CN114608477A - Measuring method and measuring device inside a carriage - Google Patents

Abstract

The invention provides a measuring method and a measuring device for the interior of a carriage, and belongs to the technical field of detection. The inside measuring method of the carriage comprises the following steps: acquiring a three-dimensional contour surface in a carriage; performing projection dimension reduction on the three-dimensional contour surface to obtain a two-dimensional contour; and presetting a characteristic parameter threshold, and identifying the two-dimensional contour according to the characteristic parameter threshold to obtain the characteristic information of the three-dimensional contour surface. The carriage interior measuring device is used for implementing the carriage interior measuring method and comprises a scanner, wherein the scanner is arranged on one side of the carriage, which is provided with a loading and unloading opening, and the scanner scans the carriage interior through the loading and unloading opening to obtain a three-dimensional contour surface in the carriage. The invention can obtain the position and shape information of the carriage body and the bearing unit in the carriage body, thereby providing required position and size parameters for the automatic loading and unloading system and facilitating automatic loading and unloading. The manual identification is not needed, the positioning precision is good, and the positioning efficiency is high.

Description

Measuring method and measuring device inside a carriage

technical field

The invention relates to the technical field of detection, in particular to a measurement method and a measurement device for the interior of a carriage.

Background technique

Thanks to the advantages of large cargo capacity, high efficiency and low cost, railway transportation occupies an important position in land logistics and transportation, especially in the trade of raw materials, semi-finished products and finished products of metallurgical heavy industry. At present, the logistics industry is rapidly transforming from traditional logistics to intelligent logistics. Relying on the new generation of information technologies such as the Internet of Things, big data, and artificial intelligence, it helps to upgrade logistics and transportation with less human, unmanned, and intelligent. In order to realize the unmanned operation of picking, hoisting and unloading in the warehouse area and improve the operation efficiency and safety of the warehouse area, in the field of warehousing and logistics, the core of the intelligent warehousing system is the unmanned bridge crane. The necessary basis and prerequisite for the intelligent loading and unloading of train 4 is to accurately measure and position the train body and saddle in the car to obtain the spatial coordinates of the car body, saddle and material in the system coordinate system. At present, the position coordinates of the car body, saddle, and materials are usually measured by means of constructing logos for systematic comparison, manually picking up the coordinates of the target object in the point cloud data, etc. Due to the different number of saddle baffles, different size standards, Due to the influence of factors such as the indeterminate position placed in the carriage, the existing positioning methods have problems such as poor positioning accuracy and low positioning efficiency.

SUMMARY OF THE INVENTION

In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a measuring method and a measuring device for the interior of the vehicle, which are used to solve the problems of poor positioning accuracy and low positioning efficiency in the prior art.

In order to achieve the above purpose and other related purposes, the present invention provides a method for measuring the interior of a carriage, wherein a bearing unit for carrying materials is arranged in the carriage, including the following steps:

Obtain the three-dimensional contour surface in the carriage;

Performing projection dimension reduction on the three-dimensional contour surface to obtain a two-dimensional contour;

A feature parameter threshold is preset, and the two-dimensional contour is identified according to the feature parameter threshold to obtain feature information of the three-dimensional contour surface.

Optionally, the carriage is provided with a loading and unloading opening for entering and exiting materials, and the bearing unit includes at least two baffle plates for bearing circular materials;

The angle between the two baffles is set, the opening of the angle between the two baffles faces the loading and unloading opening, and the direction of the intersection line between the planes where the two baffles are located is the second direction, so The second direction is perpendicular to the opening direction of the loading and unloading opening, and the three-dimensional contour surface is subjected to projection dimension reduction along the second direction to obtain a second two-dimensional contour.

Optionally, the opening direction of the loading and unloading opening is a first direction, and the three-dimensional contour surface is projected along the first direction to obtain the first two-dimensional contour,

Identify the first two-dimensional contour according to the characteristic parameter threshold, obtain a mid-vertical plane of the bearing unit perpendicular to the second direction, and use the mid-vertical plane to measure the three-dimensional profile along the second direction. The contour surface is projected.

