materials of luggage through combining together the sense of force and vision, especially at luggage 4 or parcel material itself, when great with its content material difference, has improved the rate of accuracy of 4 soft and hard discernments of luggage greatly. For example, if the classification of the luggage 4 is determined by merely identifying the material of the luggage 4, it is likely to cause misjudgment, such as a canvas bag filled with books or other hard objects, which should be classified as a hard bag classification.
Specifically, the baggage conveying device 5 is a belt conveying mechanism.
Specifically, the support is a portal frame structure formed by tailor welding and is erected above the belt conveying mechanism, and the lower end of the support is fixedly installed with the frame part of the luggage conveying equipment 5 through bolts or directly installed and fixed with the ground. It is used as the bearing structure of the whole device and is used for installing the press-contact module 1, the distance measuring module 6 and the vision module 2.
Specifically, ranging module 6 is laser range finder, and its hoist and mount is on the lower surface of support crossbeam, and vertical downward carries out the range finding. Since luggage 4 will trigger the laser range finder when passing through ranging module 6, it can be determined that luggage 4 has passed through this moment.
Specifically, the vision module 2 is a depth vision camera, and is hung on the lower surface of the support beam. Preferably, to ensure that the depth vision camera can take an omnidirectional picture of the luggage 4, the two depth vision cameras are symmetrically arranged on the bracket through a hinge mechanism and are inclined inwards to obtain a larger visual range. Since the information of the dent is represented by both the RGB image and the point cloud image, registration of their point clouds is required when there are two depth vision cameras.
The specific process of point cloud registration comprises the steps of establishing a coordinate system at the intersection point of the press-contact module 1 and the support, obtaining the imaging center of the depth vision camera through calibration, and converting the point cloud coordinate obtained by the depth vision camera into the coordinate system. In the following processing process, the coordinate positions of the point clouds acquired by the two depth vision cameras are both converted, and the coordinate system is taken as a reference.
Firstly, extracting the characteristic points of the point cloud by using algorithms such as PFH (pulse frequency histogram) and SHOT (SHOT-root), wherein any characteristic point x in the point cloud has the following homogeneous expression:
wherein the content of the first and second substances,
is the ith dimension value of the feature point x.
Consider that
The projective transformation H in (1), i.e. a 4 × 4 non-singular homogeneous matrix.
Wherein, the first and the second end of the pipe are connected with each other,
the elements of the projective transformation matrix H at the ith row and the jth column are shown,
respectively, homogeneous representations of feature points before and after transformation.
Besides a scale factor, the homogeneous matrix H has 15 degrees of freedom, 4 pairs or more of characteristic point pairs are used for substituting in the point clouds acquired by the left and right depth vision cameras, a transformation matrix H can be solved, and if the number of the characteristic point pairs is insufficient, the point clouds are repeatedly acquired.
Calculating an optimal transformation matrix H based on RANSAC, specifically comprising:
1. 4 groups of feature corresponding points are randomly selected to calculate a spatial transformation matrix H.
2. For all feature points, a projection error is calculated
In which
Is oneThe points corresponding to the group characteristics are,
for the distance function, the difference is usually taken as the two-norm. And if the projection error is smaller than the set threshold value m, adding the point into the inner point set I.
3. If the number of the elements of the current interior point set is larger than the optimal interior point set
Or when the number of the two is the same and the standard deviation of the s current inner point set is lower than that of the optimal inner point set
At the same time, update
Is I.
4. And repeating the process until the number of the points in the inner point set reaches a set threshold value or the iteration number reaches an upper limit, and stopping iterative computation.
For a point in a point cloud
Transformed into another point cloud
Wherein:
for the image information, perspective transformation is used for converting an original image acquired by the depth vision camera into an image of the horizontal plane of the baggage conveying device 5 on the photographic surface under the coordinate system, the images of the two depth vision cameras are registered and spliced, a registration algorithm is similar to point cloud, and the image of the dent part of the baggage 4 is extracted according to the color and the frame difference.
