CN115631329B - Loading control method, system and storage medium for open carriage - Google Patents
Loading control method, system and storage medium for open carriage Download PDFInfo
- Publication number
- CN115631329B CN115631329B CN202211572092.1A CN202211572092A CN115631329B CN 115631329 B CN115631329 B CN 115631329B CN 202211572092 A CN202211572092 A CN 202211572092A CN 115631329 B CN115631329 B CN 115631329B
- Authority
- CN
- China
- Prior art keywords
- carriage
- array
- value
- elements
- loaded
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000005259 measurement Methods 0.000 claims abstract description 73
- 238000004590 computer program Methods 0.000 claims description 16
- 238000012545 processing Methods 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 5
- 239000000463 material Substances 0.000 description 18
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 239000004568 cement Substances 0.000 description 2
- 238000006243 chemical reaction Methods 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
- 238000013459 approach Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 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 system and a storage medium for an open carriage, which are characterized in that three-dimensional point cloud data of a vehicle to be loaded are acquired, then three-dimensional point cloud view angles are adjusted and converted into two-dimensional side images for displaying the side parts of the vehicle through gestures, the ordinate of each differential point at the bottom of the carriage is sequentially acquired at the level differential position of the carriage area and processed to form a measurement array, whether bagged cargoes exist in the carriage area is judged according to the condition of the difference value of the longitudinal coordinates of two adjacent elements before and after the measurement data, the method can adapt to various vehicle types and prevent misjudgment caused by interference, and therefore whether the bagged cargoes exist in the carriage of the vehicle to be loaded is accurately judged, and the function expansion of the loading operation of the existing loading system on the loaded cargoes is realized.
Description
Technical Field
The invention relates to the technical field of three-dimensional detection, in particular to a loading control method, a loading control system and a storage medium for an open carriage.
Background
In enterprises such as cement factories, loading and unloading of carriages of bagged materials are one of important links for enterprises to generate shipment. Automatic loading and unloading equipment is often used for replacing manual transportation in order to improve working efficiency. The automatic loading and unloading equipment in the operation needs to accurately know the carriage size and positioning information to smoothly finish the automatic operation. At present, when bagged materials such as cement bags and the like are loaded in the industry, empty vehicles are loaded, but in practice, the condition that cargoes exist in a carriage also happens, such as mixed loading of different kinds of bagged materials and the like. However, since the amount of the bagged materials in the carriage is unknown, the heights of the materials are different, and the existing cargoes are lower than the side guardrails and higher than the side guardrails, so that the dimension measurement of the vehicle is greatly uncertain. Only if the carriage to be loaded is actively identified, the subsequent measurement mode can be rotated according to whether the cargo exists or not. However, the bottom of the carriage is often not absolutely flat, so that various forms such as inclination, partial pothole deformation or foreign matters exist, and difficulty is brought to accurately identifying whether bagged cargoes exist at the bottom of the carriage. The traditional mode of taking pictures in a carriage through an industrial camera and analyzing whether bagged materials exist in the carriage through the pictures can be difficult to stabilize the brightness of a light source in the range of a few meters to more than ten meters under the working conditions of different weather, daytime and evening with great brightness difference due to the image recognition technology, so that the industrial camera is unstable in recognition, and finally the situation in the carriage of a vehicle to be loaded cannot be accurately recognized in various working environments.
Disclosure of Invention
The invention provides a loading control method for an open carriage, which is used for identifying whether bagged cargoes exist in the carriage of a vehicle to be loaded or not and comprises the following steps of:
s1, three-dimensional point cloud data of a vehicle to be loaded are obtained, a three-dimensional point cloud view angle is adjusted, and the three-dimensional point cloud view angle is converted into a two-dimensional side image for displaying the side part of the vehicle through gesture;
s2, identifying a carriage area on the two-dimensional side image, sequentially acquiring the ordinate of each isoelectric point at the bottom of the carriage at the horizontal isoelectric position of the carriage area, and processing to form a measurement array;
s3, acquiring the longitudinal coordinate difference values of the front and rear 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 with the numerical value in each longitudinal coordinate difference value being larger than a preset value;
and S4, if the number of the positive and negative values is smaller than half of the number of elements in the measurement array and the number of the ripples is larger 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 larger than a reference value, judging that bagged cargoes exist in the carriage area.
