CN115631329A - Loading control method and system for open type carriage and storage medium - Google Patents
Loading control method and system for open type carriage and storage medium Download PDFInfo
- Publication number
- CN115631329A CN115631329A CN202211572092.1A CN202211572092A CN115631329A CN 115631329 A CN115631329 A CN 115631329A CN 202211572092 A CN202211572092 A CN 202211572092A CN 115631329 A CN115631329 A CN 115631329A
- Authority
- CN
- China
- Prior art keywords
- carriage
- array
- value
- vehicle
- elements
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000005259 measurement Methods 0.000 claims abstract description 59
- 230000000007 visual effect Effects 0.000 claims abstract description 8
- 239000000463 material Substances 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 18
- 238000012545 processing Methods 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- MJBPUQUGJNAPAZ-AWEZNQCLSA-N butin Chemical compound C1([C@@H]2CC(=O)C3=CC=C(C=C3O2)O)=CC=C(O)C(O)=C1 MJBPUQUGJNAPAZ-AWEZNQCLSA-N 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 239000004568 cement Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000750 progressive effect Effects 0.000 description 2
- MJBPUQUGJNAPAZ-UHFFFAOYSA-N Butine Natural products O1C2=CC(O)=CC=C2C(=O)CC1C1=CC=C(O)C(O)=C1 MJBPUQUGJNAPAZ-UHFFFAOYSA-N 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/24—Querying
- G06F16/245—Query processing
- G06F16/2455—Query execution
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/08—Detecting or categorising vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Geometry (AREA)
- Computational Linguistics (AREA)
- Data Mining & Analysis (AREA)
- Databases & Information Systems (AREA)
- General Engineering & Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a loading control method, a loading control system and a storage medium for an open type carriage, wherein three-dimensional point cloud data of a vehicle to be loaded are obtained, then the visual angle of the three-dimensional point cloud is adjusted, the three-dimensional point cloud data are converted into a two-dimensional side image for displaying the side part of the vehicle through posture, the vertical coordinate of each equal difference point at the bottom of the carriage is sequentially obtained at the horizontal equal difference position of the carriage area and is processed to form a measurement array, whether bagged goods exist in the carriage area is judged according to the condition of the vertical coordinate difference value of two adjacent elements before and after the measurement data, the loading control method can adapt to various vehicle types and prevent misjudgment caused by interference, so that whether the bagged goods exist in the carriage of the vehicle to be loaded is accurately judged, and the function expansion of the loading operation of the vehicle with the goods by the existing loading system is realized.
Description
Technical Field
The invention relates to the technical field of three-dimensional detection, in particular to a loading control method and system for an open type carriage and a storage medium.
Background
In enterprises such as cement factories, loading and unloading of a carriage of bagged materials is one of important links for generating and delivering goods for the enterprises. Automatic loading and unloading equipment is often used for transferring instead of manpower in order to improve the working efficiency. Automatic loading and unloading equipment needs to accurately know the size and the positioning information of a carriage in operation so as to smoothly complete automatic operation. At present, in the industry, when bagged materials such as cement bags and the like are loaded, loading is carried out on empty vehicles, but in fact, the situation that goods exist in a carriage sometimes happens, for example, the bagged materials of different types are loaded in a mixed mode. However, the height of the materials is different because the amount of the bagged materials in the carriage is unknown, and the height of the materials is different, so that the existing goods are lower than the side guardrails and higher than the side guardrails, and great uncertainty is brought to the size measurement of the vehicle. Only if the interior of the carriage to be loaded is actively identified, the subsequent measuring mode can be rotated according to the existence of the cargo. However, the bottom of the carriage is not absolutely flat, and various forms such as inclination, local hollow deformation or foreign matters exist, so that difficulty is brought to accurately identifying whether bagged goods exist at the bottom of the carriage. And the traditional mode of shooting pictures in the carriage through an industrial camera and analyzing whether bagged materials exist in the carriage through the pictures can hardly stabilize the brightness of a light source in a range of several meters to more than ten meters under the working conditions of large brightness difference in different weather, daytime and night due to the sensitivity of an image identification technology to the brightness, so that the industrial camera is unstable in identification, and finally the situation in the carriage of a vehicle to be loaded can not be accurately identified in various working environments.
Disclosure of Invention
The invention provides a loading control method for an open type carriage, aiming at the defects in the prior art, which is used for identifying whether bagged goods exist in the carriage of a vehicle to be loaded, and comprises the following steps:
s1, acquiring three-dimensional point cloud data of a vehicle to be loaded, adjusting a three-dimensional point cloud visual angle, and converting the three-dimensional point cloud visual angle into a two-dimensional side image for displaying the side part of the vehicle through a posture;
s2, identifying a carriage area on the two-dimensional side image, sequentially acquiring the vertical coordinate of each equal-difference point at the bottom of the carriage at the horizontal equal-difference position of the carriage area, and processing the vertical coordinate to form a measurement array;
s3, acquiring longitudinal coordinate difference values of two adjacent elements in the measurement array along the same direction, and acquiring the number of positive and negative values in each longitudinal coordinate difference value and the number of ripples of which the value is greater than a preset value in each longitudinal coordinate difference value;
and S4, if the number of the positive and negative values is less than half of the number of the elements in the measuring array and the number of the ripples is greater than a preset multiple of the number of the elements in the measuring array, calculating the standard deviation of the measuring array, and if the standard deviation is greater than a reference value, judging that bagged goods exist in the compartment area.
