Intelligent material delivery method and system

Abstract

The present application discloses an intelligent material delivery method and system, including: obtaining identification information of a feed truck; generating a target order corresponding to the feed truck according to the identification information, feed tank data of a breeding farm, and feed data of a finished product warehouse of a feed factory; triggering a corresponding guidance instruction based on the target order so that the feed truck is driven into a material receiving lane corresponding to the guidance instruction; controlling a mobile scale to deliver corresponding feed to the feed truck located in the material receiving lane according to the target order. The present application automatically generates a target order according to the identification information and feed data of the feed truck, and controls a mobile scale to deliver feed to the feed truck based on the target order, thereby improving the efficiency and accuracy of material delivery and realizing unmanned, intelligent, and digital material delivery.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to an intelligent material delivery method and system. Background Art

[0002] Finished feed is in the finished product warehouse. It needs to be weighed from the finished product warehouse to the feed truck, and then the feed truck pulls the feed to the breeding factory. This process is called feeding. The existing feeding system is too fragmented, and the various functional modules are not organically integrated. Under this system, the central control of the feed factory is prone to sending the wrong feed, resulting in feed waste and increased hidden costs. Due to the independence of the functional modules, the supply and demand relationship between the breeding factory and the feed factory cannot be organically combined, and feeding orders and reports cannot be automatically generated and automatically loaded.

[0003] Therefore, how to provide an unmanned, intelligent, and digital material delivery method is a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide an intelligent material delivery method and system, and also provide corresponding equipment and storage media to improve the efficiency and accuracy of material delivery and realize unmanned, intelligent and digital material delivery. The specific scheme is as follows:

[0005] The first aspect of the present application provides an intelligent material delivery method, comprising:

[0006] Get the identification information of the feed truck;

[0007] Generate a target order corresponding to the feed truck according to the identification information, feed tank data of the breeding farm, and feed data of the finished product warehouse of the feed factory;

[0008] triggering a corresponding guidance instruction based on the target order so that the feed truck is driven into a material receiving lane corresponding to the guidance instruction;

[0009] The mobile scale is controlled to distribute corresponding feed to the feed truck located in the receiving lane according to the target order.

[0010] Optionally, obtaining identification information of the feed truck includes:

[0011] The feed truck is identified using a target detection algorithm to obtain the license plate information of the feed truck.

[0012] Optionally, triggering a corresponding guidance instruction based on the target order so that the feed truck is driven into a material receiving lane corresponding to the guidance instruction includes:

[0013] triggering corresponding guidance instructions based on the target order;

[0014] It is determined whether the feed truck driven into the material receiving lane is the feed truck corresponding to the target order; if so, the feed truck is allowed to drive into the material receiving lane.

[0015] Optionally, after the controlling mobile station distributes corresponding feed to the feed truck located in the receiving lane according to the target order, the method further includes:

[0016] The distance sensor in the material receiving lane is used to determine the position information of the feed truck so as to adjust the position of the feed truck.

[0017] Optionally, a 3D camera is provided on the mobile scale, and the 3D camera moves with the mobile scale to determine the position information of the compartment opening of the feed truck;

[0018] Accordingly, controlling the mobile scale to distribute corresponding feed to the feed truck located in the receiving lane according to the target order includes:

[0019] Controlling the mobile scale to move in a direction parallel to the feed truck, and using the 3D camera to scan the truck compartment opening to determine the position information of the truck compartment opening;

[0020] The mobile scale is controlled to obtain the feed corresponding to the vehicle compartment opening on the target order, and the position information of the vehicle compartment opening is obtained by using a laser distance sensor, so that the mobile scale can carry the feed and move to the vehicle compartment opening to discharge the feed.

[0021] Optionally, the scanning the vehicle compartment opening by using the 3D camera to determine the position information of the vehicle compartment opening includes:

[0022] Calibrate the 3D camera;

[0023] Using the calibrated 3D camera to obtain a height difference between the vehicle compartment opening and the vehicle roof, and preliminarily determining the vehicle compartment opening according to the height difference;

[0024] Based on the Blob analysis technology, the final vehicle compartment opening is extracted from the preliminarily determined vehicle compartment opening, and it is determined whether the distance between each two adjacent vehicle compartment openings in the final vehicle compartment opening is greater than a preset threshold. If so, the position information of the final vehicle compartment opening is determined.