Preferably, the step S2 further includes:
s21, identifying a carriage area on the two-dimensional side image, acquiring coordinates of a carriage head and a carriage tail to be loaded, sequentially measuring the ordinate of each differential point at the bottom of the carriage at the position of the differential between the carriage head and the carriage tail, 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 greater than the threshold value in the original array to form a measurement array.
Preferably, the step S3 further includes:
s31, acquiring the longitudinal coordinate difference values of the front and rear adjacent elements in the measurement array along the same direction
Wherein
，
In order to measure the number of elements within the array,
to measure the first in the array
The values of the individual elements are sequentially judged
When (1) is positive and negative
Number of time plus and minus values
Self-adding 1; when (when)
Number of time plus and minus values
The self-subtraction of 1 is carried out,
is zero;
s32, acquiring thickness information of bagged cargoes to be loaded, and inquiring stacking thickness parameters for judging whether the ripple amplitude of the bottom of the carriage is not the concave-convex surface of the bottom of the carriage in a carriage database according to the thickness information
Sequentially judging
When the absolute value of (1)
Number of time corrugations
And 1 is added.
Preferably, the step S4 includes:
s41, inquiring a preset proportion for judging that the ripple at the bottom of the carriage is the bagged goods in a carriage database according to the size information of the bagged goods to be loaded, and judging a reference value of a measurement array standard deviation for judging that the bagged materials exist in the carriage
；
S42, if the number of the positive and negative values is less than half of the number of elements in the measurement array, and the number of the ripples is greater than the number of elements in the measurement arrayCalculating the standard deviation of the measurement array
，
If the standard deviation
Greater than a reference value
If the standard deviation is the case, judging that the bagged goods exist in the carriage area
Not greater than the reference value
It is determined that no bagged cargo is present in the passenger compartment area.
Preferably, the loading control method for an open wagon further includes: when the number of the positive and negative values is not less than half of the number of elements in the measurement array, judging that no bagged goods exist in the carriage area and the bottom of the carriage is inclined; when the number of the positive and negative values is smaller than half of the number of elements in the measurement array, but the number of the ripples is smaller than the preset proportion of the number of the elements in the measurement array, judging that local deformation exists at the bottom of the carriage area or foreign matters exist at the bottom of the carriage.
The invention also discloses a loading control system for the open carriage, which is used for identifying whether bagged cargoes exist in the carriage of the vehicle to be loaded or not, and comprises the following steps: the three-dimensional acquisition module is used for acquiring three-dimensional point cloud data of a vehicle to be loaded, adjusting a three-dimensional point cloud view angle and converting the three-dimensional point cloud view angle into a two-dimensional side image for displaying the side part of the vehicle through the gesture; the array acquisition module is used for identifying a carriage area on the two-dimensional side image, sequentially acquiring the ordinate of each isoelectric point at the bottom of the carriage at the horizontal isoelectric position of the carriage area, and processing the ordinate to form a measurement array; the difference value calculation module is used for acquiring the longitudinal coordinate difference values of the front and rear 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 with the numerical value in each longitudinal coordinate difference value being larger than a preset value; and the judging module is used for calculating the standard deviation of the measurement array when the number of positive and negative values is smaller than half of the number of elements in the measurement array and the number of ripples is larger than the preset multiple of the number of elements in the measurement array, and judging that the bagged goods exist in the carriage area if the standard deviation is larger than the reference value.
Preferably, the array acquisition module includes: the carriage acquisition module is used for identifying a carriage area on the two-dimensional side image, acquiring coordinates of a carriage head and a carriage tail to be loaded, sequentially measuring the longitudinal coordinates of each differential point at the bottom of the carriage at the position of the differential between the carriage head and the carriage tail, and forming an original array; and the error removing module is used for obtaining the distance value between each element in the original array and the median of the original array, and deleting the array element corresponding to the distance value larger than the threshold value in the original array to form a measurement array.
