CN119354051A - Method, device, electronic device and computer program product for measuring loading volume - Google Patents
Method, device, electronic device and computer program product for measuring loading volume Download PDFInfo
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Abstract
The application is suitable for the technical field of traffic logistics, and provides a method and a device for measuring a loading volume, electronic equipment and a computer program product. The method comprises the steps of determining a conveyor belt area in a carriage image acquired by image acquisition equipment, determining the depth of a first type of square lattice based on the depth of carriage point cloud acquired by point cloud acquisition equipment under the condition that a carriage in the carriage image is divided into more than two first square lattices, determining the depth of a second type of square lattice based on the depth of the first type of square lattice, wherein the depth of the second type of square lattice is the first square lattice in the conveyor belt area, the depth of the second type of square lattice represents the distance between goods shielded by a conveyor belt and the electronic equipment, and determining the loading volume of the carriage based on the depth of each first square lattice. The application can improve the measurement accuracy of the loading volume.
Description
Technical Field
The application belongs to the technical field of traffic logistics, and particularly relates to a method and a device for measuring a loading volume, electronic equipment and a computer program product.
Background
With the development of logistics industry, intelligent logistics is increasingly applied to basic movable links such as logistics transportation, storage, distribution, packaging, loading and unloading and the like. In the process of carrying goods by a truck, the intelligent measurement and calculation of the loading rate of the truck carriage is one of the necessary requirements for improving the benefits of the logistics industry. It is often necessary to obtain the loading volume (i.e., the cargo volume) of the car when measuring the loading rate. The related art does not consider the problem of interference of non-loaded cargoes such as a conveyor belt in the cargo loading process when acquiring the loading volume, so that the measurement accuracy of the loading volume is low.
Disclosure of Invention
The embodiment of the application provides a method, a device, electronic equipment and a computer program product for measuring a loading volume, which can improve the measurement accuracy of the loading volume.
In a first aspect, an embodiment of the present application provides a method for measuring a loading volume, which is applied to an electronic device, and the method includes:
determining a conveyor belt area in the carriage image acquired by the image acquisition equipment;
Under the condition that a carriage in the carriage image is divided into more than two first squares, determining the depth of first squares based on the depth of carriage point clouds acquired by point cloud acquisition equipment, wherein the first squares are first squares which are not in the conveyor belt area;
Determining the depth of a second type of square grid based on the depth of the first type of square grid, wherein the second type of square grid is a first square grid in the area of the conveyor belt, and the depth of the second type of square grid represents the distance between goods shielded by the conveyor belt and the electronic equipment;
the loading volume of the car is determined based on the depth of each first square.
In the embodiment of the application, by determining the conveyor belt region in the carriage image acquired by the image acquisition device, under the condition that the carriage in the carriage image is divided into more than two first squares, the depth of the first square (namely, the first type square) which is not in the conveyor belt region is determined based on the depth of the carriage point cloud acquired by the point cloud acquisition device, the depth of the first square (namely, the distance between the goods shielded by the conveyor belt and the electronic equipment) in the conveyor belt region is determined based on the depth of the first type square, and therefore the depth of each first square is obtained, and the loading volume of the carriage can be determined based on the depth of each first square. According to the method and the device, the depth of the first square lattice in the conveyor belt area can be determined based on the depth of the first square lattice which is not in the conveyor belt area through determining the conveyor belt area in the vehicle-mounted image, namely, the distance between goods shielded by the conveyor belt and the electronic equipment is determined, the measurement of the loading volume can be accurately realized based on the depths of the first square lattice, the problem of interference of the conveyor belt in the loading process is solved, and the measurement accuracy of the loading volume is improved.
In a second aspect, an embodiment of the present application provides a measurement device for a loading volume, applied to an electronic device, where the device includes:
The area determining module is used for determining a conveyor belt area in the carriage image acquired by the image acquisition equipment;
The first depth determining module is used for determining the depth of a first type of square grid based on the depth of the carriage point cloud acquired by the point cloud acquisition equipment under the condition that the carriage in the carriage image is divided into more than two first square grids, wherein the first type of square grid is the first square grid which is not in the conveyor belt area;
the second depth determining module is used for determining the depth of a second square grid based on the depth of the first square grid, wherein the second square grid is a first square grid in the area of the conveyor belt, and the depth of the second square grid represents the distance between goods shielded by the conveyor belt and the electronic equipment;
and the loading volume determining module is used for determining the loading volume of the carriage based on the depth of each first square.
In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to cause the electronic device to implement a method as described in the first aspect above.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which when executed by a computer implements a method as described in the first aspect above.
In a fifth aspect, embodiments of the present application provide a computer program product comprising a computer program which, when run, causes the method according to the first aspect described above to be performed.