Preferably, the step S2 further includes:
s21, identifying a carriage area on the two-dimensional side image, acquiring coordinates of a head and a tail of a carriage to be loaded, sequentially measuring a longitudinal coordinate of each equal difference point at the bottom of the carriage at an equal difference position between the head and the tail of the carriage, and forming an original array;
s22, obtaining the distance value between each element in the original array and the median of the original array, and deleting the array elements corresponding to the distance value in the original array being greater than the threshold value to form a measurement array.
Preferably, the step S3 further includes:
s31, acquiring the difference value of the longitudinal coordinates of two adjacent elements in the measurement array along the same direction
Wherein
，
To measure the number of elements in the array,
for measuring the first in the array
The value of each element is sequentially judged
Positive and negative of (2)
Number of positive and negative values
Self-adding 1; when the temperature is higher than the set temperature
Number of positive and negative values
The self-decreasing value is 1, and the self-decreasing value is,
is zero;
s32, obtaining thickness information of the bagged goods to be loaded, and inquiring stacking thickness parameters for judging whether the corrugation amplitude of the bottom of the carriage is not the vehicle bottom concave-convex surface in a carriage database according to the thickness information
Sequentially judge
Absolute value of (2) when
Number of hour ripples
And (4) adding 1 by itself.
Preferably, the step S4 includes:
s41, inquiring a preset proportion for judging the ripple at the bottom of the carriage to be bagged goods and a reference value of a measurement array standard deviation for judging the bagged materials in the carriage according to the size information of the bagged goods to be loaded in the carriage database
；
S42, if the number of the positive and negative values is less than half of the number of the elements in the measurement array, and the number of the ripples is greater than the preset proportion of the number of the elements in the measurement array, calculating the standard deviation of the measurement array
，
If standard deviation of
Greater than a reference value
If so, judging that the bagged goods exist in the carriage area, and if the standard deviation is not met, judging that the bagged goods exist in the carriage area
Not greater than the reference value
It is determined that the bagged cargo does not exist in the car area.
Preferably, the loading control method for an open car further includes: when the number of the positive values and the negative values is not less than half of the number of the elements in the measuring array, judging that no bagged goods exist in the carriage area and the bottom of the carriage is inclined; and when the number of the positive and negative values is less than half of the number of the elements in the measuring array, but the number of the ripples is less than the preset proportion of the number of the elements in the measuring array, judging that the bottom of the carriage area has local deformation or the bottom of the carriage has foreign matters.
The invention also discloses a loading control system for the open type carriage, which is used for identifying whether bagged goods exist in the carriage of a vehicle to be loaded, and comprises the following components: the three-dimensional acquisition module is used for acquiring three-dimensional point cloud data of a vehicle to be loaded, adjusting the visual angle of the three-dimensional point cloud and converting the three-dimensional point cloud data into a two-dimensional side image for displaying the side part of the vehicle through the posture; the array acquisition module is used for identifying a carriage area on the two-dimensional side image, sequentially acquiring the vertical coordinate of each equal-difference point at the bottom of the carriage at the horizontal equal-difference position of the carriage area, and processing the vertical coordinates to form a measurement array; the difference value calculation module is used for acquiring longitudinal coordinate difference values of two adjacent elements in the measurement array along the same direction, and acquiring the number of positive and negative values in each longitudinal coordinate difference value and the number of ripples of which the value is greater than a preset value in each longitudinal coordinate difference value; and the judging module is used for calculating the standard deviation of the measuring array when the number of the positive value and the negative value is less than half of the number of the elements in the measuring array and the number of the ripples is greater than the preset multiple of the number of the elements in the measuring array, and judging that bagged goods exist in the carriage area if the standard deviation is greater than a reference value.
Preferably, the array collecting module includes: the carriage acquisition module is used for identifying a carriage area on the two-dimensional side image, acquiring coordinates of a head and a tail of a carriage to be loaded, sequentially measuring a longitudinal coordinate of each equal difference point at the bottom of the carriage at an equal difference position between the head and the tail of the carriage and forming an original array; and the error eliminating module is used for acquiring the distance value between each element in the original array and the median of the original array, and deleting the array elements corresponding to the distance value greater than the threshold in the original array to form a measurement array.
Preferably, theThe difference value calculation module includes: a ripple judgment module for obtaining the difference value of the longitudinal coordinates of two adjacent elements in the measurement array along the same direction
Wherein
，
To measure the number of elements in the array,
for measuring the first in the array
The value of each element is sequentially judged
Positive and negative of (2)
Number of positive and negative values
Self-adding 1; when in use
Number of positive and negative values
The self-decreasing value is 1, and the self-decreasing value is,
is zero; the amplitude judgment module is used for acquiring the thickness information of the bagged goods to be loaded, and inquiring the stacking thickness parameter used for judging the corrugated amplitude non-vehicle bottom concave-convex surface at the bottom of the carriage in the carriage database according to the thickness information
Sequentially judge
Absolute value of (2) when
Number of hour ripples
Self-adding 1.