Preferably, the difference calculating module includes: the ripple judging module is used for acquiring the longitudinal coordinate difference value of the front and rear adjacent two elements in the measurement array along the same direction
Wherein
，
In order to measure the number of elements within the array,
to measure the first in the array
The values of the individual elements are sequentially judged
When (1) is positive and negative
Number of time plus and minus values
Self-adding 1; when (when)
Number of time plus and minus values
The self-subtraction of 1 is carried out,
is zero; the amplitude judging module is used for acquiring thickness information of bagged cargoes to be loaded, and inquiring stacking thickness parameters for judging whether the ripple amplitude of the bottom of the carriage is not the concave-convex surface of the bottom of the carriage in the carriage database according to the thickness information
Sequentially judging
When the absolute value of (1)
Number of time corrugations
And 1 is added.
The invention also discloses a loading control device for the open carriage, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the steps of any one of the methods when executing the computer program.
The invention also discloses a computer readable storage medium storing a computer program which when executed by a processor implements the steps of any of the methods described above.
According to the loading control method, the loading control system and the storage medium for the open carriage, provided by the invention, by acquiring three-dimensional point cloud data of a vehicle to be loaded, adjusting a three-dimensional point cloud view angle, converting the three-dimensional point cloud view angle into a two-dimensional side image for displaying the side part of the vehicle, sequentially acquiring the ordinate of each differential point at the bottom of the carriage at the horizontal equidifferent positions of the carriage area, processing the ordinate to form a measurement array, judging whether bagged cargoes exist in the carriage area according to the condition of the difference value of the longitudinal coordinates 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 cargoes exist in the carriage of the vehicle to be loaded, solving the problem that only empty vehicles can be loaded in the existing automatic loading industry, and realizing the functional expansion of loading operation of the loaded cargoes by the existing loading system.
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 embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
fig. 1 is a flow chart of a loading control method for an open wagon 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 present invention.
Fig. 3 is a two-dimensional image of a side of a vehicle to be loaded in accordance with an embodiment of the present invention.
Fig. 4 is a schematic flow chart of step S2 according to an embodiment of the invention.
Fig. 5 is a schematic diagram of two-dimensional image isocenter acquisition according to an embodiment of the present invention.
Fig. 6 is a schematic diagram illustrating a 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 more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first," "second," and the like in the description and in the claims, are not used for any order, quantity, or importance, but are used for distinguishing between different elements. Likewise, 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 wagon, which can be used for identifying whether bagged cargoes exist in the wagon of a vehicle to be loaded or not based on 3D point cloud data under the condition that the specification and the size of the wagon are unknown and the quantity of bagged materials are unknown, and concretely comprises the following steps of.
Step S1, three-dimensional point cloud data of a vehicle to be loaded are obtained, a three-dimensional point cloud view angle is adjusted, and the three-dimensional point cloud data are converted into two-dimensional side images for displaying the side parts of the vehicle through gestures.
Specifically, fig. 2 is three-dimensional point cloud data of a vehicle to be loaded, and it can be seen from the figure that bagged materials exist in the carriage. Adjusting the perspective of a three-dimensional point cloud through a posture conversion matrix derived from a three-dimensional vehicle system, e
Converted into a lateral view, as shown in figure 3, of the bagThe material is flatly paved in the car hopper, and the bottom is observed from the side to show a corrugated shape.
And S2, identifying a carriage area on the two-dimensional side image, sequentially acquiring the ordinate of each differential point at the bottom of the carriage at the horizontal differential position of the carriage area, and processing to form a measurement array. After the 3D point cloud outline is converted into a 2D image, the 2D image is measured, and whether bagged materials exist in the hopper or not is judged through an algorithm.
As shown in fig. 4, this step S2 may further include the following.