It will be appreciated that the advantages of the second to fifth aspects may be found in the relevant description of the first aspect, and are not described here again.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a measurement system for a loading volume provided by an application embodiment;
Fig. 2 is a diagram showing a structural example of an electronic device;
FIG. 3 is a top view illustration of a point cloud acquisition device and an image acquisition device;
FIG. 4 is a flow chart of a method for measuring a loading volume according to an embodiment of the present application;
FIG. 5 is an exemplary diagram of a car image with a conveyor belt disposed within the car;
FIG. 6 is an exemplary diagram of a first type of square and a second type of square;
FIG. 7 is a diagram of an example deployment of an electronic device;
fig. 8 is an exemplary diagram of a first pane;
FIG. 9 is a schematic view of a structure of a device for measuring a loading volume according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
The method for measuring the loading volume provided by the embodiment of the application can be applied to electronic equipment such as mobile phones, tablet computers, notebook computers, ultra-mobile personal computer (UMPC), netbooks, personal Digital Assistants (PDA) and the like, and the embodiment of the application does not limit the specific type of the electronic equipment.
Illustratively, FIG. 1 shows a schematic diagram of a load volume measurement system provided by an embodiment of the present application. Referring to fig. 1, the measurement system includes an electronic device 101 and a vehicle 102.
The electronic device 101 can automatically complete the measurement of the loading volume of the carriage of the vehicle 102 on the basis of no need of modifying the carriage and no need of external system access through the complementary erection mode of the point cloud acquisition device and the image acquisition device, and the specific implementation scheme can be seen in the following loading volume measurement method embodiments.
By way of example and not limitation, the point cloud acquisition device may be a Time-of-Flight (ToF) camera, lidar or the like capable of acquiring a point cloud. The image capturing device may be a device capable of capturing a visible light image, such as a wide-angle camera, a fixed-focus camera, or the like.
The field angle of the point cloud acquisition device covers a partial area in the vehicle cabin, and the field angle of the image acquisition device covers the whole area in the vehicle cabin. The far end (the region far away from the electronic equipment in the carriage) of the carriage is covered by the point cloud collecting equipment, the near end (i.e. the region near the electronic equipment in the carriage) is covered by the image collecting equipment, the whole carriage of the vehicle 102 is not required to cover the point cloud, the full-automatic non-sensing measurement of the loading volume in the loading process can be realized on the basis of saving the deployment cost of hardware, the air vehicle is not required to be collected in advance, the operation is simpler, and the measurement efficiency of the loading volume is improved.
In order to achieve accurate measurement of the loading volume of the cabin of the vehicle 102, in an embodiment, the point cloud acquisition device and the image acquisition device may be integrated in the electronic device 101, and the axis of the optical axis of the point cloud acquisition device and the axis of the optical axis of the image acquisition device are parallel, ensuring that the deployment positions of the point cloud acquisition device and the image acquisition device in the electronic device 101 are as close as possible to avoid measurement errors caused by structural deformations. Of course, it is understood that the point cloud acquisition device and the image acquisition device may not be integrated into the electronic device 101, which is not limited by the present application.
In order to ensure that the point cloud collection device and the image collection device in the electronic device 101 can accurately achieve measurement of the loading volume, the deployment position of the electronic device 101 (for example, the height between the lower side wall surface and the upper side wall surface of the vehicle cabin is 5 meters) may be determined based on the height of the lower side wall surface (i.e., the vehicle cabin bottom surface) and the height of the upper side wall surface (i.e., the vehicle cabin top surface) of the vehicle cabin 102, and then the electronic device 101 may be deployed at a position of about 2m from the lower side wall surface of the vehicle cabin, with the axis of the optical axis of the point cloud collection device and the axis of the optical axis of the image collection device being kept parallel to the vehicle cabin longitudinal direction (i.e., the length direction of the vehicle cabin). Because the depth measured by the point cloud collecting device is accurate, when the electronic device 101 is deployed, the length of the maximum coverage area of the view angle of the point cloud collecting device on the lower side wall surface of the carriage is kept to be more than half of the length of the carriage in the length direction of the carriage. For the carriage with shorter length, the length of the coverage area of the point cloud acquisition equipment can be kept unchanged, and the length of the coverage blind area of the point cloud acquisition equipment is shortened. On the basis, the scheme can ensure the measurement precision and scene adaptability of the loading volume under the limited cost, adapt to the carriages with multiple sizes and realize the measurement of the loading volumes of carriages with different sizes.
Fig. 2 is a diagram showing a structural example of the electronic apparatus 101. The electronic device 101 also includes a power chip, which may be a processor. The power calculating chip is used for measuring the loading volume of a carriage based on carriage point clouds acquired by the point cloud acquisition equipment and carriage images acquired by the image acquisition equipment. The vehicle cabin point cloud is a point cloud collected by the point cloud collecting device, and in this embodiment, the point cloud collecting device collects the point cloud of the vehicle cabin, so the point cloud collected by the point cloud collecting device may be referred to as the vehicle cabin point cloud. The image of the carriage is an image acquired by the image acquisition device, and in this embodiment, the image acquisition device performs image acquisition on the carriage, so that the image acquired by the image acquisition device can be called as a carriage image.