[0025] Optionally, the mobile scale carries the feed to the compartment opening and then discharges the feed, including:

[0026] The mobile scale carries the feed and moves to the compartment opening, and the calibrated 3D camera on the mobile scale is used to detect the position of the compartment opening. If the detection is successful, the feed is discharged.

[0027] Optionally, the detecting the position of the vehicle compartment opening by using the calibrated 3D camera on the mobile scale includes:

[0028] The calibrated 3D camera is used to determine the hollow area around the material tube of the mobile scale, and the position of the vehicle compartment opening is detected based on the hollow area.

[0029] Optionally, after the controlling mobile station distributes corresponding feed to the feed truck located in the receiving lane according to the target order, the method further includes:

[0030] The status of the target order is updated and sent back.

[0031] The second aspect of the present application provides an intelligent material delivery system, including a vehicle detection module, a scheduling module, a vehicle guidance module and a control module, wherein:

[0032] The vehicle detection module is used to obtain identification information of the feed truck;

[0033] The scheduling module is used to generate a target order corresponding to the feed truck according to the identification information, the feed tank data of the breeding plant and the feed data of the finished product warehouse of the feed factory;

[0034] The vehicle guidance module is used to trigger a corresponding guidance instruction based on the target order, so that the feed truck drives into a corresponding material receiving lane according to the guidance instruction;

[0035] The control module is used to control the mobile scale to distribute corresponding feed to the feed truck located in the material receiving lane according to the target order.

[0036] A third aspect of the present application provides an electronic device, comprising a processor and a memory; wherein the memory is used to store a computer program, and the computer program is loaded and executed by the processor to implement the aforementioned intelligent material delivery method.

[0037] A fourth aspect of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are loaded and executed by a processor, the aforementioned intelligent material delivery method is implemented.

[0038] In this application, the identification information of the feed truck is first obtained; then, a target order corresponding to the feed truck is generated based on the identification information, the feed tank data of the breeding farm, and the feed data of the finished product warehouse of the feed factory; then, a corresponding guidance instruction is triggered based on the target order so that the feed truck is driven into the receiving lane corresponding to the guidance instruction; finally, the mobile scale is controlled to distribute the corresponding feed to the feed truck located in the receiving lane according to the target order. This application automatically generates a target order based on the identification information and feed data of the feed truck and controls the mobile scale to distribute feed to the feed truck based on the target order, thereby improving the efficiency and accuracy of material distribution and realizing unmanned, intelligent, and digital material distribution. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0040] Figure 1 A flow chart of an intelligent material delivery method provided for this application;

[0041] Figure 2 A specific logic diagram of the intelligent material delivery method provided for this application;

[0042] Figure 3 A schematic diagram of automatic loading of a feed truck provided for this application;

[0043] Figure 4 A schematic diagram of a feed truck hatch re-inspection provided for this application;

[0044] Figure 5 A schematic diagram of a specific intelligent material delivery system structure provided for this application;

[0045] Figure 6 A schematic diagram of an existing material delivery system provided for this application;

[0046] Figure 7 A structural diagram of an intelligent material dispensing electronic device provided in this application. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0048] The existing feeding system is too fragmented, and the various functional modules are not organically integrated. Under this system, the central control of the feed factory is prone to sending the wrong materials, resulting in feed waste and increased hidden costs. Due to the independence of the functional modules, the supply and demand relationship between the breeding farm and the feed factory cannot be organically combined, and feeding orders and reports cannot be automatically generated and automatically loaded. In response to the above-mentioned technical defects, the present application provides an intelligent feeding solution, which automatically generates a target order based on the identification information and feed data of the feed truck and controls the mobile scale to distribute feed to the feed truck based on the target order, thereby improving feeding efficiency and accuracy and realizing unmanned, intelligent, and digital feeding.

[0049] Figure 1 This is a flow chart of an intelligent material delivery method provided in an embodiment of the present application. Figure 1 As shown, the intelligent material delivery method includes:

[0050] S11: Obtain identification information of the feed truck.

[0051] S12: Generate a target order corresponding to the feed truck according to the identification information, the feed tank data of the breeding farm, and the feed data of the finished product warehouse of the feed factory.