The invention also discloses a loading control device for the open type compartment, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of any method.
The invention also discloses a computer-readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of any of the methods as described above.
The invention discloses a loading control method, a loading control system and a storage medium for an open type carriage, which are used for acquiring three-dimensional point cloud data of a vehicle to be loaded, adjusting the visual angle of the three-dimensional point cloud, converting the three-dimensional point cloud into a two-dimensional side image for displaying the side part of the vehicle through posture, sequentially acquiring the vertical coordinate of each equal differential point at the bottom of the carriage at the horizontal equal differential position of the carriage area, processing the vertical coordinate to form a measurement array, judging whether bagged goods exist in the carriage area according to the condition of the vertical coordinate differential value of two adjacent elements before and after the measurement data, adapting to various vehicle types and preventing misjudgment caused by interference, thereby accurately judging whether the bagged goods exist in the carriage of the vehicle to be loaded, solving the problem that the existing automatic loading industry can only load empty vehicles, and realizing the functional expansion of the loading operation of the existing loading system on the vehicles with the loaded goods.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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 and do not constitute a limitation of the invention. In the drawings:
fig. 1 is a schematic flow chart illustrating a loading control method for an open car according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of three-dimensional point cloud data of a vehicle to be loaded according to an embodiment of the disclosure.
Fig. 3 is a two-dimensional image of a side surface of a vehicle to be loaded according to an embodiment of the present invention.
Fig. 4 is a schematic flowchart of step S2 according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of two-dimensional image iso-aberration point acquisition according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of car edge recognition according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without inventive step, are within the scope of protection of the invention.
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 invention belongs. The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one.
The embodiment discloses a loading control method for an open type carriage, which can be used for identifying whether bagged goods exist in the carriage of a vehicle to be loaded based on a 3D point cloud data communication under the condition that the specification and the size of the boxcar are unknown and the amount of the bagged materials is unknown, and as shown in figure 1, the method specifically comprises the following steps.
S1, acquiring three-dimensional point cloud data of a vehicle to be loaded, adjusting the view angle of the three-dimensional point cloud, and converting the three-dimensional point cloud data into a two-dimensional side image for displaying the side part of the vehicle through the posture.
Specifically, fig. 2 is three-dimensional point cloud data of a vehicle to be loaded, and bagged materials in the compartment can be seen from the point cloud data. Adjusting the perspective of the three-dimensional point cloud via a pose transformation matrix derived from the three-dimensional vehicle system, e.g.
And then converted into a side view, as shown in figure 3, the bagged materials are flatly laid in the hopper, and the bottom is observed to be corrugated from the side.
And S2, identifying a carriage area on the two-dimensional side image, sequentially acquiring the vertical coordinate of each equal-difference point at the bottom of the carriage at the horizontal equal-difference position of the carriage area, and processing the vertical coordinates to form a measurement array. After the 3D point cloud outline is converted into the 2D image, the 2D image is measured, and whether bagged materials exist in the car hopper or not is judged through an algorithm.
As shown in fig. 4, the step S2 may further include the following.
And S21, identifying a carriage area on the two-dimensional side image, acquiring coordinates of a head and a tail of the carriage to be loaded, sequentially measuring the vertical coordinates of each equal difference point at the bottom of the carriage at equal difference positions between the head and the tail of the carriage, and forming an original array.
As shown in fig. 5, the specific coordinates of the car head and the car tail are measured, and the coordinates of each point at the bottom of the carriage are measured at the equal difference position from the car head to the car tail. At each point measured by the bottom of the hopper at an equi-differential position
Original array of coordinates
And whether bagged materials exist in the carriage can be judged by analyzing the array algorithm.
And S22, obtaining the distance value between each element in the original array and the median of the original array, and deleting the array elements corresponding to the distance value greater than the threshold in the original array to form a measurement array.
Specifically, the original array is calculated
The distance value of each element from the median of the array is calculated, the elements with the distance larger than the threshold value are calculated, and the rest arrays can better reflect the real situation.
Array of elements
Subtracting the median of the array
Get an array
，
Array reservation
Elements smaller than the threshold, the remaining elements constituting a new array, i.e. a measurement array
，
Array eliminates
Interference points in the array, thereby ensuring more accurate subsequent judgment.
And S3, acquiring longitudinal coordinate difference values of two adjacent front and back elements in the measurement array along the same direction, and acquiring the number of positive and negative values in each longitudinal coordinate difference value and the number of ripples of which the value in each longitudinal coordinate difference value is greater than a preset value.
In this embodiment, the step S3 may specifically include the following.