And S21, identifying a carriage area on the two-dimensional side image, acquiring coordinates of a carriage head and a carriage tail to be loaded, sequentially measuring the ordinate of each differential point at the bottom of the carriage at the position of the differential between the carriage head and the carriage tail, and forming an original array.
As shown in fig. 5, specific coordinates of the head and the tail are measured, and coordinates of each point at the bottom of the car are measured at the head-to-tail equidifferent positions. Each point measured by the position of the bottom of the hopper
Original array of coordinates
By analyzing the array algorithm, whether bagged materials exist in the carriage or not can be judged.
Step 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 value 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, and the elements with the distance larger than the threshold value can better reflect the real situation by the rest of the array.
Array of arrays
Subtracting the median of the array
Obtaining an array
，
Array reservation
Elements less than the threshold, the retained elements forming a new array, i.e. a measurement array
，
Array eliminates
Interference points in the array, thereby ensuring more accurate subsequent judgment.
And S3, acquiring the longitudinal coordinate difference values of the front and rear 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 with the numerical value in each longitudinal coordinate difference value being larger than a preset value.
In the present embodiment, this step S3 may specifically include the following.
Step S31, acquiring the difference value of the longitudinal coordinates of the front and rear adjacent elements in the measurement array along the same direction
Wherein
，
In order to measure the number of elements within the array,
to measure the first in the array
The values of the individual elements are sequentially judged
When (1) is positive and negative
Number of time plus and minus values
Self-adding 1; when (when)
Number of time plus and minus values
The self-subtraction of 1 is carried out,
is zero.
Specifically, this step can be used for preliminary recognition of car waviness: measurement array
The ortho-position subtraction value is
When (when)
When the average particle diameter is greater than 0
Self-adding 1 when
Less than 0
And 1 self-subtracting. If the carriage image is corrugated, then
The value of (2) is close to 0. Whereas, if straight, the measurement array exhibits an increment or decrement,
will be relatively large, and therefore
The value of (2) may be used as a judgment condition for primarily judging the moire. Calculating a measurement array
The difference value of each adjacent element in the array,
when (when)
,
Increase 1 when
,
1 decrease.
Step S32, obtaining thickness information of bagged cargoes to be loaded, and inquiring stacking thickness parameters for judging whether the ripple amplitude of the bottom of the carriage is not the concave-convex surface of the bottom of the carriage in a carriage database according to the thickness information
Sequentially judging b i When the absolute value of (1)
Number of time corrugations
And 1 is added.
Specifically, this step can be used for calculation of the car ripple amplitude value. In a real situation, the bottom of the carriage is not absolutely straight, so that even if the bottom of the carriage is horizontal, no inclination occurs, and the array of measurements
Also, each element of (2) is different in size. In this embodiment, if the stacking thickness parameter is obtained after the inquiry
5mm, when
When the absolute value of (2) is greater than 5mm
The self-adding of the water is 1,
the larger the value the larger the amplitude is indicated,
smaller values indicate smaller amplitudes, i.e
In the time-course of which the first and second contact surfaces,
the value is increased by 1.
And S4, if the number of the positive and negative values is smaller than half of the number of elements in the measurement array and the number of the ripples is larger 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 larger than a reference value, judging that bagged cargoes exist in the carriage area.
In this embodiment, step S4 may further include the following.
Step S41, inquiring a preset proportion for judging that the ripple at the bottom of the carriage is the bagged goods and judging a reference value of a measurement array standard deviation for judging that the bagged materials exist in the carriage in a carriage database according to the size information of the bagged goods to be loaded
. In this embodiment, according to the size information of the bagged goods to be loaded, the database is queried to obtain the reference value for judging that the ripple at the bottom of the carriage is 0.7 times the number of elements in the array, which is set to the preset proportion of the bagged goods
Then it is 2.8.
Step S42, if the number of the positive and negative values is less than half of the number of 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 the standard deviation
Greater than a reference value
If the standard deviation is the case, judging that the bagged goods exist in the carriage area
Not greater than the reference value
It is determined that no bagged cargo is present in the passenger compartment area.