Fig. 3 is a top view of the point cloud acquisition apparatus and the image acquisition apparatus. The view angle of the point cloud collecting device in fig. 3 is smaller than that of the image collecting device, so that the far end of the carriage can be covered by the point cloud collecting device, the near end of the carriage is covered by the image collecting device, the whole carriage of the vehicle 102 does not need to cover the point cloud, and the deployment cost of hardware is saved.
Referring to fig. 4, fig. 4 is a flow chart illustrating a method for measuring a loading volume according to an embodiment of the application, which is applied to an electronic device. By way of example, and not limitation, the method includes the steps of:
Step 401, determining a conveyor belt region in a car image acquired by an image acquisition device.
The electronic device can perform semantic segmentation on the carriage image to obtain a conveyor belt region. Fig. 5 is a diagram showing an example of a car image in which a conveyor belt is placed in a car, the car image of fig. 5 is acquired from a rear view of the car by an image acquisition device, and black squares in fig. 5 are areas shielded by the conveyor belt.
Since the position of the conveyor belt in the vehicle cabin is not generally adjusted during the cargo loading process, or the possibility of adjustment is small, the vehicle cabin image can be divided and calculated at a relatively low frequency in order to save the calculation power of the electronic device.
In step 402, in the case of dividing the car in the car image into more than two first squares, the depth of the first type of squares is determined based on the depth of the car point cloud acquired by the point cloud acquisition device.
Wherein the first type of square is a first square not in the conveyor belt area. The depth of the first type of square is the depth of the carriage point cloud corresponding to the first type of square.
Compared with a carriage, the area occupied by the conveyor belt in the carriage is smaller, so that in order to accurately acquire the depth of a first square (namely a second square) in the area of the conveyor belt, the carriage in the carriage image can be divided into more than two first squares, the first square is usually square in order to facilitate calculation, and the side length of the square can be the pixel size corresponding to the depth resolution of the point cloud acquisition equipment in the head area of the carriage. The first square may extend in the longitudinal direction of the cabin to form voxels, and two bottom surfaces of the voxels are respectively the cabin head area and the target measured by the point cloud acquisition device. The cabin head region is generally unchanged, and may be referred to as a fixing surface. The target measured by the point cloud collecting device changes along with the loading of cargoes in the carriage, so the target measured by the point cloud collecting device can be a dynamic change surface, and the carriage point cloud collected by the point cloud collecting device is positioned on the dynamic change surface. The electronic device may project the dynamic change surface onto an image coordinate system, so as to establish a mapping relationship between the vehicle cabin point cloud and the pixel points in the vehicle cabin image, and on this basis, may classify the first lattices corresponding to the dynamic change surface, so as to determine the first lattices (i.e. the second type lattices) that are in the conveyor belt area and the first lattices (i.e. the first type lattices) that are not in the conveyor belt area. Fig. 6 is an exemplary diagram of first-type squares and second-type squares, and white squares are second-type squares and black squares are first-type squares in fig. 6.
As shown in fig. 7, which is a deployment example diagram of an electronic device, the tof region in fig. 7 is a target coverage area, and the camera region is a coverage blind area of a point cloud acquisition device. Fig. 7 shows that the view angle of the point cloud collection device covers a partial area in the vehicle cabin, and the view angle of the image collection device covers the entire area in the vehicle cabin. In fig. 7, L and D1 denote the length of the vehicle cabin, W denotes the width of the vehicle cabin, H denotes the height of the vehicle cabin, and D2 denotes the distance between the rear of the vehicle cabin and the electronic device, and the present application is not limited to the manner of acquiring the data of these vehicle cabins.
The target coverage area is the maximum coverage of the view angle of the point cloud acquisition equipment on the lower side wall surface of the carriage.
In one possible implementation, the electronic device may determine whether the cargo exceeds the target coverage area based on the depth of the car point cloud acquired by the point cloud acquisition device. If the cargo does not exceed the target coverage area, it may be determined that the cargo is within the coverage area of the cabin point cloud, in which case the depth of the first type of square may be determined based on the depth of the cabin point cloud. If the cargo exceeds the target coverage area, determining the depth of the pixel point of the cargo area in the carriage image based on the carriage image and the depth of the carriage point cloud, and determining the depth of the first square based on the depth of the pixel point of the cargo area.
In one possible implementation manner, the determining manner of the depth of the pixel point of the area where the cargo is located includes:
determining the depth of a first pixel point and the depth of a second pixel point, wherein the first pixel point is a pixel point on the edge of an area where goods are located, and the second pixel point is a pixel point in the area where goods corresponding to the carriage point cloud are located;
and determining the depth of a third pixel point based on the depth of the first pixel point and the depth of the second pixel point, wherein the third pixel point is a pixel point except the first pixel point and the second pixel point in the area where the goods are located.