Optionally, the second two-dimensional contour is identified according to the characteristic parameter threshold, and the size of the inner wall of the compartment, the angle between the two baffles, and the position of the carrying unit are acquired.

Optionally, the carriage includes a length direction, a height direction and a width direction, and an intersection line between the planes where the two baffles are located is arranged along the width direction of the carriage.

Optionally, there are two or more bearing units, and the bearing units are arranged in sequence along the length direction of the carriage.

Optionally, the bearing units are arranged on the bottom plate of the carriage, the bottom plate of the carriage is rectangular, and the bearing units are sequentially arranged on the center line of the carriage floor perpendicular to the width direction.

The present invention also provides a vehicle interior measurement device for implementing the above-mentioned vehicle interior measurement method, including a scanner, wherein the scanner is arranged on a side of the vehicle compartment provided with a loading and unloading opening, and the scanner passes through the loading and unloading opening. The interior of the carriage is scanned to obtain a three-dimensional contour surface of the interior of the carriage.

Optionally, an overhead crane is also included, the scanner is arranged on the overhead crane, and the scanner can move together with the overhead crane, so that the scanning range of the scanner covers the carriage.

Optionally, the bridge crane includes supports arranged on both sides of the carriage, and beams arranged on the supports and the supports, and the beams are provided with displacements for detecting the position of the beams. Sensors, the scanner is arranged on the beam, the beam is arranged in the opening direction of the carriage with the loading and unloading opening, the scanner can move on the support together with the beam, the beam of the beam is The moving direction intersects the opening direction of the loading and unloading opening.

As described above, the method and device for measuring the interior of a carriage of the present invention have the following beneficial effects: by performing feature recognition on the three-dimensional contour surface in the carriage after dimensionality reduction, the positions and shapes of the carriage body and the bearing units in the carriage can be obtained. Therefore, the required position and size parameters can be provided for the automatic loading and unloading system, which is convenient for automatic loading and unloading. There is no need for manual identification, the positioning accuracy is good, and the positioning efficiency is high.

Description of drawings

FIG. 1 is a schematic diagram showing the arrangement of a vehicle interior measurement device and a saddle according to an embodiment of the present invention.

FIG. 2 is a schematic diagram showing the arrangement of another saddle in the embodiment of the present invention.

FIG. 3 is a flowchart of a method for measuring the interior of a vehicle in an embodiment of the present invention.

Description of reference numbers:

Cross beam 1, 2D laser scanner 2, incremental encoder 3, train 4, carriage 5, saddle 6, baffle 7, support 8.

Detailed ways

The embodiments of the present invention are described below through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

It should be noted that the drawings provided in this embodiment are only to illustrate the basic concept of the present invention in a schematic way, so the drawings only show the components related to the present invention rather than the number, shape and the number of components in actual implementation. For dimension drawing, the type, quantity and proportion of each component can be changed at will in actual implementation, and the component layout may also be more complicated. The structures, proportions, sizes, etc. shown in the drawings in this specification are only used to cooperate with the contents disclosed in the specification for the understanding and reading of those who are familiar with the technology, and are not intended to limit the conditions for the implementation of the present invention. , therefore does not have technical substantive significance, any structural modification, proportional relationship change or size adjustment, without affecting the effect that the present invention can produce and the purpose that can be achieved, should still fall within the scope of the present invention. The technical content must be able to cover the scope. At the same time, the terms such as "up", "down", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and clarity, and are not used to limit this specification. The implementable scope of the invention, and the change or adjustment of the relative relationship thereof, shall also be regarded as the implementable scope of the present invention without substantially changing the technical content.

Please refer to FIG. 1 and FIG. 2 , the present embodiment provides a method for measuring the interior of a carriage. A carrying unit for carrying materials is arranged in the carriage, including the following steps:

S1. Acquire a three-dimensional contour surface in the carriage.

S2, performing projection dimension reduction on the three-dimensional contour surface to obtain a two-dimensional contour.