In the present embodiment, when
The value is less than half the array length, and
when the value is greater than 0.7 times of the array length, the bottom of the carriage is saw-toothed and the saw-toothed shape 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 empty carriage can be judged as the non-bagged goods in the carriage.
I.e. when
Time calculation array
Standard deviation of (2)
When (when)
The bagged materials can be judged to be in the hopper. When (when)
Then an empty car hopper can be determined.
In the present embodiment, the loading control method for an open wagon may further include the following.
And S51, when the number of the positive and negative values is not less than half of the number of elements in the measurement array, judging that no bagged goods exist in the carriage area and the bottom of the carriage is inclined.
Specifically, when the empty car is inclined, the array
The difference will always be greater than 0 or less than 0. Obtained by the previous steps
When (when)
Value of
If the condition is satisfied, it is determined that the interior of the vehicle is empty, but that there is an inclination of the vehicle bottom. Thus, the sample is taken in the previous step
The situation of (2) avoids the interference caused by such a situation. In this step, if it is determined that there is a tilt in the bottom of the car, a prompt message may be issued to confirm whether the car is not housed flat. Because some types of wagons are lift hoppers, tilting of the bottom of the car may occur due to the car not being laid flat.
And step S52, judging that local deformation exists at the bottom of the carriage area or foreign matters exist at the bottom of the carriage when the number of the positive and negative values is smaller than half of the number of elements in the measurement array but the number of the ripples is smaller than the preset proportion of the number of the elements in the measurement array.
In particular, i.e. when
But is provided with
In this case, it is determined that there is small deformation of the bottom of the vehicle cabin, which may be a few small depressions, local deformation, or foreign matter in the bottom of the vehicle cabin.
Finally, after judging whether the cargoes 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 there is no incline or foreign matter in the empty carriage, when the length, width and starting position of the hopper are measured, three-dimensional data of the carriage are converted into overlooking two-dimensional images, as shown in fig. 6, the carriage is directly intercepted to recognize the edges of the carriage, and even if the guard rail is deformed, the vehicle size can be accurately measured, and the material is accurately placed in the carriage. And after the existence of the cargoes at the bottom of the car is judged through the steps, particularly when the bagged cargoes approach or exceed the upper side of the guardrail, the guardrail is affected by the cargoes or covered by the cargoes, so that the upper graph cannot be accurately intercepted, and the measurement result is incorrect if the conventional mode is adopted. Therefore, after the bagged cargoes in the carriage are identified, the carriage size can be measured by using another preset method corresponding to the cargoes in the presence of the bagged materials, for example, the material part is intercepted, the outline is measured, and the measuring position is shifted inwards by a preset value to obtain the presumed carriage guardrail boundary, so that the normal measurement of the vehicle size is realized.
Therefore, in order to accurately measure the size of the vehicle, the precondition of identifying whether the bagged materials exist in the carriage is important to accurately measure the size of the vehicle. If the vehicle cannot be identified, only the coming vehicle is manually specified to be an empty vehicle.
According to the loading control method for the open carriage, the three-dimensional point cloud data of the vehicle to be loaded are acquired, then the three-dimensional point cloud view angle is adjusted, the two-dimensional side image of the side part of the vehicle is displayed through the gesture conversion, the ordinate of each differential point at the bottom of the carriage is sequentially acquired at the horizontal differential position of the carriage area and processed to form a measurement array, whether the bagged goods exist in the carriage area is judged according to the condition of the longitudinal coordinate difference value of the two adjacent elements before and after the measurement data, the method can adapt to various vehicle types and prevent misjudgment caused by interference, and therefore 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 the loading operation of the loaded vehicle by the existing loading system is realized.