Preferably, the press-contact module 1 comprises a linear driving mechanism 101 and a contact rod 103; the linear driving mechanism 101 is vertically arranged on the frame 3; the contact rod 103 is drivingly connected to the movable end of the linear drive mechanism 101 via the pressure sensor 102.
The pressure contact module 1 drives the contact rod 103 to contact or separate from the luggage 4 in the vertical direction through the linear driving mechanism 101, and obtains the pressing force of the contact rod 103 contacting the luggage 4 through the pressure sensor 102.
Specifically, the linear driving mechanism 101 is a servo cylinder. The servo electric cylinder can control the contact rod 103 to extrude the surface of the luggage 4 at a set speed, so that the luggage 4 is deformed, and the accuracy of stroke speed control of the contact rod 103 can be improved.
Preferably, the pressure touch module 1 further includes a pressure touch control module, and the pressure touch control module is configured to control a lowering speed of the contact rod 103 based on the height distance and the depression pressing force, and specifically includes:
if the height distance is greater than the preset safety distance, the descending speed is the first speed;
if the height distance is smaller than the preset safety distance, the descending speed is the second speed;
if the depression extrusion force is equal to the preset safety pressure, the descending speed is zero;
wherein the first speed is greater than the second speed.
Because the first speed is greater than the second speed, when the height distance is greater than the preset safety distance, the contact rod 103 is lowered at a faster speed, so that the lowering time is reduced, and the detection efficiency is improved. When the distance is less than the preset safety distance, i.e. when the contact rod 103 is close to the luggage 4, the contact rod is slowly lowered at a slow speed, so as to avoid that the luggage 4 is damaged due to impact on the luggage 4 caused by the too fast speed.
The pressure touch control module is used for controlling the set position and speed by a PID algorithm and has position and speed feedback.
And after contact pole 103 and luggage 4 contact, can produce contact pressure, after sunken extrusion force equals to predetermineeing safe pressure, then stop contact pole 103 and push down, avoid the extrusion force too big, destroy luggage 4.
Specifically, the descending speed formula of the contact rod 103 is:
wherein the content of the first and second substances,
indicating the speed of descent of the contact bar,
which is indicative of a first speed of the vehicle,
which is indicative of a second speed of the vehicle,
a preset safety distance is indicated and is set,
the safety pressure is preset, h represents the height distance, and F represents the extrusion force.
The extrusion force of the pressure contact module 1 adopts a hierarchical extrusion mode, firstly, an initial extrusion force is set to extrude the luggage 4, and if no dent is generated on the surface of the luggage 4 or the dent is very small, the pressure contact module 1 increases the pressure until the set highest preset safety pressure is reached. By setting a variable pressure threshold of the pressure-contact module 1, the safety of the luggage 4 is ensured in case of normal handling recognition of dents.
Preferably, the control module of the luggage conveying device 5 is further included, and the control module of the luggage conveying device 5 comprises:
a size recognition unit for calculating the length of the luggage 4 along the conveying direction of the luggage 4 through the point cloud image of the luggage 4 acquired by the vision module 2;
a time control unit for controlling the time of the clock based on the function
Calculating the time interval
Wherein d represents the length of the luggage,
representing a conveying speed of the baggage conveying device;
and the start-stop control unit is used for suspending the luggage conveying equipment 5 after the interval time when the distance measuring module 6 senses that the luggage 4 passes through.
Wherein, the control module of the baggage conveying device 5 obtains the interval time based on the length of the baggage 4 and the conveying speed, and through the interval time, when the baggage 4 passes through the apparatus, the baggage conveying device 5 is suspended after the interval time is delayed, so that the central part of the baggage 4 can be positioned right below the apparatus, thereby facilitating the pressure touch detection of the subsequent pressure touch module 1.
