Compartment loading rate determination method and device, electronic equipment and storage medium

Abstract

The invention discloses a carriage loading rate determination method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring reference image data, wherein the reference image data is a carriage image of a target vehicle shot by a shooting device facing the tail of the target vehicle; determining first image information according to the reference image data, wherein the first image information is used for describing contour information of a target object in the reference image data; the target object comprises an object related to the carriage; determining second image information corresponding to the first image information, wherein the second image information is used for describing depth information associated with the contour information of the target object in the carriage of the target vehicle; compartment grid information of the target vehicle is determined according to the first image information and the second image information; and mapping the first image information and the second image information corresponding to the target package into the compartment grid information, and determining the compartment loading rate according to the grid proportion. The problem of high hardware cost is solved, and the accuracy of determining the loading rate is improved.

Description

Technical Field

[0001] The present invention relates to the field of logistics technology, and in particular to a method, device, electronic equipment and storage medium for determining a carriage loading rate. Background Art

[0002] With the continuous increase in logistics volume, the precise management of logistics transportation vehicles has become a problem. The loading and unloading volume of modern logistics and warehousing vehicles is huge, and it is very important to realize the intelligent and automated vehicle supervision. At present, various volume measurement sensors, laser radars, 3D TOF sensors, etc. are generally used to collect volume information relatively accurately. The volume of the carriage and the objects in the carriage can be measured through the volume calculation algorithm, so as to obtain the carriage loading rate. However, the hardware cost of the current method is high and difficult to manage. Summary of the invention

[0003] The present invention provides a method, device, electronic equipment and storage medium for determining a carriage loading rate, so as to solve the problem of high hardware cost and improve the accuracy of determining the loading rate.

[0004] According to one aspect of the present invention, a method for determining a carriage loading rate is provided, the method comprising:

[0005] Acquire reference image data, where the reference image data is a compartment image of the target vehicle taken by a camera facing the rear of the target vehicle;

[0006] Determine first image information according to the reference image data, wherein the first image information is used to describe contour information of a target object in the reference image data; the target object includes an object related to a carriage;

[0007] Determining second image information corresponding to the first image information, where the second image information is used to describe depth information associated with contour information of a target object in a compartment of the target vehicle;

[0008] Determine the compartment grid information of the target vehicle according to the first image information and the second image information; the compartment grid information is three-dimensional data;

[0009] The first image information and the second image information corresponding to the target package are mapped to the compartment grid information, and the compartment loading rate is determined according to the grid ratio.

[0010] According to another aspect of the present invention, there is provided a device for determining a carriage loading rate, the device comprising:

[0011] A data acquisition module, used to acquire reference image data, wherein the reference image data is an image of a compartment of a target vehicle taken by a camera facing the rear of the target vehicle;

[0012] A first information determination module, configured to determine first image information according to the reference image data, wherein the first image information is used to describe contour information of a target object in the reference image data; the target object includes an object related to a carriage;

[0013] A second information determination module, used to determine second image information corresponding to the first image information, wherein the second image information is used to describe depth information associated with contour information of a target object in a compartment of the target vehicle;

[0014] A third information determination module is used to determine the compartment grid information of the target vehicle according to the first image information and the second image information; the compartment grid information is three-dimensional data;

[0015] The loading rate determination module is used to map the first image information and the second image information corresponding to the target package to the compartment grid information, and determine the compartment loading rate according to the grid ratio.

[0016] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0017] at least one processor; and

[0018] a memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for determining the carriage loading rate described in any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for determining the carriage loading rate described in any embodiment of the present invention when executed.