In another embodiment, there is also disclosed a loading control system for an open wagon for identifying whether or not there is already a bagged cargo in the wagon 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 a three-dimensional point cloud view angle and converting the three-dimensional point cloud view angle into a two-dimensional side image for displaying the side part of the vehicle through the gesture; the array acquisition module is used for identifying a carriage area on the two-dimensional side image, sequentially acquiring the ordinate of each isoelectric point at the bottom of the carriage at the horizontal isoelectric position of the carriage area, and processing the ordinate to form a measurement array; the difference value calculation module is used for acquiring the longitudinal coordinate difference values of the front and rear 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 with the numerical value in each longitudinal coordinate difference value being larger than a preset value; and the judging module is used for calculating the standard deviation of the measurement array when the number of positive and negative values is smaller than half of the number of elements in the measurement array and the number of ripples is larger than the preset multiple of the number of elements in the measurement array, and judging that the bagged goods exist in the carriage area if the standard deviation is larger than the reference value.
Preferably, the array acquisition module includes: the carriage acquisition module is used for identifying a carriage area on the two-dimensional side image, acquiring coordinates of a carriage head and a carriage tail to be loaded, sequentially measuring the longitudinal coordinates of each differential point at the bottom of the carriage at the position of the differential between the carriage head and the carriage tail, and forming an original array; and the error removing module is used for obtaining the distance value between each element in the original array and the median of the original array, and deleting the array element corresponding to the distance value larger than the threshold value in the original array to form a measurement array.
Preferably, the difference calculating module includes: the ripple judging module is used for acquiring the longitudinal coordinate difference value of the front and rear adjacent two elements in the measurement array along the same direction
，Wherein the method comprises the steps of
，
In order to measure the number of elements within the array,
to measure the first in the array
The values of the individual elements are sequentially judged
When (1) is positive and negative
Number of time plus and minus values
Self-adding 1; when (when)
Number of time plus and minus values
The self-subtraction of 1 is carried out,
is zero; the amplitude judging module is used for acquiring thickness information of bagged cargoes to be loaded, and inquiring stacking thickness parameters for judging whether the ripple amplitude of the bottom of the carriage is not the concave-convex surface of the bottom of the carriage in the carriage database according to the thickness information
Sequentially judging
The absolute value of (1) at the time of the number of waves
And 1 is added.
It should be noted that, in the present description, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different manner from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. The load control system for an open wagon according to the embodiment corresponds to the load control method for an open wagon according to the embodiment, so that the description is relatively simple, and the description will be made with reference to the method section.
It should be noted that, in the present description, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different manner from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. As for the loading control system for an open wagon according to the embodiment, since it corresponds to the loading control method for an open wagon according to the embodiment, the description is relatively simple, and the description will be made with reference to the method section.
In other embodiments, there is also provided a loading control device for an open wagon, including a memory, a processor, and a computer program stored in the memory and executable on the processor, which when executed implements the steps of the loading control method for an open wagon as described in the above embodiments.
Wherein the load control device for an open cabin may include, but is not limited to, a processor, 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 wagon, and does not constitute a limitation of the load control device apparatus for an open wagon, and may include more or less components than illustrated, or may combine certain components, or different components, e.g., the load control device apparatus for an open wagon may further include an input output device, a network access device, a bus, etc.
The processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that is a control center of the load control device for an open cabin, connecting various parts of the entire load control device for an open cabin using various interfaces and lines.
The memory may be used to store the computer program and/or module, and the processor may implement the various functions of the load control device apparatus for an open cabin by running or executing the computer program and/or module stored in the memory and invoking 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 nonvolatile memory such as a hard disk, a memory, a plug-in type hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), at least one disk storage device, a Flash memory device, or other volatile solid-state storage device.
The loading control device for an open wagon may be stored in a computer-readable storage medium if implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the present invention may implement all or part of the above-described embodiment method, or may be implemented by a computer program for instructing relevant hardware, where the computer program may be stored in a computer readable storage medium, and the computer program may implement the steps of each of the above-described embodiment load control method for an open cabin when executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
In summary, the foregoing description is only of the preferred embodiments of the present invention, and all equivalent changes and modifications made in accordance with the claims should be construed to fall within the scope of the invention.