Step S31, acquiring difference values of longitudinal coordinates of two adjacent elements in the measurement array along the same direction
In which
，
To measure the number of elements in the array,
for measuring the first in the array
The value of each element is sequentially judged
Positive and negative of (2)
Number of positive and negative values
Self-adding 1; when the temperature is higher than the set temperature
Number of positive and negative values
The self-decreasing value is 1, and the self-decreasing value is,
is zero.
Specifically, this step can be used for the preliminary identification of the vehicle compartment corrugation: measurement array
Adjacent bits are subtracted by
When is coming into contact with
Greater than 0
Self-adding 1 when
Less than 0
From minus 1. If the image of the car is in a wavy form, the image of the car is displayed in a wavy form
The value of (d) will be close to 0. And, if flat, the measurement array appears to increment or decrement,
the value of (A) will be relatively large, and thus
The value of (b) can be used as a judgment condition for preliminarily judging the waviness. Calculating a measurement array
The difference value for each adjacent element in the array,
when is coming into contact with
,
Increase by 1 when
,
Decrease by 1.
Step S32, obtaining the thickness information of the bagged goods to be loaded, and inquiring the stacking thickness parameter used for judging the corrugation amplitude of the bottom of the carriage and the non-vehicle bottom concave-convex surface in the carriage database according to the thickness information
Sequentially judging b i Absolute value of (2) when
Number of hour ripples
And (4) adding 1 by itself.
In particular, this step may be used for the calculation of the cabin ripple amplitude value. Under the real condition, the bottom of the carriage is not absolutely straight, so even if the bottom of the carriage is horizontal, the inclination does not occur, and the measurement array
Each element of (a) also differs in size. In this embodiment, the stacking thickness parameter is obtained if queried
Is 5mm, then
Is greater than 5mm
The self-adding of 1 is carried out,
a larger value indicates a larger amplitude,
smaller values indicate smaller amplitudes, i.e.
When the temperature of the water is higher than the set temperature,
the value is increased by 1.
And S4, if the number of the positive and negative values is less than half of the number of the elements in the measurement array and the number of the ripples is greater than a preset multiple of the number of the elements in the measurement array, calculating the standard deviation of the measurement array, and if the standard deviation is greater than a reference value, judging that bagged goods exist in the carriage area.
In this embodiment, step S4 may further include the following.
Step S41, inquiring a preset proportion for judging the ripple at the bottom of the carriage as the bagged goods and a reference value of a measurement array standard deviation for judging the bagged materials in the carriage according to the size information of the bagged goods to be loaded in the carriage database
. In this embodiment, the preset proportion for determining the ripple at the bottom of the car to be the bagged goods is set to be 0.7 times of the number of elements in the array according to the size information of the bagged goods to be loaded, and the reference value
It is 2.8.
Step S42, if the number of the positive and negative values is less than the number of the measurement arraysHalf of the number of the middle elements, and the number of the ripples is larger than the preset proportion of the number of the elements in the measurement array, calculating the standard deviation of the measurement array
，
If standard deviation of
Greater than a reference value
If so, judging that the bagged goods exist in the carriage area, and if the standard deviation is not met, judging that the bagged goods exist in the carriage area
Is not greater than the reference value
It is determined that the bagged cargo does not exist in the car area.
In this embodiment, when
The value is less than half the array length, and
when the value is more than 0.7 times of the length of the array, the bottom of the carriage is jagged and the jaggy is large enough, and then the measurement array is calculated
If the standard deviation is larger than 2.8, the bagged goods in the carriage can be accurately judged, and if the standard deviation is smaller than or equal to 2.8, the bagged goods in the carriage can be judged to be an empty hopper.
Namely when
Time calculation array
Standard deviation of (2)
When is coming into contact with
And then the vehicle hopper can be judged to be filled with bagged materials. When the temperature is higher than the set temperature
It can be determined as an empty hopper.
In this embodiment, the loading control method for an open car may further include the following.
And S51, when the number of the positive values and the negative values is not less than half of the number of the elements in the measurement array, judging that no bagged goods exist in the carriage area and the bottom of the carriage inclines.
Specifically, when the empty vehicle inclines, the array
The difference will always be greater than 0 or less than 0 by subtracting the adjacent bits. Obtained by the previous steps
When is coming into contact with
Value of
In the case of the condition, it is possible to determine that the vehicle compartment is empty, but the vehicle compartment bottom is inclined, at a high probability. Thus taking in the preceding step
Circumventing the conditions caused by such conditionsThe interference of (2). In this step, if it is determined that the bottom of the vehicle compartment is inclined, the warning message may be released to confirm whether the vehicle compartment is not accommodated or not. Because some types of truck beds are lift cars, the bottom of the bed may tilt due to the bed not being flat.
And S52, when the number of the positive and negative values is less than half of the number of the elements in the measuring array, but the number of the ripples is less than the preset proportion of the number of the elements in the measuring array, judging that the bottom of the carriage area has local deformation or the bottom of the carriage has foreign matters.
In particular, when
However, but
In this case, it can be determined that there is a small deformation in the floor of the vehicle compartment, which may be a few small depressions in the floor of the vehicle compartment, a local deformation, or a foreign object.