[0021] The technical solution of the embodiment of the present invention obtains reference image data, which is a cabin image of a target vehicle photographed by a shooting device facing the rear of the target vehicle, so as to ensure that the data information related to the cabin can be completely saved in the reference image data, thereby ensuring that the loading rate of the cabin can be accurately determined according to the reference image data in the future. Then, the first image information is determined according to the reference image data, and the first image information is used to describe the contour information of the target object in the reference image data, and the target object includes an object related to the cabin; the accurate determination of the contour information of the target object is realized. The second image information corresponding to the first image information is further determined, and the second image information is used to describe the depth information associated with the contour information of the target object in the cabin of the target vehicle, so as to accurately determine the depth information of the target object in the cabin. Then, according to the first image information and the second image information, the cabin grid information of the target vehicle is determined; the cabin grid information is three-dimensional data, which realizes the simulation of the grid information distributed in the cabin, so as to map the first image information and the second image information corresponding to the target package to the cabin grid information, determine the cabin loading rate according to the grid proportion, realize the accurate determination of the loading rate, solve the problem of high hardware cost when determining the cabin loading rate, and improve the accuracy of determining the loading rate.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 is a flow chart of a method for determining a carriage loading rate according to an embodiment of the present invention;

[0025] Figure 2 is a flow chart of another method for determining a carriage loading rate according to an embodiment of the present invention;

[0026] Figure 3 is a schematic diagram of a three-dimensional coordinate system of a carriage applicable to an embodiment of the present invention;

[0027] Figure 4 is a structural schematic diagram of a device for determining a carriage loading rate provided according to an embodiment of the present invention;

[0028] Figure 5It is a structural schematic diagram of an electronic device for implementing the method for determining the carriage loading rate of the embodiment of the present invention provided according to the embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment 1

[0032] Figure 1 A flow chart of a method for determining a vehicle compartment loading rate is provided in an embodiment of the present invention. This embodiment is applicable to situations where the loading rate of a vehicle compartment is to be determined. The method can be executed by a device for determining a vehicle compartment loading rate. The device for determining a vehicle compartment loading rate can be implemented in the form of hardware and / or software. The device for determining a vehicle compartment loading rate can be configured in any electronic device with a network communication function.

[0033] like Figure 1 As shown, the method for determining the carriage loading rate of the present invention includes the following process:

[0034] S110, obtaining reference image data, where the reference image data is a cabin image of the target vehicle taken by a shooting device facing the rear of the target vehicle.

[0035] Specifically, after the target vehicle enters the logistics center, it will walk along the designated route to the corresponding platform for loading and unloading. When the target vehicle arrives at the target platform, the camera configured on the platform will take an image of the target vehicle's compartment as reference image data and upload it to the data processing platform for data processing, and the processed data will be saved.

[0036] Further, in response to the target vehicle entering the station event, reference image data of the target vehicle is acquired at preset time intervals, that is, the shooting device shoots reference image data of the target vehicle at preset time intervals and uploads the reference image data.

[0037] S120. Determine first image information according to the reference image data, where the first image information is used to describe contour information of a target object in the reference image data; the target object includes an object related to the carriage.

[0038] Specifically, contour information of each target object in the reference images acquired in real time is extracted to obtain the first image information corresponding to each target object, and the first image information obtained after processing the reference image data acquired at preset intervals is saved, and the first image information corresponding to the historical moment is marked to avoid directly saving too much information about the target object and occupying too many resources.

[0039] Optionally, determining the first image information according to the reference image data includes: performing instance segmentation on each target object of the reference image data, obtaining a target mask for each target object, and determining the first image information corresponding to the target object by fitting the target mask. Specifically, the reference image data may be analyzed by an instance segmentation model to determine the first image information corresponding to each target object, thereby ensuring the accuracy of the acquired first image information.

[0040] S130: Determine second image information corresponding to the first image information, where the second image information is used to describe depth information associated with contour information of the target object in a cabin of the target vehicle.

[0041] The depth information may be used to describe the pixel value of the vehicle along a first direction, where the first direction is parallel to the left and right side walls of the vehicle compartment and is from the rear end to the front end of the vehicle.

[0042] Specifically, the pixel value in the reference image data can reflect the depth information of the target object, and the larger the pixel value, the farther the distance from the rear of the vehicle. The depth information reflecting the target object is determined by the pixel value corresponding to the position of the first image information in the reference image data, and further, the depth information of the target object corresponding to the first image information can be detected according to the depth detection model, that is, the second image information corresponding to the first image information.