The electronic equipment performs monocular ranging by utilizing internal parameters of the image acquisition equipment based on the height and width of the carriage and the position information of the edge of the area where the goods are located in the carriage, and the distance between the edge of the area where the goods are located and the electronic equipment can be determined, wherein the distance is the depth of the pixel point on the edge of the area where the goods are located.
Because the field angle of the point cloud acquisition equipment is smaller, the coverage range of the measured carriage point cloud is smaller, and the depth of the pixel point between the carriage point cloud and the edge of the cargo area in the carriage image is unknown. The cargo loading has continuity, so that the pixel point with unknown depth (namely, the third pixel point) can be interpolated (for example, smooth interpolation, or other interpolation modes can be adopted, but the application is not limited to the interpolation modes), based on the depth of the first pixel point and the depth of the second pixel point, so that the depths of all the pixel points in the region where the cargo is located are obtained.
Step 403, determining the depth of the second type of square based on the depth of the first type of square, the second type of square being the first square in the conveyor belt area.
Wherein the depth of the second type of square characterizes the distance between the goods shielded by the conveyor belt and the electronic device.
In an embodiment, after determining the second type of square, the second type of square may be marked as an occlusion area, and the electronic device may perform depth prediction on the second type of square marked as the occlusion area based on the depth of the first type of square.
Because the conveyer belt is located the lower lateral wall face in carriage, and the conveyer belt is shielded for the below to the shielding of goods promptly, so electronic equipment can adopt from top to bottom to the prediction mode that grows from left and right sides to the centre carries out the degree of depth prediction to second type square.
In one possible implementation manner, the above prediction manner of the growth from top to bottom and from left to right to middle includes:
Determining the depth of a first reference square as the bearing depth of a second square, wherein the first reference square is the first square positioned right above the second square;
Interpolating the second type of square grid based on the depth of the second type of square grid, the depth of the third type of square grid, the first target distance and the second target distance to obtain the horizontal prediction depth of the second type of square grid, wherein the second type of square grid is the first type of square grid positioned on the left side of the second type of square grid, the third type of square grid is the first type of square grid positioned on the right side of the second type of square grid, the first target distance is the distance between the second type of square grid and the second reference square grid, and the second target distance is the distance between the second type of square grid and the third reference square grid;
the depth of the second type of square is determined based on the horizontal predicted depth and the bearing depth.
When the electronic equipment predicts from top to bottom, the bearing depth of the second type square grid can be calculated based on the principle of cargo bearing capacity (namely, the upper layer cargo is certainly supported by the lower layer cargo). When the electronic equipment predicts from the left side to the right side to the middle, the depth of the second reference square, the depth of the third reference square, the first target distance and the second target distance can be obtained, and interpolation can be carried out on the second square based on the data to obtain the horizontal predicted depth of the second square. The present application is not limited to the interpolation method, and may be, for example, linear interpolation.
Based on cargo bearing analysis, it can be determined that the depth of the upper layer cargo is generally greater than the depth of the lower layer cargo, and the first reference square is located right above the second square, so that the bearing depth can be used as the upper depth limit of the second square, and the depth of the second square is determined based on the comparison result of the horizontal prediction depth and the bearing depth.
In one possible implementation, if the horizontal prediction depth is greater than or equal to the loading depth, determining the depth of the second type square as the loading depth.
And determining the depth of the second square as the bearing depth when the horizontal prediction depth is greater than or equal to the bearing depth because the bearing depth is the upper depth limit of the second square.
In another possible implementation manner, if the horizontal prediction depth is smaller than the bearing depth, determining a bearing distance and a horizontal prediction distance of the second type of square, wherein the bearing distance is a distance between the second type of square and a first type of square positioned right above the second type of square, and the horizontal prediction distance is a minimum value of a first target distance and a second target distance;
The depth of the second type of square is determined based on the loading depth, the loading distance, the horizontal predicted depth, and the horizontal predicted distance.
When the electronic equipment predicts from top to bottom, the bearing distance of the second type of square grid can be calculated based on the cargo bearing principle. When the electronic equipment predicts from the left side to the right side to the middle, the horizontal prediction distance of the second type square lattice can be obtained.
Considering that the two first square grids with the longer distance have smaller correlation and the two first square grids with the shorter distance have larger correlation, the electronic equipment can perform depth compensation calculation on the second square grid based on the bearing depth, the bearing distance, the horizontal prediction depth and the horizontal prediction distance, so that the depth of the second square grid is obtained.
The formula of the depth compensation calculation is as follows:
wherein, Representing the second type of square depth; representing the bearing distance of the second type of square; Representing the horizontal prediction distance of the second type of square; representing the loading depth of the second type of square; representing the horizontal prediction depth of the second type of square.
Step 404, determining the loading volume of the carriage based on the depth of each first square.
The electronic equipment can calculate the empty capacity of the carriage based on the depth of each first square, and the loading volume can be obtained by subtracting the empty capacity from the carriage volume.