For the length d of the luggage 4, the vision module 2 acquires an image of the current luggage 4, acquires the pixel difference between the upper end point and the lower end point of the luggage 4 according to the color and the frame difference, and obtains the actual length of the unit pixel at the fixed depth by combining the calibration information put into the vision module 2, thereby acquiring the length d of the luggage 4 in the horizontal plane and the conveyor direction.
Referring to fig. 3, a method for identifying hard and soft bags of consignment baggage at a civil aviation airport, based on the identification device for hard and soft bags of consignment baggage at a civil aviation airport, includes:
s301, acquiring depression data of a luggage extrusion position, wherein the depression data comprises depression extrusion force, depression RGB (red, green and blue) images and depression point cloud images of the luggage extrusion depression position;
specifically, the depression extrusion force is acquired through a press-contact module;
specifically, the concave RGB image and the concave point cloud image are acquired through a vision module.
S302, comparing and screening the luggage data with sample data in a sample set based on a similarity algorithm, wherein the sample data comprises sample extrusion force, a sample RGB image, a sample point cloud image and a sample hardness grade;
the sample data contains soft and hard grade information, so that if the extrusion force of the luggage data, the RGB image and the point cloud image are similar to the corresponding information of the sample data, the luggage data is similar to the sample data, and the soft and hard grades of the luggage data and the sample data are similar.
S303, if sample data similar to the luggage data is screened out, taking the sample hardness level of the sample data as the luggage hardness level of the luggage;
the classification recognition model is a neural network model, a large amount of operation resources are consumed for operation, and before the classification recognition model is recognized, the soft and hard recognition efficiency can be improved, the recognition time can be shortened, and the operation resources can be saved by obtaining the soft and hard grades through similarity calculation.
S304, if the sample data similar to the luggage data is not screened out, inputting the luggage data into a classification identification model to obtain the luggage soft and hard grade of the luggage.
Preferably, after the baggage data is input into the classification recognition model and the baggage soft and hard levels of the baggage are obtained, the method further comprises: and storing the baggage data and the corresponding baggage soft and hard grades into the sample set.
If the sample data similar to the luggage data is not screened out, it is indicated that no sample data similar to the luggage data exists in the sample set, and the luggage data and the corresponding luggage soft and hard grades can be stored in the sample set, so that the similarity comparison of other luggage data in the follow-up process is facilitated. By the operation, the data volume in the sample set can be increased, so that the sample data contained in the sample set is more and more comprehensive.
Referring to fig. 4, preferably, the comparing and screening the baggage data with the sample data in the sample set based on the similarity algorithm includes:
s401, obtaining a difference value between the depression extrusion force and the sample extrusion force, and obtaining a first similarity based on the difference value;
wherein, for the extrusion force, the numerical difference between the two can be directly compared, and the smaller the difference value, the higher the first similarity of the depression extrusion force and the sample extrusion force.
S402, inputting the concave RGB image and the sample RGB image into a Siamese network model to obtain a second similarity;
wherein, for the siemese network model, which has two shared image input channels, the smaller the output value of the siemese network model, the higher the second similarity between the recess RGB image and the sample RGB image.
S403, performing similarity calculation on the sunken point cloud image and the sample point cloud image to obtain a third similarity;
s404, comparing the first similarity, the second similarity and the third similarity with preset similar conditions to judge whether the luggage data is similar to the sample data.
Preferably, a specific formula for calculating the similarity between the concave point cloud image and the sample point cloud image is as follows:
wherein r (A, B) represents a third similarity, A represents a sunken point cloud image, B represents a sample point cloud image, and the higher the value of r (A, B), the more similar the sunken point cloud image A and the sample point cloud image B are;
the weight of the point is represented by a weight,
the distance of the point cloud is represented,
representing the ith sub-point cloud in the N sub-point cloud sets obtained by K-means clustering the concave point cloud image A,
indicating the point of greatest depth in the vertical direction, i.e. pushed by the push-rodThe central position of the central position is,
representing a hyper-parameter;
in particular, the method comprises the following steps of,
determined as a function of the actual situation, typically being a small positive value, e.g.