Finally, after judging whether goods exist at the bottom of the carriage or not through the steps, the space in the carriage can be deduced by using different preset methods according to different conditions in the carriage. For example, if it is determined that the car is empty and there is no inclination or foreign matter in the car, when the length, width, and initial position of the hopper are measured directly, after three-dimensional data of the car is converted into a two-dimensional image viewed from above, as shown in fig. 6, the car is directly captured to identify the edge of the car, so that the size of the car can be accurately measured even if the guard rail is deformed to some extent, and the material can be accurately placed in the car. After the goods exist at the bottom of the carriage is judged through the steps, particularly when the bagged goods approach or exceed the upper side of the guardrail, the guardrail is affected by the goods or covered by the goods, so that the upper drawing cannot be accurately intercepted, and the measurement result is incorrect if the conventional mode is adopted. Therefore, after the bagged goods are identified in the carriage, the size of the carriage can be measured by using another preset method corresponding to the goods according to the condition of the bagged materials, for example, a material part is intercepted, the outline is measured, and the measurement position is properly shifted inwards according to a preset value to obtain the presumed boundary of the carriage guardrail, so that the normal measurement of the size of the vehicle is realized.
Therefore, in order to accurately measure the size of the vehicle, the precondition of identifying whether bagged materials exist in the carriage is very important for accurately measuring the size of the vehicle. If it cannot be identified, it can only be specified manually that the incoming vehicle must be empty.
The loading control method for the open type carriage described in the embodiment includes the steps of obtaining three-dimensional point cloud data of a vehicle to be loaded, adjusting a visual angle of the three-dimensional point cloud, converting the three-dimensional point cloud data into a two-dimensional side image displaying the side portion of the vehicle through posture, sequentially obtaining the vertical coordinate of each equal difference point at the bottom of the carriage at the horizontal equal difference position of the carriage area, processing the vertical coordinate to form a measurement array, judging whether bagged goods exist in the carriage area according to the condition of the vertical coordinate difference value of two adjacent elements in the front of and behind the measurement data, adapting to various vehicle types, and preventing misjudgment caused by interference, so that whether the bagged goods exist in the carriage of the vehicle to be loaded is accurately judged, the problem that only empty vehicles can be loaded in the existing automatic loading industry is solved, and the function expansion of loading operation of the vehicle with the loaded goods by the existing loading system is realized.
In another embodiment, a loading control system for an open car for identifying whether bagged cargo already exists in a car of a vehicle to be loaded is also disclosed, comprising: the three-dimensional acquisition module is used for acquiring three-dimensional point cloud data of a vehicle to be loaded, adjusting the view angle of the three-dimensional point cloud and converting the three-dimensional point cloud data into a two-dimensional side image for displaying the side part of the vehicle through the posture; the array acquisition module is used for identifying a carriage area on the two-dimensional side image, sequentially acquiring the vertical coordinate of each equal-difference point at the bottom of the carriage at the horizontal equal-difference position of the carriage area, and processing the vertical coordinates to form a measurement array; the difference value calculation module is used for acquiring longitudinal coordinate difference values of two adjacent elements in the measurement array along the same direction, and acquiring the number of positive and negative values in each longitudinal coordinate difference value and the number of ripples of which the value is greater than a preset value in each longitudinal coordinate difference value; and the judging module is used for calculating the standard deviation of the measuring array when the number of the positive value and the negative value is less than half of the number of the elements in the measuring array and the number of the ripples is greater than the preset multiple of the number of the elements in the measuring array, and judging that bagged goods exist in the carriage area if the standard deviation is greater than a reference value.
Preferably, the array collecting module includes: the carriage acquisition module is used for identifying a carriage area on the two-dimensional side image, acquiring coordinates of a head and a tail of a carriage to be loaded, sequentially measuring a longitudinal coordinate of each equal difference point at the bottom of the carriage at an equal difference position between the head and the tail of the carriage and forming an original array; and the error eliminating module is used for acquiring the distance value between each element in the original array and the median of the original array, and deleting the array elements corresponding to the distance value greater than the threshold in the original array to form a measurement array.
Preferably, the difference calculation module includes: a ripple judgment module for obtaining the difference value of the longitudinal coordinates of two adjacent elements in the measurement array along the same direction
Wherein
，
To measure the number of elements in the array,
for measuring the first in the array
The value of each element is sequentially judged
Positive and negative of (2)
Number of positive and negative values
Self-adding 1; when the temperature is higher than the set temperature 
Number of positive and negative values
The self-decreasing value is 1, and the self-decreasing value is,
is zero; the amplitude judgment module is used for acquiring the thickness information of the bagged goods to be loaded, and inquiring the stacking thickness parameter used for judging the corrugated amplitude non-vehicle bottom concave-convex surface at the bottom of the carriage in the carriage database according to the thickness information
Sequentially judge
Absolute value of, number of ripples at that time
Self-adding 1.
It should be noted that, in the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The loading control system for the open type carriage disclosed in the embodiment corresponds to the loading control method for the open type carriage disclosed in the embodiment, so that the description is relatively simple, and the relevant points can be referred to the description of the method part.