[0043] Furthermore, if the target object is the rear of the vehicle, and the first image information is the rear contour information of the vehicle compartment frame of the rear of the vehicle, the pixel information of the corresponding position of the rear contour information in the reference image data is used to determine the second image information corresponding to the rear of the vehicle. Because the rear of the vehicle is within the same depth range, the pixel value corresponding to the rear of the vehicle is within the preset range, and the pixel values ​​outside the preset range in the second image information are removed, and the pixel values ​​included in the second image information corresponding to the rear of the vehicle are averaged to obtain an average pixel value. If the average pixel value is within the preset threshold, the pixel value in the reference image data that is the same as the average pixel value is determined as the updated second image information, and the pixel value in the reference image data that is greater than the average pixel value and within the vehicle compartment range is used as the depth information inside the vehicle compartment.

[0044] S140. Determine the compartment grid information of the target vehicle according to the first image information and the second image information; the compartment grid information is three-dimensional data.

[0045] Specifically, the first image information can reflect the plane contour information of each target object. The contour boundary line of the car body can be determined by analyzing the first image information. The depth information of the car body can be determined by analyzing the second image information. The three-dimensional information of the car body is simulated by combining the contour boundary line of the car body and the depth information. The three-dimensional information of the car body is gridded to obtain the car body grid information of the target vehicle.

[0046] Optionally, after determining the cabin grid information of the target vehicle based on the first image information and the second image information, the method includes: updating the cabin grid information based on historical image information; the historical image information is the first image information and the second image information obtained by processing historical image data, and the historical image data is the reference image data acquired before the current detection round.

[0047] Specifically, the first image information determined in the current detection round is fitted and analyzed with the first image information in the historical image information to obtain the fitted contour boundary line of the car, and the fitted contour boundary line is compared with the contour boundary line of the car in the current detection round. If the boundary line comparison result is within the preset boundary line range, the contour boundary line of the car in the current detection round is used as the final contour boundary line of the car; if the boundary line comparison result is not within the preset boundary line range, the fitted contour boundary line is used as the final contour boundary line of the car.

[0048] The fitting depth information of the car is obtained by fitting and analyzing the second image information determined in the current detection round and the second image information in the historical image information, and the fitting depth information is compared with the depth information of the car in the current detection round. If the depth comparison result is within the preset edge depth range, the depth information of the car in the current detection round is used as the final depth information of the car; if the depth comparison result is not within the preset edge depth range, the fitting depth information is used as the final depth information of the car.

[0049] Finally, the three-dimensional information of the carriage is simulated based on the final contour boundary line of the carriage and the final depth information of the carriage, and the three-dimensional information of the carriage is grid-divided to obtain the grid information of the carriage of the target vehicle.

[0050] The technical solution of this embodiment ensures the accuracy of the car grid information by updating the car grid information according to historical image information.

[0051] S150, mapping the first image information and the second image information corresponding to the target package to the compartment grid information, and determining the compartment loading rate according to the grid ratio.

[0052] The grid proportion can be understood as the proportion of the grid information occupied by the target compartment.

[0053] Specifically, during the loading process of the target vehicle, as more and more target packages are placed in the carriage, the first image information and the second image information corresponding to each target package are mapped to the carriage grid information, which can reflect the position of each target in the carriage and the grid information occupied. The grid ratio is determined based on the grid information, and the carriage loading rate is determined based on the grid ratio.

[0054] Further, in response to the target vehicle exit event, the carriage loading rate is output and displayed on the target device so that the staff can determine whether the target vehicle is full and verify the loading rate.

[0055] The technical solution of the embodiment of the present invention obtains reference image data, which is a cabin image of a target vehicle photographed by a shooting device facing the rear of the target vehicle, so as to ensure that the data information related to the cabin can be completely saved in the reference image data, thereby ensuring that the loading rate of the cabin can be accurately determined according to the reference image data in the future. Then, the first image information is determined according to the reference image data, and the first image information is used to describe the contour information of the target object in the reference image data, and the target object includes an object related to the cabin; the accurate determination of the contour information of the target object is realized. The second image information corresponding to the first image information is further determined, and the second image information is used to describe the depth information associated with the contour information of the target object in the cabin of the target vehicle, so as to accurately determine the depth information of the target object in the cabin. Then, according to the first image information and the second image information, the cabin grid information of the target vehicle is determined; the cabin grid information is three-dimensional data, which realizes the simulation of the grid information distributed in the cabin, so as to map the first image information and the second image information corresponding to the target package to the cabin grid information, determine the cabin loading rate according to the grid proportion, realize the accurate determination of the loading rate, solve the problem of high hardware cost when determining the cabin loading rate, and improve the accuracy of determining the loading rate.