[0052] In this embodiment, after the feed truck enters the feed factory, it is first disinfected and then identified, that is, the identification information of the feed truck is obtained. Figure 2 As shown. Furthermore, the target detection algorithm can be used to identify the feed truck to obtain the license plate information of the feed truck. The license plate information is the basis for automatically generating a target order corresponding to the feed truck. This embodiment does not limit the vehicle identification method, and as long as the technical effects of this embodiment can be achieved, they fall within the protection scope of this solution.

[0053] In this embodiment, after the identification information of the feed truck is obtained, a target order corresponding to the feed truck is generated according to the identification information, the feed tank data of the breeding farm, and the feed data of the finished product warehouse of the feed factory. The target order is automatically generated according to the demand of the breeding farm and the remaining amount of finished product of the feed factory, so as to solve the problem of untimely supply and demand of feed and improve the efficiency of feeding.

[0054] S13: triggering a corresponding guidance instruction based on the target order so that the feed truck is driven into the material receiving lane corresponding to the guidance instruction.

[0055] In this embodiment, each feed truck enters the corresponding bulk lane to load materials according to the target order corresponding to it. The feed factory generally has 3 or 2 bulk lanes A, B or C, and each lane corresponds to a different finished product warehouse, and each finished product warehouse stores different types of feed. Therefore, this embodiment first triggers the corresponding guidance instruction based on the target order so that the feed truck is driven into the material receiving lane corresponding to the guidance instruction. Among them, the guidance instruction is triggered according to the target order corresponding to the feed truck, including but not limited to LED display prompts, voice broadcasts, driver's mobile phone APP prompts and other methods to prompt the driver to go to the corresponding lane to receive materials.

[0056] In order to ensure the accuracy of material delivery, it is necessary to further determine whether the feed truck entering the receiving lane is the feed truck corresponding to the target order. If so, the feed truck is allowed to enter the receiving lane. There will be a rolling door and a vehicle identification device in front of each bulk lane. When the feed truck arrives at the lane door, the vehicle will be identified again. When the vehicle identification information is confirmed to be correct again with the identification information on the target order, the LED prompts the driver that the identification is passed, the rolling door will automatically open, and the driver will drive the feed truck into the lane.

[0057] S14: Control the mobile scale to distribute corresponding feed to the feed truck located in the material receiving lane according to the target order.

[0058] In this embodiment, the mobile scale is controlled to distribute the corresponding feed to the feed truck located in the receiving lane according to the target order. The mobile scale has only one flow pipe port, and the feed truck has multiple compartments separated from each other, such as Figure 3 As shown, after the feed truck stops, a mobile scale is needed to find the position of each truck compartment opening. The feed truck is generally a 4-compartment or 6-compartment truck. Then the mobile scale goes to the corresponding finished product warehouse to pick up the materials according to the target order. After picking up the materials, it moves to the corresponding truck compartment opening and discharges the materials.

[0059] In this embodiment, when the feed truck enters the lane, the vehicle is first positioned and its position is roughly estimated. Distance sensors can be installed in the front, back, left and right positions of the lane to position the feed truck entering the lane. That is, the distance sensors in the material receiving lane are used to determine the position information of the feed truck so as to adjust the position of the feed truck. The hatch of the feed truck is then positioned. Specifically, a 3D camera is provided on the mobile scale, and the 3D camera moves with the mobile scale to determine the position information of the hatch of the feed truck. Accordingly, the mobile scale is controlled to distribute the corresponding feed to the feed truck located in the material receiving lane according to the target order. Specifically, the mobile scale can be controlled to move in a direction parallel to the feed truck, and the 3D camera is used to scan the hatch to determine the position information of the hatch.