In one possible implementation, the electronic device may calculate the volume of each first square based on the depth, the width, and the height of each first square, and add the volumes of each first square to obtain the spare capacity of the vehicle cabin. The width and height of the first square are related to the resolution of the point cloud acquisition device.
In another possible implementation, the electronic device may determine a depth of each second square based on the depth of each first square, the second square including more than two first squares, and determine a loading volume of the car based on the depth of each second square.
Since the number of the first squares is large, the electronic device determines the loading volume based on the depth of each second square, and the calculation amount can be reduced.
Depending on the dynamics of the disturbance object (e.g. loading of human sources, loading aids, etc. non-loaded goods) during loading, there is a large possibility of variation in the short time scale. While the loaded cargo exhibits a certain stability in a short time scale. In addition, the depth of loaded cargo, in addition to stability, is often greater than the depth of the foreground dynamic interferer. Based on the correlation characteristics, on the basis of dividing a carriage in a carriage image into more than two first squares, filtering dynamic interferents by a time domain sliding window method, then calculating the depth confidence coefficient of the first squares by a space domain bearing filter method and an interferent shielding smooth filter method, and finally calculating the depth of each second square based on the depth confidence coefficient of the first square, measuring the loading volume on the basis, wherein the robustness is high, and the influence of filtering dynamic interferents such as loading personnel, loading auxiliary tools and the like on the measurement of the loading volume can be reduced, so that the accurate measurement of the loading volume in the loading process is realized. As shown in fig. 8, which is an exemplary diagram of the first square, the cabin is divided into a large number of small squares, and the measurement of the loading volume is achieved based on the large square including a plurality of small squares.
The electronic device can calculate the volume of each second square based on the depth and the area of each second square, add the volumes of each second square to obtain the empty capacity of the carriage, and subtract the empty capacity from the carriage volume to obtain the loading volume.
The area of the second square may be the sum of the areas of two or more first squares included in the second square.
In one possible implementation, before determining the depth of each second square based on the depth of each first square, the method may filter the dynamic interferents by a time domain sliding window method, including:
For any first square, based on a time scale of k×q, the depth of the first square is updated to be the maximum value of k depths corresponding to k time windows in every k time windows, k is an integer greater than 1, q is a sliding step length of the time windows, and q is an integer greater than zero.
Because the depth of the loaded cargoes is often larger than the depth of the dynamic interferents, the electronic equipment updates the depth of the first square to the maximum value of k depths corresponding to k time windows, and the dynamic interferents can be filtered.
By way of example and not limitation, k is 10 and q is 1 second, for each first square, a maximum value is selected from 10 depths every 10 seconds as the depth of the first square in the current load volume measurement, and if dynamic interferents are present in the 5 th second car, the depth of the first square at the 5 th second can be filtered by selecting the maximum value, thereby filtering the dynamic interferents.
In one possible implementation, the electronic device may determine a target depth confidence for each first square before determining the depth for each second square based on the depth of each first square, and determine the depth for each second square based on the depth for each first square and the target depth confidence.
The depth confidence of the first square may characterize the confidence of the depth of the first square. The depth confidence of the first square herein includes a target depth confidence of the first square and hereinafter a first depth confidence and a second depth confidence.
The higher the depth confidence of the first square is, the less the content of the first square is represented as a dynamic interferent, and the lower the depth confidence of the first square is, the greater the content of the first square is represented as a dynamic interferent.
In order to facilitate calculation, the electronic device may normalize the target depth confidence of each first square, and then multiply the depth of each first square in the second square by the corresponding normalized target depth confidence, and then add the multiplied depth to obtain the depth of the second square.
In one possible implementation, before determining the target depth confidence of each first square, a spatial-domain loading filter method may be used to filter dynamic interferents, where the method includes:
A first sliding window with a scale of p1 is adopted, the first sliding window is upwards slid from the lowest first square in p first squares in each column according to a preset step length so as to traverse each first square, and p is an integer larger than 1;
Determining a first depth confidence of a first target square lattice in each first sliding window based on the depth of the first square lattice at the bottom in the first sliding window, the depth of the first target square lattice and the length of a carriage, wherein the first target square lattice is the first square lattice at the top in the first sliding window;
And determining the first depth confidence of the first residual square lattice as a first preset value, wherein the first residual square lattice is a square lattice except for a first target square lattice in more than two first square lattices, and the first target square lattice and the first residual square lattice form each first square lattice.
The specific numerical value of the preset step length is not limited, and can be preset according to scene requirements. By way of example and not limitation, the preset step size may be 1 in order to obtain more first depth confidence of the first target square.
Since the cargo has a load-bearing property (i.e., the upper cargo must have a lower cargo support), the first depth confidence is calculated in each of the first sliding windows based on the depth of the first square at the bottom in the first sliding window, that is, the more the depth of the first target square is smaller than the depth of the first square at the bottom in the first sliding window, the lower the first depth confidence.