[0056] Embodiment 2

[0057] Figure 2 This is a flow chart of another method for determining a carriage loading rate provided by an embodiment of the present invention. The technical solution of this embodiment further optimizes the process of S140 in the above embodiment on the basis of the above embodiment. This embodiment can be combined with various optional solutions in one or more of the above embodiments.

[0058] like Figure 2 As shown, the method for determining the carriage loading rate of the present invention includes the following process:

[0059] S210, obtaining reference image data, determining first image information based on the reference image data, and determining second image information corresponding to the first image information; the reference image data is an image of a cabin of a target vehicle taken by a shooting device facing the rear of the target vehicle, the first image information is used to describe contour information of the target object in the reference image data, and the second image information is used to describe depth information associated with the contour information of the target object in the cabin of the target vehicle.

[0060] S220, determining a compartment boundary line of the target vehicle according to the first image information, and determining a first direction line according to the compartment boundary line and the second image information.

[0061] The car boundary line can be understood as the boundary line of the car frame, and is not limited to the left and right boundary lines of the ground inside the target vehicle, the left and right boundary lines of the conveyor belt, the left and right lower boundary lines of the car wall, etc. The first direction is parallel to the left and right side walls of the car and is from the rear to the front of the car.

[0062] Specifically, the target objects include but are not limited to the floor of the carriage, the wall of the carriage, the conveyor belt inside the carriage, the rear of the carriage, etc. The first image information includes the contour information of multiple target objects. The boundary line of the carriage of the target vehicle can be obtained by analyzing and fitting the contour information. The depth information in the second image information corresponding to the boundary line of the carriage can be further fitted to determine the first direction line. For example, Figure 3 The z-direction shown is shown.

[0063] In this embodiment, optionally, the target object includes the rear end of a vehicle and a reference object; the vehicle compartment boundary line of the target vehicle is determined based on the first image information, and the first direction line is determined based on the vehicle compartment boundary line and the second image information, including: determining the vehicle compartment boundary line based on the first image information corresponding to the reference object, the vehicle compartment boundary line being the left and right boundary lines of the ground corresponding to the left and right side walls of the vehicle compartment; determining the center direction line of the vehicle compartment based on the vehicle compartment boundary line, and determining the first direction based on the second image information corresponding to the vehicle compartment boundary line; determining the first direction line based on the center direction line of the vehicle compartment and the first direction.

[0064] Here, left and right refer to left and right relative to the first direction.

[0065] Specifically, the reference object may be a carriage floor and / or a carriage wall. The left and right ground boundary lines of the carriage floor are determined based on the first image information corresponding to the carriage floor, the left and right lower boundary lines of the carriage wall are determined based on the first image information corresponding to the carriage wall, the carriage boundary line is further determined based on the left and right ground boundary lines and / or the left and right lower boundary lines of the carriage wall, the first direction is determined based on the second image information corresponding to the carriage boundary line, and the first direction is fitted based on the carriage center direction line and the first direction.

[0066] Further, the vehicle compartment boundary line is determined according to the left and right boundary lines of the ground and the left and right lower boundary lines of the vehicle wall, including: taking a weighted average of the left and right boundary lines of the ground and the left and right lower boundary lines of the vehicle wall as the vehicle compartment boundary line.

[0067] In the technical solution of this embodiment, the target object includes the rear of the car and the reference object. The car boundary line is determined according to the first image information corresponding to the reference object. The car boundary line is the left and right boundary lines of the ground corresponding to the left and right side walls of the car, ensuring the accurate determination of the car boundary line. Then, the car center direction line is determined according to the car boundary line, and the first direction is determined according to the second image information corresponding to the car boundary line, so as to accurately determine the direction of the first direction according to the depth information of the second image information. Finally, the first direction line is determined according to the car center direction line and the first direction, and the car center direction line and the first direction are fitted to accurately determine the direction and position of the first direction line.