[0060] It is not difficult to understand that due to the position setting between the 3D camera and the mobile scale and the influence of the depth of field, the image captured by the 3D camera has a certain deviation from the actual image, so the 3D camera needs to be calibrated. First, the mobile scale takes the 3D camera to shoot the same target at least three times to obtain at least three sets of position values. The position relationship between the camera and the mobile scale is calculated by the position values. Secondly, the camera center and the material tube center are aligned with the center of the same hatch, and the position relationship between the camera center and the material tube center is calculated to achieve camera calibration. On this basis, the calibrated 3D camera is used to obtain the height difference between the hatch and the roof, and the hatch is preliminarily determined according to the height difference, that is, the height map of the hatch is obtained by using the 3D camera, and the preliminary hatch position is screened according to the height difference between the hatch and the car. Finally, the final hatch is extracted from the preliminarily determined hatch based on the Blob analysis technology, and it is judged whether the distance between each adjacent hatch in the final hatch is greater than the preset threshold. If so, the final hatch position information is determined. Furthermore, based on the distance difference between adjacent warehouse openings, the position values ​​whose distance between adjacent warehouse openings is less than a preset threshold can be excluded. The preset threshold can be set according to the actual situation. In this embodiment, it can be set to 84, and the data can be sorted from small to large according to the numerical value.

[0061] Among them, Blob Analysis extracts the real opening, fits the rectangular outline of the opening, and improves the accuracy of the search. In computer vision, Blob refers to a connected area in the image that has similar colors, textures and other features. Blob analysis is to analyze the connected domain of the same pixel in the image (the connected domain is called Blob). The process is actually to binarize the image, segment it to get the foreground and background, and then detect the connected area to get the Blob block. Simply put, Blob analysis is to find out the small area with "grayscale mutation" in a "smooth" area. For example, if there is a piece of newly produced glass with a very smooth and flat surface, if there is no defect on this piece of glass, then the "grayscale mutation" will not be detected. On the contrary, if there is a small bubble, black spot, crack, etc. on the glass on the glass production line due to various reasons, then the texture can be detected on this piece of glass. The color spot in the image after binary thresholding can be considered as Blob, and this process is Blob analysis. Blob analysis tools can separate targets from the background, and can calculate the number, location, shape, direction and size of targets, and can also provide the topological structure between related spots. During the processing, instead of analyzing individual pixels one by one, the image rows are operated. Each row of the image uses run-length encoding (RLE) to represent the adjacent target range. Compared with the pixel-based algorithm, this algorithm greatly improves the processing speed.

[0062] In this embodiment, after the position information of each bin opening of the feed truck is obtained, the position information can be stored in the control system of the feed factory. When discharging the material, the mobile scale is first controlled to obtain the feed corresponding to the bin opening on the target order, and then the position information of the bin opening is obtained by using the laser distance sensor, so that the mobile scale can carry the feed to the bin opening and then discharge the material. The laser distance sensor can be used to realize laser positioning of the bin opening, instructing the mobile scale to carry the feed to the corresponding bin opening to discharge the material. In this embodiment, in order to improve the accuracy of automatic material delivery and avoid waste caused by spilling material, after the mobile scale carries the feed to the bin opening, a bin opening re-inspection is further required. Specifically, the calibrated 3D camera on the mobile scale can be used to detect the position of the bin opening. If the detection passes, the material discharging operation is performed. Figure 4 As shown, this process replaces manual re-inspection to ensure the correctness of feeding and prevent feed from being scattered, causing feed waste and loss.

[0063] In this embodiment, the process of the warehouse mouth re-inspection can specifically use the calibrated 3D camera to determine the hollow area around the material pipe of the mobile scale, and detect the position of the vehicle warehouse mouth based on the hollow area. Of course, in addition to the detection of the hollow area, other means that can achieve the technical effect of this step also belong to the scope of the embodiment of the present application. Specifically, first find the hollow area around the material pipe (such as the depth value is greater than 3000 or equal to 0), and filter and combine the largest hollow area, and then fit the hollow area into a rectangle to determine whether it can completely contain the edge of the material pipe. If it cannot be completely contained, it means that the current discharge position is not the warehouse mouth, and it is prompted to prohibit discharge. If the hollow area is less than 10,000 pixels, it means that the size of the hollow area of ​​the current discharge may cause spillage, and it is prompted to prohibit discharge. If it is completely contained, the length and width of the hollow rectangle are further calculated, and according to the measured threshold, it is determined whether the width of the rectangle is in the threshold interval. If it is, it is prompted to allow discharge, otherwise it is prompted to prohibit discharge.

[0064] In this embodiment, after the loading is completed, the driver will be prompted to close the vehicle compartment, and then the roadway rolling door will be automatically opened to prompt the driver to leave. In addition, the status of the corresponding target order can be further updated and transmitted back, for example, the target order in the system can be changed to being delivered, which is convenient for the breeding farm to track the order status. At the same time, the target order and its corresponding status information can also be synchronized to the terminal device corresponding to the feed truck, and the information can be pushed to the driver and the breeding farm, feed factory, etc., to achieve timely information feedback.