Since the first sliding window is slid from the first square at the lowest position among the p first squares, the first remaining squares are located below the first target square, and the depth confidence of the first square at the lower position is known to be higher based on the load bearing characteristics of the goods, so the first preset value may be 1.
The electronic device may calculate a depth percentage of the first target square (i.e., a ratio of the depth of the first target square to the length of the car) based on the depth of the first target square and the length of the car, may calculate a depth percentage of the first square below the first sliding window (i.e., a ratio of the depth of the first square below the first sliding window to the length of the car) based on the depth of the first target square and the length of the car, and may calculate a first depth confidence of the first target square based on the depth percentage of the first target square and the depth percentage of the first square below the first sliding window.
The calculation formula of the first depth confidence of the first target square is as follows:
wherein, A first depth confidence representing a first target square; indicating a gain parameter, defaulting to 1; Representing the depth percentage of the first target square; Representing the percentage of depth of the first lowest square within the first sliding window.
In this manner, after obtaining the first depth confidence of each first square, the electronic device may determine the target depth confidence of the corresponding first square based on the first depth confidence of each first square. By way of example and not limitation, the target depth confidence for each first square may be determined to be the first depth confidence for the corresponding first square. Of course, it is understood that the target depth confidence of each first square may be determined based on the first depth confidence of each first square in other manners, which is not limited by the present application.
In another possible implementation manner, before determining the target depth confidence of each first square, the method for filtering the dynamic interferents by using the interferent shielding smoothing filter method includes:
Sliding the second sliding window according to a preset rule by adopting a second sliding window with a dimension of m x n so as to traverse each first square lattice, wherein m and n are integers larger than 1;
Determining the position difference of the deepest square lattice in the second sliding window and the second target square lattice in each second sliding window, wherein the deepest square lattice is the first square lattice with the largest depth in the second sliding window, and the second target square lattice is the first square lattice positioned in the center of the second sliding window;
determining a second depth confidence of the second target square based on the position difference, the depth of the deepest square, the depth of the second target square, and the length of the carriage;
and determining the second depth confidence of the second residual square lattice as a second preset value, wherein the second residual square lattice is a square lattice except for a second target square lattice in more than two first square lattices, and the first target square lattice and the first residual square lattice form each first square lattice.
The preset rule may include that the first step length is firstly slid horizontally from the lower left corner of the carriage in the carriage image, then slid vertically according to the second step length, or the second step length is firstly slid vertically from the lower left corner of the carriage in the carriage image, then slid horizontally according to the first step length, or the first step length is firstly slid horizontally according to the lower right corner of the carriage in the carriage image, then slid vertically according to the second step length, or the lower right corner of the carriage in the carriage image is firstly slid vertically according to the second step length, then slid horizontally according to the first step length. The first step size and the second step size are preset, and may be the same or different, which is not limited in the present application.
By way of example and not limitation, to obtain a first depth confidence for more first target tiles, both the first step size and the second step size may be set to 1.
Since the depth of the dynamic interferents is smaller than the depth of the true loaded goods, the second depth confidence of the second target square is calculated in each second sliding window based on the first square with the largest depth in the second sliding window, that is, the more the depth of the second target square is smaller than the depth of the deepest square, the greater the possibility that the second target square is the dynamic interferents.
Since the second sliding window is slid from the lower left corner or the lower right corner of the cabin, the second remaining square is generally located below the second target square, and the lower the position, the higher the depth confidence of the first square is, based on the load bearing characteristics of the cargo, the second preset value may be 1.
The electronic device may calculate a depth percentage of the second target square (i.e., a ratio of the depth of the second target square to the length of the carriage) based on the depth of the second target square and the length of the carriage, may calculate a depth percentage of the deepest square (i.e., a ratio of the depth of the deepest square to the length of the carriage) based on the depth of the deepest square and the length of the carriage within the second sliding window, and may calculate a second depth confidence of the second target square based on the depth percentage of the second target square and the depth percentage of the second square of the deepest square.
The difference between the positions of the second target square and the deepest square may be the sum of the difference between the positions of the deepest square and the second target square in the horizontal direction and the difference between the positions of the second target square and the deepest square in the vertical direction.
The calculation formula of the second depth confidence of the second target square is as follows:
wherein, A second depth confidence representing a second target square; indicating a gain parameter, defaulting to 1; representing the depth percentage of the second target square; Representing the depth percentage of the deepest square; the position difference between the deepest square and the second target square is represented, and the larger the position difference is, the smaller the influence of the position difference on the second depth confidence is, and the smaller the position difference is, the larger the influence of the position difference on the second depth confidence is.
In this manner, the electronic device may determine the target depth confidence of the corresponding first square based on the second depth confidence of each first square after obtaining the second depth confidence of each first square. By way of example and not limitation, the target depth confidence for each first square may be determined to be the second depth confidence for the corresponding first square. Of course, it is understood that the target depth confidence of the corresponding first square may be determined based on the second depth confidence of each first square in other manners, which is not limited by the present application.