[0068] S230. Determine a second direction line in a second direction and a third direction line in a third direction according to the first image information corresponding to the rear end of the vehicle; the first direction, the second direction and the third direction are perpendicular to each other, the second direction is horizontally parallel to the rear end of the vehicle, and the third direction is longitudinally parallel to the rear end of the vehicle.

[0069] Specifically, the first image information corresponding to the rear of the vehicle compartment can reflect the contour information of the rear of the vehicle. The contour of the rear of the vehicle is generally a rectangle. The side of the rectangle parallel to the ground can be understood as the horizontal direction of the rear of the vehicle, and the side of the rectangle perpendicular to the ground can be understood as the longitudinal direction of the rear of the vehicle, that is, the height direction of the vehicle. Figure 3 For example, the second direction may be the x-axis, the third direction may be the y-axis, the line along the second direction is the second direction line, and the line along the third direction is the second direction line.

[0070] S240, establishing a three-dimensional coordinate system according to the first direction line, the second direction line and the third direction line, and extending a grid toward the interior of the vehicle compartment based on the three-dimensional coordinate system to determine the vehicle compartment grid information of the target vehicle.

[0071] Specifically, grid division is performed based on the first image information corresponding to the rear of the car to determine the grid information of the rear of the car, and the grid extending from the rear of the car to the interior of the car is determined based on the depth information of the second image information, thereby obtaining the grid information of the car of the target vehicle.

[0072] Optionally, grids are extended toward the interior of the vehicle compartment based on the three-dimensional coordinate system to determine grid information of the target vehicle compartment, including: determining grid scaling ratios corresponding to different depths of the vehicle compartment based on second image information and reference image information corresponding to the rear of the vehicle compartment; the reference image information is second image information corresponding to the reference object; based on the second image information and the three-dimensional coordinate system corresponding to the rear of the vehicle compartment, corresponding rear grid information within the plane range of the rear of the vehicle compartment is determined; the rear grid information includes at least the number of grids and rear depth information; based on the rear grid information and the grid scaling ratio, the grids are extended toward the interior of the vehicle compartment corresponding to the three-dimensional coordinate system to determine grid information of the target vehicle compartment, thereby achieving accurate division of the grids within the vehicle compartment and accurate determination of the grid information of the vehicle compartment.

[0073] S250, mapping the first image information and the second image information corresponding to the target package to the compartment grid information, and determining the compartment loading rate according to the grid ratio.

[0074] The technical solution of the embodiment of the present invention determines the car boundary line of the target vehicle according to the first image information, and determines the first direction line according to the car boundary line and the second image information; further determines the second direction line of the second direction and the third direction line according to the first image information corresponding to the rear of the car; the first direction, the second direction and the third direction are perpendicular to each other, the second direction is horizontally parallel to the rear of the car, and the third direction is longitudinally parallel to the rear of the car; a three-dimensional coordinate system is established according to the first direction line, the second direction line and the third direction line, and the three-dimensional coordinate system is accurately determined, and the grid information of the car body of the target vehicle is determined by extending the grid into the car body based on the three-dimensional coordinate system, so as to accurately divide the grid in the car body and accurately determine the grid information of the car body, so as to facilitate mapping the first image information and the second image information corresponding to the target package to the car body grid information, determine the car body loading rate according to the grid proportion, and improve the accuracy of the car body loading rate.

[0075] Embodiment 3

[0076] Figure 4 This is a schematic diagram of the structure of a vehicle compartment loading rate determination device provided by an embodiment of the present invention. This embodiment is applicable to the case of determining the vehicle compartment loading rate. The vehicle compartment loading rate determination device can be implemented in the form of hardware and / or software. The vehicle compartment loading rate determination device can be configured in any electronic device with network communication function. Figure 4 As shown, the vehicle compartment loading rate determining device of the present invention comprises:

[0077] The data acquisition module 310 is used to acquire reference image data, where the reference image data is a cabin image of the target vehicle taken by a camera directly facing the rear of the target vehicle.

[0078] The first information determination module 320 is used to determine first image information according to the reference image data, where the first image information is used to describe contour information of a target object in the reference image data; the target object includes an object related to the carriage.