[0065] It can be seen that the embodiment of the present application first obtains the identification information of the feed truck; then generates a target order corresponding to the feed truck based on the identification information, the feed tank data of the breeding farm, and the feed data of the finished product warehouse of the feed factory; then triggers a corresponding guidance instruction based on the target order so that the feed truck is driven into the material receiving lane corresponding to the guidance instruction; finally, controls the mobile scale to distribute the corresponding feed to the feed truck located in the material receiving lane according to the target order. The embodiment of the present application automatically generates a target order based on the identification information and feed data of the feed truck and controls the mobile scale to distribute feed to the feed truck based on the target order, thereby improving the efficiency and accuracy of material distribution and realizing unmanned, intelligent, and digital material distribution.

[0066] Correspondingly, an embodiment of the present application also discloses an intelligent material delivery system, including a vehicle detection module 01, a scheduling module 02, a vehicle guidance module 03 and a control module 04, wherein: the vehicle detection module 01 is used to obtain the identification information of the feed truck; the scheduling module 02 is used to generate a target order corresponding to the feed truck according to the identification information, the feed data of the breeding farm's feed tank and the feed data of the finished product warehouse of the feed factory; the vehicle guidance module 03 is used to trigger the corresponding guidance instruction based on the target order, so that the feed truck enters the corresponding material receiving lane according to the guidance instruction; the control module 04 is used to control the mobile scale to deliver the corresponding feed to the feed truck located in the material receiving lane according to the target order.

[0067] In addition to the above modules, the intelligent material delivery system in this embodiment may also include a visual positioning module 05. Figure 5 A specific intelligent material delivery system structure diagram provided in this application, relative to Figure 6 The existing dispensing system shown in the figure, the intelligent dispensing system in this application automatically realizes the dispensing function according to the supply and demand relationship, automatically issues orders and loads the feeding vehicle according to demand, and solves the problems of untimely supply and demand, inaccurate dispensing position of mobile scales, and inaccurate manual input of dispensing data. It realizes unmanned, intelligent, and digital operation and dispensing, avoids the situation where the central control sends the wrong material in the feed factory, reduces feed waste and hidden cost losses, and can also achieve the accuracy of dispensing data, automatically generate dispensing reports, organically combine the supply and demand relationship between farms and feed factories, and drive dispensing from demand.

[0068] like Figure 5As shown, through the vehicle detection module 01 and the vehicle guidance module 03, the feed truck information is obtained and the feed truck is guided to enter the lane for loading; the scheduling module 02 is used to coordinate the demand and data quantity, automatically generate the feed truck order, and collect the order data in real time; the control module 04 is also the feed factory workshop system, which can be a programmable logic controller (PLC, Programmable Logic Controller), which is used to discharge the finished product warehouse, receive the material of the mobile scale, and control the loading of the feed truck and return the data according to the order; the visual positioning module 05 is used to control the movement of the mobile scale and the positioning and re-inspection of the warehouse opening. For example, on the one hand, the scheduling system 02 sends the order to the driver, and at the same time, the driver will be prompted to enter the correct lane for receiving the material through voice broadcast and LED screen display in the feed truck. Unmanned guidance is realized. On the other hand, according to the order, what kind of material and how much material is loaded in each warehouse, the dispatching system 02 sends the order to the PLC controller, and the PLC controls the mobile scale to move with the camera to find each warehouse port, and the mobile scale goes to receive the finished warehouse material (receiving port) according to the order. After receiving the material, it automatically goes to the warehouse port, and the camera conducts re-inspection, and the mobile scale weighs the port (discharging port). According to the order weight, the material is loaded into the warehouse, and the whole process is unmanned, realizing automation and unmanned operation. The current feed truck has how much material is loaded in each warehouse and which period of material is loaded, and the data will also be sent back to the dispatching system 02.