S3. Preset characteristic parameter thresholds, identify the two-dimensional contour according to the characteristic parameter thresholds, and obtain characteristic information of the three-dimensional contour surface.

By reducing the dimension of the three-dimensional contour surface in the carriage and then performing feature recognition, this embodiment can obtain the position and shape information of the carriage and the carrying units in the carriage, so as to provide the required position and size parameters for the automatic loading and unloading system, which is convenient for the automatic loading and unloading system. Automatic loading and unloading. There is no need for manual participation in the identification process, the positioning efficiency is high, and the positioning accuracy is good.

In this embodiment, the carriage is provided with a loading and unloading opening for entering materials, the bearing unit is a saddle, and at least two baffles for carrying round materials are arranged on the saddle, and the two baffles are V-shaped. There is an included angle between the two baffle plates, and the opening of the included angle faces the loading and unloading opening.

In step S2, when performing projection dimension reduction, the three-dimensional contour surface is subjected to projection dimension reduction along two mutually perpendicular directions, respectively, to obtain a first two-dimensional contour and a second two-dimensional contour, respectively.

Specifically, step S2 includes the following sub-steps:

(1) The opening direction of the loading and unloading opening is the first direction, and the direction of intersection between the planes where the two baffle plates are located is the second direction. Project the three-dimensional contour surface along the first direction to obtain the first two-dimensional contour, identify the first two-dimensional contour according to the characteristic parameter threshold, and obtain the vertical plane of the saddle perpendicular to the second direction. The three-dimensional contour surface is projected in the second direction to obtain a second two-dimensional contour.

(2) Identify the second two-dimensional contour according to the characteristic parameter threshold, and obtain the size of the inner wall of the carriage, the angle between the baffles, and the position of the saddle on the plane where the second two-dimensional contour is located.

In this embodiment, the saddle is arranged on the floor of the carriage, and the characteristic information of the three-dimensional contour surface includes the size of the carriage, the angle between the baffle and the floor of the carriage, and the position of the saddle relative to the carriage.

This embodiment also provides a vehicle interior measurement device for implementing the above-mentioned vehicle interior measurement method, including a scanner, the scanner is arranged on the side of the vehicle compartment where the loading and unloading opening is arranged, and the scanner scans the interior of the vehicle through the loading and unloading opening, Obtain the 3D contour surface of the interior of the carriage.

Specifically, the device for measuring the interior of the carriage further includes an overhead crane, the scanner is arranged on the overhead crane, and the scanner can move together with the overhead crane, so that the scanning range of the scanner covers the carriage.

The bridge crane includes supports 8 arranged on both sides of the carriage, and a beam 1 arranged on the supports 8 and the supports 8. The beam 1 is provided with a displacement sensor for detecting the position of the beam 1, and the scanner is arranged on the beam 1. Above, the beam 1 is arranged in the opening direction of the loading and unloading opening in the carriage, the scanner can move on the support 8 together with the beam 1, and the moving direction of the beam 1 intersects the opening direction of the loading and unloading opening.

In this embodiment, the carriage is a train carriage, including a length direction, a width direction and a height direction, and the length direction, the width direction and the height direction are perpendicular to each other. The train 4 runs along or stops on the track. The longitudinal direction of the carriage is placed on the train 4 along the longitudinal direction of the train 4 . The overhead crane is installed above the track. When the train 4 is loaded, the train 4 goes under the overhead crane. The loading and unloading opening is at the top of the carriage, and the loading and unloading opening opens along the height direction. The overhead crane moves along the longitudinal direction of the train 4, and loads and unloads cargo into the carriage through the loading and unloading opening.

In this embodiment, the scanner is a two-dimensional laser scanner 2, which is arranged at the bottom of the beam 1 of the bridge crane. The two-dimensional laser scanner 2 needs to be installed toward the track direction, and the two-dimensional laser scanner 2 needs to be installed when it works. The fan-shaped plane is perpendicular to the running direction of the trolley of the overhead crane to obtain a two-dimensional outline of the interior of the carriage. An incremental encoder 3 and an industrial computer are connected to the cart of the overhead crane, and the industrial computer is used for data processing. The incremental encoder 3 can record the displacement of the beam 1 in the longitudinal direction of the train 4 . The signal of the incremental encoder 3 is connected to the two-dimensional laser scanner 2 through a shielded twisted pair cable. The two-dimensional laser scanner 2 is connected to a network port of the industrial computer through a network cable, and the other network port of the industrial computer can provide external Data Interaction Services.