[0079] The second information determination module 330 is used to determine the second image information corresponding to the first image information, wherein the second image information is used to describe the depth information associated with the contour information of the target object in the cabin of the target vehicle. The depth information is used to describe the depth pixel value of the vehicle along the first direction, wherein the first direction is parallel to the left and right side walls of the cabin and from the rear to the front of the vehicle.

[0080] The third information determination module 340 is used to determine the compartment grid information of the target vehicle according to the first image information and the second image information; the compartment grid information is three-dimensional data.

[0081] The loading rate determination module 350 is used to map the first image information and the second image information corresponding to the target package to the compartment grid information, and determine the compartment loading rate according to the grid ratio.

[0082] On the basis of the above embodiment, optionally, a data acquisition module is used to acquire reference image data of the target vehicle at preset time intervals in response to the event of the target vehicle entering the station.

[0083] Based on the above embodiment, optionally, a first information determination module is used to perform instance segmentation on each target object of the reference image data, obtain a target mask for each target object, and determine the first image information corresponding to the target object by fitting the target mask.

[0084] Based on the above embodiment, optionally, the third information determination module includes:

[0085] A first reference direction line determining unit, configured to determine a compartment boundary line of the target vehicle according to the first image information, and determine a first direction line in the first direction according to the compartment boundary line and the second image information;

[0086] A second reference direction line determination unit is used to determine a second direction line in a second direction and a third direction line in a third direction according to the first image information corresponding to the rear of the vehicle; the first direction, the second direction and the third direction are perpendicular to each other, the second direction is parallel to the rear of the vehicle in a transverse direction, and the third direction is parallel to the rear of the vehicle in a longitudinal direction;

[0087] A grid information determination unit is used to establish a three-dimensional coordinate system according to the first direction line, the second direction line and the third direction line, and extend the grid into the interior of the vehicle based on the three-dimensional coordinate system to determine the vehicle compartment grid information of the target vehicle.

[0088] Based on the above embodiment, optionally, the target object includes the rear end of a car and a reference object; a first reference direction line determination unit is used to determine the car boundary line according to the first image information corresponding to the reference object, the car boundary line being the left and right boundary lines of the ground corresponding to the left and right side walls of the car; determine the car center direction line according to the car boundary line, and determine the first direction according to the second image information corresponding to the car boundary line; determine the first direction line according to the car center direction line and the first direction.

[0089] On the basis of the above embodiment, optionally, a grid information determination unit is used to determine the grid scaling ratio corresponding to different depths of the car body according to the second image information and reference image information corresponding to the rear of the car body; the reference image information is the second image information corresponding to the reference object; based on the second image information corresponding to the rear of the car body and the three-dimensional coordinate system, the corresponding rear grid information within the plane range of the rear of the car body is determined; the rear grid information includes at least the number of grids and the rear depth information; based on the rear grid information and the grid scaling ratio, the grid is extended to the interior of the car body corresponding to the three-dimensional coordinate system to determine the car body grid information of the target vehicle.

[0090] Based on the above embodiment, optionally, the third information determination module includes an information updating unit, which is used to update the car grid information according to historical image information; the historical image information is the first image information and the second image information obtained by processing the historical image data, and the historical image data is the reference image data obtained before the current detection round.

[0091] The device for determining the carriage loading rate provided in the embodiment of the present invention can execute the method for determining the carriage loading rate provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0092] Embodiment 4

[0093] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0094] Figure 5 A schematic diagram of the structure of an electronic device that can be used to implement a method for determining a carriage loading rate according to an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0095] like Figure 5As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0096] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0097] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for determining a vehicle compartment loading rate.

[0098] In some embodiments, the method for determining the car loading rate may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for determining the car loading rate described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the method for determining the car loading rate in any other appropriate manner (e.g., by means of firmware).

[0099] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0100] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0101] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0102] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0103] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0104] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0105] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0106] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for determining a carriage loading rate, characterized in that: The method comprises: Acquire reference image data, where the reference image data is a compartment image of the target vehicle taken by a camera facing the rear of the target vehicle; Determine first image information according to the reference image data, wherein the first image information is used to describe contour information of a target object in the reference image data; the target object includes an object related to a carriage; Determining second image information corresponding to the first image information, where the second image information is used to describe depth information associated with contour information of a target object in a compartment of the target vehicle; Determine the compartment grid information of the target vehicle according to the first image information and the second image information; the compartment grid information is three-dimensional data; The first image information and the second image information corresponding to the target package are mapped to the compartment grid information, and the compartment loading rate is determined according to the grid ratio.