It should be noted that, in the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The loading control system for the open type carriage disclosed in the embodiment corresponds to the loading control method for the open type carriage disclosed in the embodiment, so that the description is relatively simple, and the relevant points can be referred to the description of the method part.
In other embodiments, a load control device for an open car is further provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the steps of the load control method for an open car described in the above embodiments.
The load control device for the open car may include, but is not limited to, a processor and a memory. It will be appreciated by those skilled in the art that the schematic diagram is merely an example of a load control device for an open car and does not constitute a limitation of a load control device apparatus for an open car, and may include more or fewer components than shown, or some components may be combined, or different components, for example, the load control device apparatus for an open car may further include input and output devices, network access devices, buses, etc.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the load control device apparatus for an open car, various interfaces and lines connecting the various parts of the entire load control device apparatus for an open car.
The memory may be used to store the computer programs and/or modules, and the processor may implement the various functions of the load control device apparatus for an open car by running or executing the computer programs and/or modules stored in the memory and calling data stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like, and the memory may include a high speed random access memory, and may further include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The load control device for the open car, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer-readable storage medium. Based on such understanding, all or part of the flow of the method according to the above embodiments may be implemented by a computer program, which may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of the above embodiments of the load control method for an open car. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
In summary, the above description is only a preferred embodiment of the present invention, and all the equivalent changes and modifications made according to the claims of the present invention should be covered by the present invention.
Claims (10)
1. A loading control method for an open type carriage is used for identifying whether bagged goods exist in the carriage of a vehicle to be loaded, and is characterized by comprising the following steps:
s1, acquiring three-dimensional point cloud data of a vehicle to be loaded, adjusting a three-dimensional point cloud visual angle and converting the three-dimensional point cloud visual angle into a two-dimensional side image for displaying the side part of the vehicle through a posture;
s2, identifying a carriage area on the two-dimensional side image, sequentially acquiring the vertical coordinate of each equal-difference point at the bottom of the carriage at the horizontal equal-difference position of the carriage area, and processing the vertical coordinates to form a measurement array;
s3, acquiring longitudinal coordinate difference values of two adjacent elements in the measurement array along the same direction, and acquiring the number of positive and negative values in each longitudinal coordinate difference value and the number of ripples of which the value is greater than a preset value in each longitudinal coordinate difference value;
and S4, if the number of the positive and negative values is less than half of the number of the elements in the measurement array and the number of the ripples is greater than the preset multiple of the number of the elements in the measurement array, calculating the standard deviation of the measurement array, and if the standard deviation is greater than a reference value, judging that bagged goods exist in the carriage area.
2. The load control method for the open car according to claim 1, wherein the step S2 further includes:
s21, identifying a carriage area on the two-dimensional side image, acquiring coordinates of a head and a tail of a carriage to be loaded, sequentially measuring a longitudinal coordinate of each equal difference point at the bottom of the carriage at equal difference positions between the head and the tail of the carriage, and forming an original array;
s22, obtaining the distance value between each element in the original array and the median of the original array, and deleting the array elements corresponding to the distance value in the original array being greater than the threshold value to form a measurement array.
3. The load control method for the open car according to claim 2, wherein the step S3 further includes:
s31, acquiring the difference value of the longitudinal coordinates of two adjacent elements in the measurement array along the same direction
In which
，
To measure the number of elements in the array,
for measuring the value of the ith element in the array, sequentially judging
Positive and negative of (2)
Number of positive and negative values
Self-adding 1; when the temperature is higher than the set temperature
Number of positive and negative values
The self-decreasing value is 1, and the self-decreasing value is,
is zero;
s32, obtaining thickness information of the bagged goods to be loaded, and inquiring stacking thickness parameters for judging whether the corrugation amplitude of the bottom of the carriage is not the vehicle bottom concave-convex surface in a carriage database according to the thickness information
Sequentially judge
Absolute value of when
Number of hour ripples
Self-adding 1.
4. A loading control method for an open type vehicle compartment as claimed in claim 3, wherein said step S4 comprises:
s41, inquiring a preset proportion for judging the ripple at the bottom of the carriage to be bagged goods and a reference value of a measurement array standard deviation for judging the bagged materials in the carriage according to the size information of the bagged goods to be loaded in a carriage database
；
S42, if the number of the positive and negative values is less than half of the number of the elements in the measurement array, and the number of the ripples is greater than the preset proportion of the number of the elements in the measurement array, calculating the standard deviation of the measurement array
，
If standard deviation of
Greater than a reference value
Then judging that bagged goods exist in the carriage area, and if the standard deviation is larger than the standard deviation, judging that bagged goods exist in the carriage area
Not greater than the reference value
It is determined that the bagged cargo does not exist in the car area.
5. The load control method for an open car according to claim 4, further comprising:
when the number of the positive values and the negative values is not less than half of the number of the elements in the measuring array, determining that no bagged goods exist in the compartment area and the bottom of the compartment is inclined;
and when the number of the positive and negative values is less than half of the number of the elements in the measuring array, but the number of the ripples is less than the preset proportion of the number of the elements in the measuring array, judging that the bottom of the carriage area has local deformation or the bottom of the carriage has foreign matters.