The displacement data of the bridge crane trolley represented by the 3-pulse count of the trolley incremental encoder is analyzed. In the analysis process, based on the geometric relationship between polar coordinates and Cartesian coordinates, and through the displacement data of the bridge crane, the two-dimensional contour data set obtained by the continuous sampling of the two-dimensional laser scanner 2 is subjected to successive dynamic three-dimensional reconstruction, and the parking of the train 4 is constructed. The three-dimensional contour surface data of the region. In this embodiment, the three-dimensional contour surface data is three-dimensional point cloud data.

As shown in Figure 3, when actually measuring the interior of the car, the steps are as follows:

Step 1: Gather the data obtained by the continuous sampling of the two-dimensional laser scanner 2, including the two-dimensional contour information, and the pulse count of the cart incremental encoder 3.

Step 2: Based on the geometric relationship between polar coordinates and rectangular coordinates, analyze and convert the two-dimensional contour information to obtain a two-dimensional contour data set in the Cartesian coordinate system. Then, analyze the 3-pulse count of the cart incremental encoder to obtain the bridge type The displacement data of the crane trolley, and finally, the displacement data of the bridge crane trolley is successively used as the third-dimensional coordinate axis of the rectangular system to fuse the two-dimensional contour data set, so as to realize the parking area of the train 4 through the bridge crane carrying the two-dimensional laser scanner 2 The three-dimensional reconstruction of the vehicle can obtain the three-dimensional contour surface data of the interior of the carriage.

Specifically, in this embodiment, the actual displacement resolution of the incremental encoder 3 of the overhead crane trolley and the coordinate transformation parameters from the measuring device to the intelligent loading and unloading system of the overhead crane need to be obtained.

The actual displacement resolution of the bridge crane cart incremental encoder 3, that is, the cart travel distance corresponding to the unit pulse. Select two points along the moving direction of the beam 1 of the bridge crane, namely point P and point Q. The farther the distance between point P and point Q is, the better, and the coordinate values of point P and point Q in the direction of the cart are recorded respectively. And the two-dimensional laser scanner 2 obtains the pulse count of the incremental encoder 3 when the bridge crane passes through the P point and the Q point position, and the calculation formula of the displacement resolution of the incremental encoder 3 is:

R=(Px-Qx)/(M-N)

In the formula, Px is the coordinate of point P in the direction of the trolley of the bridge crane, Qx is the coordinate of point Q in the direction of the trolley of the bridge crane, and M is the pulse of the incremental encoder 3 when the bridge crane passes the point P. Count, N is the pulse count of the incremental encoder 3 when the bridge crane passes the Q point, R is the displacement resolution of the incremental encoder 3 along the direction of the cart, that is, the displacement represented by each pulse.

The coordinate transformation parameters from the measuring device to the bridge crane intelligent loading and unloading system, including the heading angle, roll angle, pitch angle and three-axis translation parameters, a total of 6 parameters. The right-hand coordinate system of the bridge crane intelligent loading and unloading system is established with the ground plane as the reference, the ground plane is selected as the marker, the roll angle and pitch angle are calculated, the straight track of the train 4 is selected as the marker, the heading angle is calculated, and the 4 carriage 5 of the train is selected. A fixed point is used as a marker, and the three-axis translation parameters are calculated.

Step 3: Firstly, the method of clustering and segmentation is used to extract the spatial position information inside the carriage 5 . The normal direction of the bottom plate of the carriage 5 is the first direction, and the direction of the intersection between the planes where the baffles are located on the saddle 6 is the second direction. There may be two or more saddles 6, which are arranged in sequence along the center line of the bottom plate of the carriage 5 perpendicular to the width direction. The second direction of each saddle 6 may be the same as the installation direction of the saddles, or may be perpendicular to the installation direction of the saddles 6 .