Can be arranged as
。
Wherein the content of the first and second substances,
the concrete formula of (1) is as follows:
wherein h represents an adjustable parameter;
wherein the content of the first and second substances,
the concrete formula of (1) is as follows:
wherein the content of the first and second substances,
representing the distance between the point cloud X and the point cloud Y, X representing the points in the point cloud subset X, and Y representing the points in the point cloud subset Y.
Referring to fig. 6, preferably, the classification recognition model includes a two-dimensional convolution network, a three-dimensional point cloud convolution network, a normalization layer, a vector splicing layer and a full connection layer.
Based on the classification recognition model of fig. 6, referring to fig. 5, inputting the baggage data into the classification recognition model, and obtaining the baggage soft and hard levels of the baggage comprises:
s501, inputting the sunken RGB image into the two-dimensional convolution network to obtain a first output result;
specifically, the two-dimensional convolutional network is a Conv2d network.
S502, inputting the sunken point cloud image into the three-dimensional point cloud convolution network to obtain a second output result;
specifically, the three-dimensional point cloud convolution network is a PointConv network.
S503, inputting the first output result, the second output result and the depression extrusion force into the normalization layer for processing, and then inputting the normalization processing result into the vector splicing layer to obtain a splicing vector;
and S504, inputting the splicing vector into the full-connection layer to obtain a luggage soft and hard grade classification result of the luggage.
Preferably, the full link layer is provided with a SoftMax function, the output result of the full link layer is mapped into (0, 1) values through the action of the SoftMax function, the sum of the values is 1 (meeting the property of probability), the probability can be understood, and when the output node is selected finally, the node with the maximum probability (namely the node with the maximum value corresponding to the probability) can be selected as the luggage soft and hard grade classification result of the luggage.
The classification recognition model is trained by training data which are manually marked, and is updated along with the expansion and the updating of the luggage database, and the classification recognition model is updated when the new increment of the luggage data in the luggage database exceeds a threshold value each time.
The above is an embodiment of the present application. The embodiments and specific parameters thereof are only used for clearly illustrating the verification process of the application and are not used for limiting the scope of the patent protection of the application, which is defined by the claims, and all the equivalent structural changes made by using the contents of the specification and the drawings of the application should be included in the scope of the application.
Claims (9)
1. Civil aviation airport consignment luggage soft or hard package recognition device, its characterized in that includes:
a rack erected above the baggage conveying device;
the pressing and contacting module is arranged on the rack and used for contacting and extruding the luggage, so that the luggage generates concave deformation and the concave extrusion force at the concave position of the luggage is collected;
the distance measuring module is arranged on the rack and used for sensing the passing of the luggage and collecting the height distance between the upper surface of the luggage and the lower end of the press contact module;
the visual module is arranged on the rack and used for acquiring a concave RGB image and a concave point cloud image at the position of the luggage extrusion concave;
the civil aviation airport consignment luggage soft and hard bag identification method based on the civil aviation airport consignment luggage soft and hard bag identification device comprises the following steps:
acquiring depression data of a luggage squeezing position, wherein the depression data comprises depression squeezing force, a depression RGB image and a depression point cloud image of the luggage squeezing depression;
comparing and screening the luggage data with sample data in a sample set based on a similarity algorithm, wherein the sample data comprises sample extrusion force, a sample RGB image, a sample point cloud image and a sample hardness level;
if the sample data similar to the luggage data is screened out, taking the sample hardness level of the sample data as the luggage hardness level of the luggage;
and if sample data similar to the luggage data is not screened out, inputting the luggage data into a classification identification model to obtain the luggage soft and hard grade of the luggage.
2. The civil aviation airport checked bag soft and hard bag identification device of claim 1, wherein the press-touch module comprises:
the linear driving mechanism is vertically arranged on the rack;
and the contact rod is in driving connection with the movable end of the linear driving mechanism through a pressure sensor.