[0069] The hardware components of the intelligent dispensing system in this embodiment may include servers, cameras, LED display screens, sound columns, mobile phone APPs, laser distance sensors, cameras, mobile scales, rolling doors, programmable controllers, etc. After the feed truck arrives at the factory, the intelligent dispensing system identifies the vehicle and transmits the factory vehicle information back. The system automatically generates order information, automatically calls a car to the bulk lane, identifies the vehicle to confirm the vehicle order, automatically controls the rolling door, automatically dispenses materials, and automatically transmits loading information, etc., to achieve manual dispensing, accurate dispensing, data reliability and traceability.

[0070] Furthermore, an embodiment of the present application also provides an electronic device. Figure 7 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram cannot be regarded as any limitation on the scope of use of the present application.

[0071] Figure 7 A schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the intelligent material delivery method disclosed in any of the aforementioned embodiments.

[0072] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0073] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon may include an operating system 221, a computer program 222 and data 223, etc. The storage method can be temporary storage or permanent storage.

[0074] The operating system 221 is used to manage and control the hardware devices and computer programs 222 on the electronic device 20, so as to realize the operation and processing of the massive data 223 in the memory 22 by the processor 21, which can be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program that can be used to complete the intelligent feeding method performed by the electronic device 20 disclosed in any of the above embodiments, the computer program 222 can further include computer programs that can be used to complete other specific tasks. The data 223 can include the identification information of the feed truck collected by the electronic device 20, etc.

[0075] Furthermore, an embodiment of the present application also discloses a storage medium, in which a computer program is stored. When the computer program is loaded and executed by a processor, the steps of the intelligent material delivery method disclosed in any of the aforementioned embodiments are implemented.

[0076] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0077] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0078] The intelligent material delivery method, system, equipment and storage medium provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. An intelligent material delivery method, characterized in that: include: Get the identification information of the feed truck; Generate a target order corresponding to the feed truck according to the identification information, feed tank data of the breeding farm, and feed data of the finished product warehouse of the feed factory; triggering a corresponding guidance instruction based on the target order so that the feed truck is driven into a material receiving lane corresponding to the guidance instruction; Controlling the mobile scale to distribute corresponding feed to the feed truck located in the receiving lane according to the target order; The mobile scale is provided with a 3D camera, and the 3D camera moves with the mobile scale to determine the position information of the vehicle compartment opening of the feed truck; the process of controlling the mobile scale to distribute the corresponding feed to the feed truck located in the material receiving lane according to the target order includes: Find the hollow area around the material tube based on the depth value of the image taken by the 3D camera; Filter and combine to find the largest void area; Fit the hollow area into a rectangle to determine whether it can completely contain the edge of the material tube; If not all of them can be included, it means that the current discharge position is not the warehouse opening, and the prompt is that discharge is prohibited; If the hole area is smaller than 10,000 pixels, it means that the hole area of ​​the current material discharge may cause material spillage, and a prompt is given to prohibit material discharge; If all are included, the length and width of the hole rectangle are calculated, and according to the measured threshold, it is determined whether the width of the rectangle is within the threshold interval. If so, a prompt is given to allow the material to be released, otherwise a prompt is given to prohibit the material to be released; Wherein, scanning the hatch opening by using the 3D camera to determine the position information of the hatch opening includes: Calibrate the 3D camera; Using the calibrated 3D camera to obtain a height difference between the vehicle compartment opening and the vehicle roof, and preliminarily determining the vehicle compartment opening according to the height difference; Based on the Blob analysis technology, the final compartment opening is extracted from the initially determined compartment openings, and it is determined whether the distance between each two adjacent compartment openings in the final compartment openings is greater than a preset threshold. If so, the position information of the final compartment opening is determined so that the mobile scale can carry the feed to the compartment opening and then discharge the feed; Among them, calibrating the 3D camera includes: controlling the mobile scale to carry the 3D camera to shoot the same target at least three times to obtain at least three sets of position values, and calculating the position relationship between the camera and the mobile scale through the position values; aligning the center of the camera and the center of the material tube with the center of the same warehouse opening, calculating the position relationship between the center of the camera and the center of the material tube to realize camera calibration.

2. The intelligent material dispensing method according to claim 1, characterized in that: The obtaining of identification information of the feed truck includes: The feed truck is identified using a target detection algorithm to obtain the license plate information of the feed truck.