As shown in FIG. 1 , there are two saddles 6 , the two saddles 6 are sequentially arranged along the length direction of the bottom plate on the center line perpendicular to the width direction, and the second direction of the two saddles 6 is arranged along the width direction of the carriage , which is perpendicular to the setting direction between the saddles 6 . In this embodiment, the height direction of the train 4 is the first direction, and the three-dimensional contour is reduced to face the floor of the carriage 5 of the train 4 along the height direction of the carriage by the projection method, and the two-dimensional contour of the carriage 5 of the train 4 projected on the floor is obtained, is the first two-dimensional contour. In this embodiment, the second directions of the two saddles 6 are both perpendicular to the setting direction, so the two saddles 6 do not overlap each other when projected along the width direction of the carriage, and the projection dimension reduction of the two saddles 6 can be performed at the same time . Specifically, the first two-dimensional contour is analyzed to obtain a mid-vertical plane of the bottom surface of the carriage that is perpendicular to the width direction of the carriage 5 . Finally, based on the above-mentioned mid-vertical plane, the bottom plate of the carriage 5, the saddles 6, and the baffles 7 are projected and reduced in dimension along the width direction of the carriage, and the second two-dimensional contours of the two saddles 6 are obtained at the same time. In this embodiment, the saddle 6 is arranged on the center line of the carriage floor in the longitudinal direction, so the projection dimension reduction is performed from the midplane of the carriage in the width direction, without additional coordinate conversion, which reduces the amount of calculation in subsequent steps.

When the second direction of each saddle 6 is the same as the setting direction of each saddle, the vertical planes of each saddle 6 perpendicular to the second direction can be obtained respectively, and then the vertical planes of each saddle 6 are respectively aligned with each other. The bottom plate of the carriage 5 and the baffle plate 7 of the saddle 6 are subjected to projection dimension reduction, and the second two-dimensional contour of each saddle 6 is obtained respectively.

The position of each saddle 6 can be identified first, and then projection dimension reduction is performed on the vertical plane of each saddle 6 to obtain the second two-dimensional contour of each saddle 6 respectively. Specifically, as shown in FIG. 2 , the two saddles 6 are arranged in sequence along the center line of the longitudinal direction of the carriage floor, and the second direction of the two saddles 6 is also the longitudinal direction of the carriage, which is the same as the direction of the saddles. In the second direction, there is an overlap of the two saddles 6 . Therefore, in this embodiment, first, the three-dimensional contour is reduced to face the floor of the train 4 and the carriage 5 along the height direction of the carriage by the projection method, and the projection of the interior of the carriage in the height direction is obtained as the first two-dimensional contour. According to the constraints such as angles, the first two-dimensional contour is solved, clustered and divided to obtain the position of each independent saddle 6, and then the two saddles 6 are projected and reduced in dimension along the length of the carriage to obtain two The second two-dimensional profile of the saddle 6 .

Step 4: For the target objects such as carriage 5, saddle 6 and baffle 7, define common data feature descriptions such as planes, straight lines, and normals, establish thresholds for characteristic parameters such as length, width, and angle, and adopt adaptive multi-scale screening. , perform iterative recursive processing on the above-mentioned three-dimensional contour surface data, the first two-dimensional contour and the second two-dimensional contour, so as to realize target object recognition and extraction.

Step 5: Extract the feature information of the target objects such as the carriage 5, the saddle 6 and the baffle 7 of the train 4, including the length, width and height of the carriage, the angle between the baffle 7 and the bottom plate of the saddle 6, the coordinates of the saddle 6, and so on. Then, the coordinate data in the feature information is converted through the coordinate transformation parameters from the measuring device to the bridge crane intelligent loading and unloading system. Finally, the final result information is fed back to the bridge crane intelligent loading and unloading system through the external data exchange service interface. The feature information includes, but is not limited to, the length, width, and height of the carriage, the angle between the baffle plate 7 of the saddle 6 and the bottom plate, the coordinates of the saddle 6, and the like.