In order to further improve the accuracy of the target depth confidence of the first square, in another possible implementation manner, after the first depth confidence and the second depth confidence of each first square are obtained based on the two modes, the target depth confidence may be obtained based on weighted summation of the first depth confidence and the second depth confidence of the same first square.
Note that, the weight values corresponding to the first depth confidence and the second depth confidence are not limited in the present application. For example, the weight of the first depth confidence and the weight of the second depth confidence are both 0.5, or the weight of the first depth confidence is 0.4, and the weight of the second depth confidence is 0.6.
According to the embodiment of the application, the depth of the first square lattice in the conveyor belt area can be determined based on the depth of the first square lattice which is not in the conveyor belt area by determining the conveyor belt area in the vehicle-mounted image, namely, the distance between goods shielded by the conveyor belt and the electronic equipment is determined, and the measurement of the loading volume can be accurately realized based on the depths of the first square lattice, so that the problem of interference of the conveyor belt in the loading process is solved, and the real-time performance and the accuracy of the measurement of the loading volume are improved.
The embodiment of the application can carry out loading state and loading volume detection first, and after volume detection and interference detection are started, interference detection state judgment is carried out. In interference detection, the shielding is divided into static shielding and dynamic shielding, wherein the static shielding is mainly a conveyor belt which is arranged in a carriage for carrying goods, and the dynamic shielding is mainly people, carried goods, goods on the conveyor belt and the like. According to the scheme, the interference problem of static shielding and dynamic shielding in the loading process can be solved, the non-sensing measurement is carried out in the continuous loading process, no clearance personnel are needed, and the accurate measurement of the loading volume in the loading process can be realized.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
Corresponding to the method for measuring the loading volume described in the above embodiments, fig. 9 shows a schematic structural diagram of the apparatus for measuring the loading volume according to the embodiment of the present application, and for convenience of explanation, only the portions related to the embodiment of the present application are shown.
Referring to fig. 9, the apparatus includes:
The area determining module 901 is used for determining a conveyor belt area in the carriage image acquired by the image acquisition equipment;
A first depth determining module 902, configured to determine, based on a depth of a vehicle cabin point cloud collected by a point cloud collecting device, a depth of a first type of square, where the first type of square is a first square that is not in the conveyor area, when a vehicle cabin in the vehicle cabin image is divided into more than two first squares;
A second depth determining module 903, configured to determine a depth of a second type of square, where the second type of square is a first square located in the conveyor belt area, based on the depth of the first type of square, and the depth of the second type of square represents a distance between goods blocked by the conveyor belt and the electronic device;
a loading volume determining module 904 for determining a loading volume of the car based on the depth of each first square.
Optionally, the second depth determining module 903 includes:
the first determining unit is used for determining the depth of a first reference square as the bearing depth of the second square, wherein the first reference square is the first square positioned right above the second square;
The interpolation unit is used for interpolating the second type of square grid based on the depth of the second type of square grid, the depth of the third type of square grid, the first target distance and the second target distance to obtain the horizontal prediction depth of the second type of square grid, wherein the second type of square grid is the first type of square grid positioned on the left side of the second type of square grid, the third type of square grid is the first type of square grid positioned on the right side of the second type of square grid, the first target distance is the distance between the second type of square grid and the second reference square grid, and the second target distance is the distance between the second type of square grid and the third reference square grid;
And the second determining unit is used for determining the depth of the second type square grid based on the horizontal prediction depth and the bearing depth.
Optionally, the second determining unit is specifically configured to:
And if the horizontal prediction depth is greater than or equal to the bearing depth, determining the depth of the second type square as the bearing depth.
Optionally, the second determining unit is specifically configured to:
If the horizontal prediction depth is smaller than the bearing depth, determining a bearing distance and a horizontal prediction distance of the second type of square, wherein the bearing distance is the distance between the second type of square and a first type of square positioned right above the second type of square, and the horizontal prediction distance is the minimum value of the first target distance and the second target distance;
and determining the depth of the second type square grid based on the bearing depth, the bearing distance, the horizontal prediction depth and the horizontal prediction distance.
Optionally, the loading volume determining module 904 includes:
a third determining unit, configured to determine, based on the depth of each first square, the depth of each second square, where the second square includes two or more first squares;
And a fourth determining unit configured to determine a loading volume of the vehicle cabin based on the depth of each second square.
Optionally, the apparatus further includes:
and the depth updating module is used for updating the depth of any first square lattice to the maximum value of k depths corresponding to k time windows in every k time windows based on the time scale of k times q, wherein k is an integer greater than 1, q is the sliding step length of the time windows, and q is an integer greater than zero.
Optionally, the apparatus further includes:
The target determining module is used for determining the target depth confidence of each first square;
The second determining unit is specifically configured to:
and determining the depth of each second square based on the depth of each first square and the target depth confidence.