2. The method according to claim 1, characterized in that Obtain reference image data, including: In response to the target vehicle entering the station event, reference image data of the target vehicle is acquired at preset time intervals.

3. The method according to claim 1, characterized in that Determining first image information according to the reference image data includes: Perform instance segmentation on each target object of the reference image data to obtain a target mask for each target object, and determine first image information corresponding to the target object by fitting the target mask.

4. The method according to claim 1, characterized in that Determining the compartment grid information of the target vehicle according to the first image information and the second image information includes: Determine a compartment boundary line of the target vehicle according to the first image information, and determine a first direction line according to the compartment boundary line and the second image information; Determine a second direction line in a second direction and a third direction line in a third direction according to the first image information corresponding to the rear of the vehicle; the first direction, the second direction and the third direction are perpendicular to each other, the second direction is parallel to the rear of the vehicle in a transverse direction, and the third direction is parallel to the rear of the vehicle in a longitudinal direction; A three-dimensional coordinate system is established according to the first direction line, the second direction line and the third direction line, and a grid is extended toward the interior of the vehicle compartment based on the three-dimensional coordinate system to determine the vehicle compartment grid information of the target vehicle.

5. The method according to claim 4, characterized in that The target object includes a rear end of a vehicle compartment and a reference object; determining a compartment boundary line of the target vehicle according to the first image information, and determining a first direction line of the first direction according to the compartment boundary line and the second image information, including: Determine a carriage boundary line according to the first image information corresponding to the reference object, wherein the carriage boundary line is a left and right boundary line of the ground corresponding to the left and right side walls of the carriage; Determine the center direction line of the carriage according to the carriage boundary line, and determine the first direction according to the second image information corresponding to the carriage boundary line; The first direction line is determined according to the carriage center direction line and the first direction.

6. The method according to claim 5, characterized in that Extending the grid into the interior of the vehicle compartment based on the three-dimensional coordinate system to determine the vehicle compartment grid information of the target vehicle includes: Determine the grid scaling ratio corresponding to different depths of the carriage according to the second image information corresponding to the rear of the carriage and the reference image information; the reference image information is the second image information corresponding to the reference object; Based on the second image information corresponding to the rear of the carriage and the three-dimensional coordinate system, determine the rear grid information corresponding to the plane range of the rear of the carriage; the rear grid information at least includes the number of grids and the depth information of the rear of the carriage; Based on the grid information of the rear of the vehicle and the grid scaling ratio, the grid is extended toward the interior of the vehicle compartment corresponding to the three-dimensional coordinate system to determine the grid information of the vehicle compartment of the target vehicle.

7. The method according to claim 1, characterized in that After determining the compartment grid information of the target vehicle according to the first image information and the second image information, the method includes: The carriage grid information is updated according to historical image information; the historical image information is first image information and second image information obtained by processing historical image data, and the historical image data is reference image data obtained before the current detection round.

8. A device for determining a carriage loading rate, characterized in that: The device comprises: A data acquisition module, used to acquire reference image data, wherein the reference image data is an image of a compartment of a target vehicle taken by a camera facing the rear of the target vehicle; A first information determination module, configured to determine first image information according to the reference image data, wherein the first image information is used to describe contour information of a target object in the reference image data; the target object includes an object related to a carriage; A second information determination module, used to determine second image information corresponding to the first image information, wherein the second image information is used to describe depth information associated with contour information of a target object in a compartment of the target vehicle; A third information determination module is used to determine the compartment grid information of the target vehicle according to the first image information and the second image information; the compartment grid information is three-dimensional data; The loading rate determination module is used to map the first image information and the second image information corresponding to the target package to the compartment grid information, and determine the compartment loading rate according to the grid ratio.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for determining the carriage loading rate according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for determining the vehicle loading rate according to any one of claims 1 to 7 when executed.

Images