Claims (7)
1. A loading control method for an open wagon for identifying whether or not there is already a bagged cargo in the wagon of a vehicle to be loaded, comprising the steps of:
s1, three-dimensional point cloud data of a vehicle to be loaded are obtained, a three-dimensional point cloud view angle is adjusted, and the three-dimensional point cloud view angle is converted into a two-dimensional side image for displaying the side part of the vehicle through gesture;
s2, identifying a carriage area on the two-dimensional side image, sequentially acquiring the ordinate of each isoelectric point at the bottom of the carriage at the horizontal isoelectric position of the carriage area, and processing to form a measurement array;
s3, acquiring the longitudinal coordinate difference value of the front and rear adjacent elements in the measurement array along the same direction
，/>
Wherein->
For measuring the number of elements in an array, +.>
For measuring the value of the i-th element in the array, judging in turn +.>
Positive and negative of->
Number of time plus and minus values->
Self-adding 1; when->
Number of time plus and minus values->
Self-decreasing 1->
Is zero; the method comprises the steps of obtaining the number of positive and negative values in each longitudinal coordinate difference value, inquiring thickness information of bagged goods to be loaded, and inquiring corresponding stacking thickness parameters in a carriage database according to the thickness information>
The stacking thickness parameter->
Is used for judging whether the ripple amplitude of the bottom of the carriage is the concave-convex surface of the bottom of the carriage or not, and judging +.>
Absolute value of>
The number of time ripples>
Self-adding 1; finally, obtaining the difference value of each longitudinal coordinate>
The number d of the corrugations of which the numerical value is larger than a preset value;
and S4, if the number of the positive and negative values is smaller than half of the number of elements in the measurement array and the number of the ripples is larger 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 larger than a reference value, judging that bagged cargoes exist in the carriage area.
2. The loading control method for an open wagon 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 carriage head and a carriage tail to be loaded, sequentially measuring the ordinate of each differential point at the bottom of the carriage at the position of the differential between the carriage head and the carriage tail, 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 greater than the threshold value in the original array to form a measurement array.
3. The loading control method for an open wagon according to claim 2, further comprising:
when the number of the positive and negative values is not less than half of the number of elements in the measurement array, judging that no bagged goods exist in the carriage area and the bottom of the carriage is inclined;
when the number of the positive and negative values is smaller than half of the number of elements in the measurement array, but the number of the ripples is smaller than the preset proportion of the number of the elements in the measurement array, judging that local deformation exists at the bottom of the carriage area or foreign matters exist at the bottom of the carriage.
4. A loading control system for an open wagon for identifying whether or not a bagged cargo is already present in the wagon 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 a three-dimensional point cloud view angle and converting the three-dimensional point cloud view angle into a two-dimensional side image for displaying the side part of the vehicle through the gesture;
the array acquisition module is used for identifying a carriage area on the two-dimensional side image, sequentially acquiring the ordinate of each isoelectric point at the bottom of the carriage at the horizontal isoelectric position of the carriage area, and processing the ordinate to form a measurement array;
the difference value calculation module is used for acquiring the longitudinal coordinate difference value of the front and rear adjacent two elements in the measurement array along the same direction
，/>
Wherein->
For measuring the number of elements in an array, +.>
For measuring the value of the i-th element in the array, judging in turn +.>
Positive and negative of->
Number of time plus and minus values->
Self-adding 1; when->
Number of time plus and minus values->
Self-decreasing 1->
Is zero; the method comprises the steps of obtaining the number of positive and negative values in each longitudinal coordinate difference value, inquiring thickness information of bagged goods to be loaded, and inquiring corresponding stacking thickness parameters in a carriage database according to the thickness information>
The stacking thickness parameter->
Is used for judging whether the ripple amplitude of the bottom of the carriage is the concave-convex surface of the bottom of the carriage or not, and judging +.>
Absolute value of>
The number of time ripples>
Self-adding 1; finally, obtaining the difference value of each longitudinal coordinate>
The number d of the corrugations of which the numerical value is larger than a preset value;
and the judging module is used for calculating the standard deviation of the measurement array when the number of positive and negative values is smaller than half of the number of elements in the measurement array and the number of ripples is larger than the preset multiple of the number of elements in the measurement array, and judging that the bagged goods exist in the carriage area if the standard deviation is larger than the reference value.