Optionally, the above device further includes a first filtering module, where the first filtering module is specifically configured to:
A first sliding window with a scale of p1 is adopted, the first sliding window is upwards slid from the lowest first square in p first squares in each column according to a preset step length so as to traverse each first square, and p is an integer larger than 1;
Determining a first depth confidence of a first target square lattice in each first sliding window based on the depth of the first square lattice at the bottom in the first sliding window, the depth of the first target square lattice and the length of the carriage, wherein the first target square lattice is the first square lattice at the top in the first sliding window;
Determining a first depth confidence of a first residual square lattice as a first preset value, wherein the first residual square lattice is a square lattice except for the first target square lattice in more than two first square lattices, and the first target square lattice and the first residual square lattice form each first square lattice;
the above-mentioned goal determining module is specifically used for:
And determining the target depth confidence of the corresponding first square based on the first depth confidence of each first square.
Optionally, the above device further includes a second filtering module, where the second filtering module is specifically configured to:
Sliding the second sliding window according to a preset rule by adopting a second sliding window with a size of m x n so as to traverse each first square, wherein m and n are integers larger than 1;
determining the position difference between the deepest square lattice in the second sliding window and a second target square lattice in each second sliding window, wherein the deepest square lattice is a first square lattice with the largest depth in the second sliding window, and the second target square lattice is a first square lattice positioned in the center of the second sliding window;
determining a second depth confidence of the second target square based on the position difference, the depth of the deepest square, the depth of the second target square, and the length of the car;
Determining a second depth confidence of a second residual square lattice as a second preset value, wherein the second residual square lattice is a square lattice except the second target square lattice in more than two first square lattices, and the second target square lattice and the second residual square lattice form each first square lattice;
the above-mentioned goal determining module is specifically used for:
and determining the target depth confidence of the corresponding first square based on the second depth confidence of each first square.
Optionally, the above device further includes a third filtering module, where the third filtering module is specifically configured to:
A first sliding window with a scale of p1 is adopted, the first sliding window is upwards slid from the lowest first square in p first squares in each column according to a preset step length so as to traverse each first square, and p is an integer larger than 1;
Determining a first depth confidence of a first target square lattice in each first sliding window based on the depth of the first square lattice at the bottom in the first sliding window, the depth of the first target square lattice and the length of the carriage, wherein the first target square lattice is the first square lattice at the top in the first sliding window;
Determining a first depth confidence of a first residual square lattice as a first preset value, wherein the first residual square lattice is a square lattice except for the first target square lattice in more than two first square lattices, and the first target square lattice and the first residual square lattice form each first square lattice;
Sliding the second sliding window according to a preset rule by adopting a second sliding window with a size of m x n so as to traverse each first square, wherein m and n are integers larger than 1;
determining the position difference between a second target square and the deepest square in the second sliding window in each second sliding window, wherein the deepest square is the first square with the largest depth in the second sliding window, and the second target square is the first square positioned in the center of the second sliding window;
determining a second depth confidence of the second target square based on the position difference, the depth of the deepest square, the depth of the second target square, and the length of the car;
Determining a second depth confidence of a second residual square lattice as a second preset value, wherein the second residual square lattice is a square lattice except the second target square lattice in more than two first square lattices, and the second target square lattice and the second residual square lattice form each first square lattice;
the above-mentioned goal determining module is specifically used for:
and carrying out weighted summation on the first depth confidence and the second depth confidence of the same first square to obtain the target depth confidence.
It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein.
Fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 10, the electronic device of this embodiment comprises at least one processor 1000 (only one is shown in fig. 10), a memory 1001 and a computer program 1002 stored in said memory 1001 and executable on said at least one processor 1000, said processor 1000 implementing the steps in any of the various method embodiments described above when executing said computer program 1002.
The electronic device may include, but is not limited to, a processor 1000, a memory 1001. It will be appreciated by those skilled in the art that fig. 10 is merely an example of an electronic device and is not meant to be limiting, and may include more or fewer components than shown, or may combine certain components, or different components, such as may also include input-output devices, network access devices, etc.
The Processor 1000 may be a central processing unit (Central Processing Unit, CPU), the Processor 1000 may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 1001 may in some embodiments be an internal storage unit of the electronic device, for example a hard disk or a memory of the electronic device. The memory 1001 may also be an external storage device of the electronic device in other embodiments, for example, a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD) or the like. Further, the memory 1001 may further include both an internal storage unit and an external storage device of the electronic device. The memory 1001 is used for storing an operating system, an application program, a boot loader (BootLoader), data, and other programs, etc., such as program codes of the computer program. The memory 1001 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program 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 each of the method embodiments described above. 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 can include at least any entity or device capable of carrying computer program code to an apparatus/electronic device, a recording medium, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other manners. For example, the apparatus/electronic device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The foregoing embodiments are merely illustrative of the technical solutions of the present application, and not restrictive, and although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that modifications may still be made to the technical solutions described in the foregoing embodiments or equivalent substitutions of some technical features thereof, and that such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
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