3. The civil aviation airport checked baggage hard and soft bag identification device of claim 2, wherein:
the linear driving mechanism is a servo electric cylinder.
4. The civil aviation airport checked baggage hard and soft baggage claim 2, wherein the press-touch module further comprises a press-touch control module, and the press-touch control module is configured to control a descending speed of the contact rod based on the height distance and the concave squeezing force, and specifically comprises:
if the height distance is greater than a preset safety distance, the descending speed is a first speed;
if the height distance is smaller than a preset safety distance, the descending speed is a second speed;
if the depression extrusion force is equal to the preset safety pressure, the descending speed is zero;
wherein the first speed is greater than the second speed.
5. The apparatus of claim 1, further comprising a baggage conveyer control module, wherein the baggage conveyer control module comprises:
the size recognition unit is used for calculating the length of the luggage along the conveying direction through the luggage point cloud image acquired by the vision module;
a time control unit for controlling the time of the clock signal based on the function formula
Calculating the time interval
Wherein d represents the length of the luggage,
representing a conveying speed of the baggage conveying device;
and the starting and stopping control unit is used for suspending the luggage conveying equipment after the interval time when the ranging module senses that the luggage passes.
6. The apparatus as claimed in claim 1, wherein the baggage soft and hard bag recognition system further comprises, after inputting the baggage data into a classification recognition model and obtaining the baggage soft and hard class of the baggage:
and storing the baggage data and the corresponding baggage soft and hard grades into the sample set.
7. The civil aviation airport consignment luggage soft and hard bag identification device according to claim 1, wherein the comparing and screening of the luggage data with the sample data in the sample set based on the similarity algorithm comprises:
acquiring a difference value between the depression extrusion force and the sample extrusion force, and acquiring a first similarity based on the difference value;
inputting the concave RGB image and the sample RGB image into a Siamese network model to obtain a second similarity;
carrying out similarity calculation on the sunken point cloud image and the sample point cloud image to obtain a third similarity;
and comparing the first similarity, the second similarity and the third similarity with preset similar conditions to judge whether the luggage data is similar to the sample data.
8. The device for identifying soft and hard bags of luggage at civil aviation airports according to claim 7, wherein a specific formula for calculating the similarity of the sunken point cloud image and the sample point cloud image is as follows:
wherein r (A, B) represents a third similarity, A represents a sunken point cloud image, B represents a sample point cloud image, and the higher the value of r (A, B), the more similar the sunken point cloud image A and the sample point cloud image B are;
the weight of the point is represented by a weight,
the distance of the point cloud is represented,
representing the ith sub-point cloud in the N sub-point cloud sets obtained by K-means clustering the concave point cloud image A,
the point of maximum depth in the vertical direction, i.e. the central position of the push rod,
representing a hyper-parameter;
wherein the content of the first and second substances,
the concrete formula of (1) is as follows:
wherein h represents an adjustable parameter;
wherein, the first and the second end of the pipe are connected with each other,
the concrete formula of (2) is as follows:
wherein the content of the first and second substances,
representing the distance between the point cloud X and the point cloud Y, X representing the points in the point cloud subset X, and Y representing the points in the point cloud subset Y.
9. The civil aviation airport checked bag soft and hard bag identification device of claim 1, wherein the classification identification model comprises a two-dimensional convolution network, a three-dimensional point cloud convolution network, a normalization layer, a vector splicing layer and a full connection layer; inputting the luggage data into a classification recognition model, and obtaining the luggage hardness and softness grade of the luggage comprises the following steps:
inputting the sunken RGB image into the two-dimensional convolution network to obtain a first output result;
inputting the sunken point cloud image into the three-dimensional point cloud convolution network to obtain a second output result;
inputting the first output result, the second output result and the depression extrusion force into the normalization layer for processing, and then inputting the normalization processing result into the vector splicing layer to obtain a splicing vector;
and inputting the splicing vector into the full-connection layer to obtain the luggage soft and hard grade classification result of the luggage.
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