5. The loading control system for an open wagon of claim 4, 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 carriage head and a carriage tail to be loaded, sequentially measuring the longitudinal coordinates of each differential point at the bottom of the carriage at the position of the differential between the carriage head and the carriage tail, and forming an original array;
and the error removing module is used for obtaining the distance value between each element in the original array and the median of the original array, and deleting the array element corresponding to the distance value larger than the threshold value in the original array to form a measurement array.
6. A loading control device for an open wagon, 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, implements the steps of the method according to any one of claims 1-3.
7. A computer-readable storage medium storing a computer program, characterized in that: the computer program implementing the steps of the method according to any of claims 1-3 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 CN115631329A (en) | 2023-01-20 |
| CN115631329B true 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) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116228872B (en) * | 2023-05-08 | 2023-07-21 | 杭州明度智能科技有限公司 | Loading control method, system and storage medium for lacing wire truck |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2015395741B2 (en) * | 2015-05-20 | 2019-06-27 | Mitsubishi Electric Corporation | 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 |
| CN111507390B (en) * | 2020-04-11 | 2023-07-04 | 华中科技大学 | Storage box body identification and positioning method based on contour features |
| CN112365446B (en) * | 2020-10-19 | 2022-08-23 | 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 |
| CN112193706B (en) * | 2020-10-27 | 2021-12-14 | 明度智云(浙江)科技有限公司 | Self-adaptive control method and warehousing control system applied to intelligent warehousing |
| CN113554689B (en) * | 2021-07-19 | 2023-09-22 | 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 (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115631329A (en) | 2023-01-20 |
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 | |
| US9058524B2 (en) | Measuring the range to an object, in an image, using size categorization | |
| CN113874927A (en) | Parking detection method, system, processing device and storage medium | |
| US20150120244A1 (en) | Method and apparatus for road width estimation | |
| CN115631329B (en) | Loading control method, system and storage medium for open carriage | |
| US11092692B2 (en) | Apparatus and method for recognizing location in autonomous vehicle | |
| US10697757B2 (en) | Container auto-dimensioning | |
| US11074708B1 (en) | Dark parcel dimensioning | |
| CN114638974A (en) | Target object identification method, system, medium and electronic terminal | |
| CN114022537A (en) | Vehicle loading rate and unbalance loading rate analysis method for dynamic weighing area | |
| CN115856923A (en) | Measuring method, device, equipment and storage medium for unloading of mine truck | |
| CN113291295A (en) | Parking positioning method for automatically driving port vehicle | |
| CN119206653A (en) | Mining area road surface ponding detection method, device, equipment and storage medium | |
| US20240265558A1 (en) | Method for detecting cargo | |
| CN116051564B (en) | Chip packaging defect detection method and system | |
| WO2025055236A1 (en) | Self-check method and apparatus for change in extrinsic parameter of surround-view fisheye camera | |
| CN114742503B (en) | Intelligent logistics car sharing method and device based on deep learning | |
| CN117581274A (en) | Method for monitoring cargo holds | |
| CN119354052B (en) | Method, device, electronic equipment and computer program product for measuring loading volume | |
| Wang | Advanced Image Processing Techniques for Enhancing Cargo Capacity Optimization in Intelligent Logistics Vehicles. | |
| US20240320978A1 (en) | Method for monitoring a loading space | |
| CN115611160B (en) | Anti-lifting method, device, crane and automation system for container transport vehicle | |
| CN118657706B (en) | Container deformation identification method, device and electronic equipment | |
| CN116758466A (en) | Cargo compartment detection system, cargo compartment detection program, cargo compartment detection method, and learned model for corner detection |
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 |