3. The intelligent material dispensing method according to claim 1, characterized in that: The triggering of a corresponding guidance instruction based on the target order so that the feed truck is driven into a material receiving lane corresponding to the guidance instruction includes: triggering corresponding guidance instructions based on the target order; It is determined whether the feed truck driven into the material receiving lane is the feed truck corresponding to the target order; if so, the feed truck is allowed to drive into the material receiving lane.

4. The intelligent material dispensing method according to claim 1, characterized in that: After the controlling mobile station distributes corresponding feed to the feed truck located in the receiving lane according to the target order, the method further includes: The distance sensor in the material receiving lane is used to determine the position information of the feed truck so as to adjust the position of the feed truck.

5. The intelligent material dispensing method according to claim 1, characterized in that: Controlling the mobile scale to distribute corresponding feed to the feed truck located in the receiving lane according to the target order includes: Controlling the mobile scale to move in a direction parallel to the feed truck, and using the 3D camera to scan the truck compartment opening to determine the position information of the truck compartment opening; The mobile scale is controlled to obtain the feed corresponding to the vehicle compartment opening on the target order, and the position information of the vehicle compartment opening is obtained by using a laser distance sensor, so that the mobile scale can carry the feed and move to the vehicle compartment opening to discharge the feed.

6. The intelligent material dispensing method according to claim 5, characterized in that: The mobile scale carries the feed to the bin port and then discharges the feed, including: The mobile scale carries the feed and moves to the compartment opening, and the calibrated 3D camera on the mobile scale is used to detect the position of the compartment opening. If the detection is successful, the feed is discharged.

7. The intelligent material dispensing method according to any one of claims 1 to 5, characterized in that: After the controlling mobile station distributes corresponding feed to the feed truck located in the receiving lane according to the target order, the method further includes: The status of the target order is updated and sent back.

8. An intelligent material delivery system, characterized in that: It includes a vehicle detection module, a dispatching module, a vehicle guidance module and a control module, wherein: The vehicle detection module is used to obtain identification information of the feed truck; The scheduling module is used to generate a target order corresponding to the feed truck according to the identification information, the feed tank data of the breeding plant and the feed data of the finished product warehouse of the feed factory; The vehicle guidance module is used to trigger a corresponding guidance instruction based on the target order, so that the feed truck drives into a corresponding material receiving lane according to the guidance instruction; The control module is used to control the mobile scale to distribute corresponding feed to the feed truck located in the material receiving lane according to the target order; Among them, the mobile scale is provided with a 3D camera, and the 3D camera moves with the mobile scale to determine the position information of the warehouse opening of the feed truck; the control module controls the mobile scale to distribute the corresponding feed to the feed truck located in the receiving lane according to the target order, and is used to find the hollow area around the feed pipe based on the depth value of the image taken by the 3D camera; screen and combine the largest hollow area; fit the hollow area into a rectangle to determine whether it can completely contain the edge of the feed pipe; if it cannot be completely contained, it means that the current discharge position is not the warehouse opening, and a prompt is given to prohibit discharge; if the hollow area is less than 10,000 pixels, it means that the size of the hollow area of ​​the current discharge may cause spillage, and a prompt is given to prohibit discharge; if it is completely contained, the length and width of the hollow rectangle are calculated, and according to the measured threshold, it is determined whether the width of the rectangle is within the threshold interval, if so, a prompt is given to allow discharge, otherwise a prompt is given to prohibit discharge; Among them, the control module uses the 3D camera to scan the compartment opening to determine the position information of the compartment opening, including: calibrating the 3D camera; using the calibrated 3D camera to obtain the height difference between the compartment opening and the roof, and preliminarily determining the compartment opening according to the height difference; extracting the final compartment opening from the preliminarily determined compartment opening based on Blob analysis technology, and judging whether the distance between each adjacent two compartment openings in the final compartment opening is greater than a preset threshold, if so, determining the final position information of the compartment opening, so that the mobile scale can carry the feed to the compartment opening and then discharge the feed; Among them, the control module calibrates the 3D camera, including: controlling the mobile scale to take the 3D camera to shoot the same target at least three times, obtaining at least three sets of position values, and calculating the position relationship between the camera and the mobile scale through the position values; aligning the center of the camera and the center of the material tube with the center of the same warehouse opening, calculating the position relationship between the center of the camera and the center of the material tube, so as to realize camera calibration.

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