To sum up, the method and device for measuring the interior of the vehicle in this embodiment can obtain the position and shape information of the vehicle body and the load-bearing unit in the vehicle by reducing the dimensionality of the three-dimensional contour surface in the vehicle, and then performing feature recognition. It can provide the required position and size parameters for the automatic loading and unloading system, which is convenient for automatic loading and unloading. The three-dimensional contour surface in the carriage is obtained by scanning, without manual participation, with good positioning accuracy and high positioning efficiency.

The above-mentioned embodiments merely illustrate the principles and effects of the present invention, but are not intended to limit the present invention. Anyone skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed in the present invention should still be covered by the claims of the present invention.

Claims (10)

1. A carriage interior measuring method is characterized in that a bearing unit used for bearing materials is arranged in a carriage, and comprises the following steps:

acquiring a three-dimensional contour surface in a carriage;

performing projection dimension reduction on the three-dimensional contour surface to obtain a two-dimensional contour;

and presetting a characteristic parameter threshold, and identifying the two-dimensional contour according to the characteristic parameter threshold to obtain the characteristic information of the three-dimensional contour surface.

2. The cabin interior measuring method according to claim 1, characterized in that: the carriage is provided with a loading and unloading opening for material to enter and exit, and the bearing unit at least comprises two baffles for bearing circular materials;

the two baffles are arranged at an included angle, the opening of the included angle between the two baffles faces the loading and unloading opening, the direction of the intersection line between the planes where the two baffles are located is the second direction, the second direction is perpendicular to the opening direction of the loading and unloading opening, and the three-dimensional profile surface is projected and reduced in dimension along the second direction to obtain a second two-dimensional profile.

3. The cabin interior measuring method according to claim 2, characterized in that: the opening direction of the loading and unloading opening is a first direction, the three-dimensional profile surface is projected along the first direction to obtain the first two-dimensional profile,

and identifying the first two-dimensional profile according to the characteristic parameter threshold value to obtain a vertical plane of the bearing unit perpendicular to the second direction, and projecting the three-dimensional profile surface along the second direction by the vertical plane.

4. The vehicle interior measuring method according to claim 2, characterized in that: and identifying the second two-dimensional contour according to the characteristic parameter threshold value, and acquiring the size of the inner wall of the carriage, the included angle between the two baffles and the position of the bearing unit.

5. The cabin interior measuring method according to claim 2, characterized in that: the carriage comprises a length direction, a height direction and a width direction, and an intersecting line between planes where the two baffles are located is arranged along the height direction or the width direction of the carriage.

6. The cabin interior measuring method according to claim 5, characterized in that: the bearing units are two or more, and the bearing units are sequentially arranged along the length direction of the carriage.

7. The cabin interior measuring method according to claim 6, characterized in that: the bearing units are arranged on the bottom plate of the carriage, the bottom plate of the carriage is rectangular, and the bearing units are sequentially arranged on the central line of the carriage bottom plate perpendicular to the width direction.

8. A carriage inside measuring device which characterized in that: the vehicle interior measuring method for implementing any one of claims 2 to 7, comprising a scanner, wherein the scanner is arranged on one side of the vehicle with a loading and unloading opening, and the scanner scans the interior of the vehicle through the loading and unloading opening to obtain a three-dimensional profile surface of the interior of the vehicle.

9. The cabin interior measuring device according to claim 8, characterized in that: the scanning device comprises a carriage, a scanner and a bridge crane, wherein the scanner is arranged on the bridge crane and can move along with the bridge crane, so that the scanning range of the scanner covers the carriage.

10. The cabin interior measuring device according to claim 9, characterized in that: the bridge crane comprises supports arranged on two sides of a carriage, a cross beam arranged on the supports and a displacement sensor used for detecting the position of the cross beam, a scanner arranged on the cross beam, wherein the cross beam is arranged in the opening direction of a loading and unloading opening arranged on the carriage, the scanner can move on the supports along with the cross beam, and the moving direction of the cross beam is intersected with the opening direction of the loading and unloading opening.

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