6. A loading control system for an open-type vehicle compartment for identifying whether bagged goods are already present in the vehicle compartment of a vehicle to be loaded, comprising:
the three-dimensional acquisition module is used for acquiring three-dimensional point cloud data of a vehicle to be loaded, adjusting the view angle of the three-dimensional point cloud and converting the three-dimensional point cloud data into a two-dimensional side image for displaying the side part of the vehicle through the posture;
the array acquisition module is used for identifying a carriage area on the two-dimensional side image, sequentially acquiring the vertical coordinate of each equal-difference point at the bottom of the carriage at the horizontal equal-difference position of the carriage area, and processing the vertical coordinates to form a measurement array;
the difference value calculation module is used for acquiring longitudinal coordinate difference values of two adjacent elements in the measurement array along the same direction, and acquiring the number of positive and negative values in each longitudinal coordinate difference value and the number of ripples of which the value is greater than a preset value in each longitudinal coordinate difference value;
and the judging module is used for calculating the standard deviation of the measuring array when the number of the positive and negative values is less than half of the number of the elements in the measuring array and the number of the ripples is greater than the preset multiple of the number of the elements in the measuring array, and judging that bagged goods exist in the compartment area if the standard deviation is greater than a reference value.
7. A loading control system for an open car as claimed in claim 6, wherein the array acquisition module comprises:
the carriage acquisition module is used for identifying a carriage area on the two-dimensional side image, acquiring coordinates of a head and a tail of a carriage to be loaded, sequentially measuring a longitudinal coordinate of each equal difference point at the bottom of the carriage at an equal difference position between the head and the tail of the carriage and forming an original array;
and the error eliminating module is used for acquiring the distance value between each element in the original array and the median of the original array, and deleting the array elements corresponding to the distance value greater than the threshold in the original array to form a measurement array.
8. A loading control system for an open car as claimed in claim 7, wherein the difference calculation module comprises:
a ripple judgment module for obtaining the difference value of the longitudinal coordinates of two adjacent elements in the measurement array along the same direction
Wherein
，
To measure the number of elements in the array,
for measuring the first in the array
The value of each element is sequentially judged
Positive and negative of (2)
Number of positive and negative values
Self-adding 1; when in use
Number of positive and negative values
The self-decreasing value is 1, and the self-decreasing value is,
is zero;
the amplitude judgment module is used for acquiring the thickness information of the bagged goods to be loaded, and inquiring the stacking thickness parameter used for judging the corrugated amplitude non-vehicle bottom concave-convex surface at the bottom of the carriage in the carriage database according to the thickness information
Sequentially judge
Absolute value of when
Number of hour ripples
Self-adding 1.
9. A load control device for an open car comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: the processor, when executing the computer program, realizes the steps of the method according to any of claims 1-5.
10. A computer-readable storage medium storing a computer program, characterized in that: the computer program realizing the steps of the method according to any of claims 1-5 when executed by a processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211572092.1A CN115631329B (en) | 2022-12-08 | 2022-12-08 | Loading control method, system and storage medium for open carriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211572092.1A CN115631329B (en) | 2022-12-08 | 2022-12-08 | Loading control method, system and storage medium for open carriage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115631329A true CN115631329A (en) | 2023-01-20 |
| CN115631329B CN115631329B (en) | 2023-04-28 |
Family
ID=84911109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211572092.1A Active CN115631329B (en) | 2022-12-08 | 2022-12-08 | Loading control method, system and storage medium for open carriage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115631329B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116228872A (en) * | 2023-05-08 | 2023-06-06 | 杭州明度智能科技有限公司 | Loading control method, system and storage medium for lacing wire truck |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016185637A1 (en) * | 2015-05-20 | 2016-11-24 | 三菱電機株式会社 | Point-cloud-image generation device and display system |
| CN110910567A (en) * | 2019-11-29 | 2020-03-24 | 合肥美的智能科技有限公司 | Deduction method, device, electronic equipment, computer readable storage medium and container |
| CN111507390A (en) * | 2020-04-11 | 2020-08-07 | 华中科技大学 | Storage box body identification and positioning method based on contour features |
| CN112193706A (en) * | 2020-10-27 | 2021-01-08 | 浙江明度智控科技有限公司 | Self-adaptive control method and warehousing control system applied to intelligent warehousing |
| CN112365446A (en) * | 2020-10-19 | 2021-02-12 | 杭州亿奥光电有限公司 | Paper bag bonding quality detection method |
| CN112408000A (en) * | 2020-10-27 | 2021-02-26 | 浙江明度智控科技有限公司 | Intelligent warehousing system simulation method and system |
| CN113469871A (en) * | 2020-03-30 | 2021-10-01 | 长沙智能驾驶研究院有限公司 | Carriage loadable space detection method and device based on three-dimensional laser |
| CN113554689A (en) * | 2021-07-19 | 2021-10-26 | 广州市杜格科技有限公司 | Method and device for measuring carriage cargo volume, equipment and storage medium |
-
2022
- 2022-12-08 CN CN202211572092.1A patent/CN115631329B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016185637A1 (en) * | 2015-05-20 | 2016-11-24 | 三菱電機株式会社 | Point-cloud-image generation device and display system |
| CN110910567A (en) * | 2019-11-29 | 2020-03-24 | 合肥美的智能科技有限公司 | Deduction method, device, electronic equipment, computer readable storage medium and container |
| CN113469871A (en) * | 2020-03-30 | 2021-10-01 | 长沙智能驾驶研究院有限公司 | Carriage loadable space detection method and device based on three-dimensional laser |
| WO2021197345A1 (en) * | 2020-03-30 | 2021-10-07 | 长沙智能驾驶研究院有限公司 | Method and apparatus for measuring remaining volume in closed space on basis of laser radar |
| CN111507390A (en) * | 2020-04-11 | 2020-08-07 | 华中科技大学 | Storage box body identification and positioning method based on contour features |
| CN112365446A (en) * | 2020-10-19 | 2021-02-12 | 杭州亿奥光电有限公司 | Paper bag bonding quality detection method |
| CN112193706A (en) * | 2020-10-27 | 2021-01-08 | 浙江明度智控科技有限公司 | Self-adaptive control method and warehousing control system applied to intelligent warehousing |
| CN112408000A (en) * | 2020-10-27 | 2021-02-26 | 浙江明度智控科技有限公司 | Intelligent warehousing system simulation method and system |
| CN113554689A (en) * | 2021-07-19 | 2021-10-26 | 广州市杜格科技有限公司 | Method and device for measuring carriage cargo volume, equipment and storage medium |
Non-Patent Citations (4)
| Title |
|---|
| SATYA PRAKASH YADAV: "Vision-based Detection, Tracking, and Classification of Vehicles" * |
| 孔德明;张娜;黄紫双;陈晓玉;沈阅;: "基于激光雷达探测技术的列车车厢载货体积测量方法研究" * |
| 王苏林;吕燕梅;: "超限货物运输列车异物侵入数据智能检测仿真" * |
| 陈兆竣;吕亮亮;: "铁路货车装载安全监控系统" * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116228872A (en) * | 2023-05-08 | 2023-06-06 | 杭州明度智能科技有限公司 | Loading control method, system and storage medium for lacing wire truck |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115631329B (en) | 2023-04-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021197345A1 (en) | Method and apparatus for measuring remaining volume in closed space on basis of laser radar | |
| CN111797734B (en) | Vehicle point cloud data processing method, device, equipment and storage medium | |
| CN110057292B (en) | Method and device for determining carriage loading rate | |
| US20170227674A1 (en) | Method of imaging an object for tracking and documentation in transportation and storage | |
| US20100073476A1 (en) | Systems and methods for measuring three-dimensional profile | |
| WO2021179988A1 (en) | Three-dimensional laser-based container truck anti-smashing detection method and apparatus, and computer device | |
| CN113874927A (en) | Parking detection method, system, processing device and storage medium | |
| CN115236628B (en) | Method for detecting residual cargoes in carriage based on laser radar | |
| CN105431370A (en) | Method and system for automatically landing containers on a landing target using a container crane | |
| BE1025930B1 (en) | Container Auto-dimensioning | |
| CN114022537B (en) | Method for analyzing loading rate and unbalanced loading rate of vehicle in dynamic weighing area | |
| CN115631329A (en) | Loading control method and system for open type carriage and storage medium | |
| CN114998824A (en) | Vehicle loading and unloading task monitoring method, device and system | |
| CN113165853A (en) | System and method for loading containers onto landing targets | |
| CN112027918A (en) | Detection method for preventing lifting of container truck based on machine vision | |
| CN113173502B (en) | Anticollision method and system based on laser vision fusion and deep learning | |
| EP3029602A1 (en) | Method and apparatus for detecting a free driving space | |
| CN114648233A (en) | Dynamic station cargo carrying method and system | |
| CN114384545A (en) | Vehicle cargo model building method and device, storage medium and equipment | |
| US11009604B1 (en) | Methods for detecting if a time of flight (ToF) sensor is looking into a container | |
| CN110375659B (en) | Method, device, equipment and storage medium for detecting height of obstacle | |
| CN115909204A (en) | Method and device for determining vehicle motion strategy based on container spreader detection | |
| CN114742503A (en) | Intelligent logistics car sharing method and device based on deep learning | |
| JP6845839B2 (en) | Container number recognition system | |
| CN117581274A (en) | Method for monitoring cargo holds |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: Floor 17, Block A, Building 10, No. 611, Dongguan Road, Puyan Street, Binjiang District, Hangzhou City, Zhejiang Province, 310053 Patentee after: Hangzhou Mingdu Intelligent Manufacturing Co.,Ltd. Country or region after: China Address before: Floor 17, Block A, Building 10, No. 611, Dongguan Road, Puyan Street, Binjiang District, Hangzhou City, Zhejiang Province, 310053 Patentee before: Hangzhou Mingdu Intelligent Technology Co.,Ltd. Country or region before: China |