Volume measurement method, device, system and computer-readable storage medium

Abstract

The present invention discloses a volume measurement method, device, system, and computer-readable storage medium, relating to the field of logistics technology. The volume measurement method includes: determining a reference depth based on the maximum value of the distance between a camera and the bottom of a container, wherein the bottom of the container is opposite to the container entrance, the camera's shooting direction is toward the bottom, and the reference depth is greater than or equal to the maximum value; integrating the reference depth within a circumscribed area of ​​the container entrance to obtain an initial reference volume; after the container is loaded with cargo, obtaining a depth map captured by the camera; determining the current reference volume based on the depth of the cargo area in the depth map, the non-cargo area in the circumscribed area, and the reference depth; determining the occupied volume of the cargo based on the difference between the initial reference volume and the current reference volume; and determining the available volume of the container based on the occupied volume of the cargo. Embodiments of the present invention can improve the accuracy of volume estimation.

Description

Technical Field

[0001] The present invention relates to the field of logistics technology, and in particular to a volume measurement method, device, system and computer-readable storage medium. Background Art

[0002] Volume measurement based on three-dimensional (3D) information has numerous applications in logistics, such as truck loading and packing optimization, and compartment volume ratio assessment. A wide range of mature 3D depth camera products are available. Considering their cost-effectiveness, field of view, and accuracy, 3D depth cameras are well-suited for large-scale volume measurement and estimation of freight truck compartments in docking stations. Summary of the Invention

[0003] Currently, volume measurements based on depth cameras suffer from inaccurate measurement results.

[0004] A technical problem to be solved by the embodiments of the present invention is: how to improve the accuracy of volume estimation.

[0005] According to a first aspect of some embodiments of the present invention, there is provided a volume measurement method, comprising: determining a reference depth based on a maximum value of a distance between a camera and a bottom of a container, wherein the bottom of the container is opposite to an entrance of the container, the shooting direction of the camera is toward the bottom, and the reference depth is greater than or equal to the maximum value; integrating the reference depth within a circumscribed area of ​​the entrance of the container to obtain an initial reference volume; after the container is loaded with cargo, obtaining a depth map captured by the camera; determining a current reference volume based on the depth of the cargo area in the depth map, a non-cargo area in the circumscribed area, and the reference depth; determining the occupied volume of the cargo based on the difference between the initial reference volume and the current reference volume; and determining the available volume of the container based on the occupied volume of the cargo.

[0006] In some embodiments, determining the current reference volume based on the depth of the cargo area in the depth map, the non-cargo area in the circumscribed area, and the reference depth includes: determining a first volume based on the depth of the cargo area in the depth map; determining a second volume based on the non-cargo area in the circumscribed area and the reference depth; and determining the current reference volume as the sum of the first volume and the second volume.

[0007] In some embodiments, the volume measurement method further includes: determining a bottom area and a side wall area of ​​the container in the circumscribed area; and determining the second volume based on the non-cargo area and the reference depth in the circumscribed area includes: integrating the reference depth in the non-cargo area in the circumscribed area when the side wall of the container is not obscured by cargo to determine the second volume; and integrating the reference depth in the non-cargo area in the bottom area and the side wall area when the side wall of the container is obscured by cargo to determine the second volume.

[0008] In some embodiments, determining the first volume based on the depth of the cargo area in the depth map includes: determining whether a projection error condition is currently met; if not, integrating the depth in the cargo area to obtain the first volume; if so, correcting the cargo area and integrating the depth in the corrected cargo area to obtain the first volume.

[0009] In some embodiments, determining whether the projection error condition is currently met includes: determining the surface of the goods included in the depth map; and determining that the projection error condition is currently met when the distance between the front of the goods and the camera decreases in a direction away from the central axis of the camera and the side of the goods is located in a direction close to the central axis of the front.

[0010] In some embodiments, correcting the cargo area includes: restoring the area and depth of the hidden surface located on the side opposite to the front and side surfaces; and using the area of ​​the front and hidden surface as the corrected cargo area.

[0011] In some embodiments, determining the surface of the cargo included in the depth map includes: determining the area in the cargo area of ​​the depth map where the depth change value is less than a preset value as the front of the cargo, and determining the area where the depth change value is not less than the preset value as the side of the cargo.

[0012] In some embodiments, the volume measurement method further includes: obtaining a depth map captured by a camera when the container is empty; and detecting a maximum depth value within a circumscribed area of ​​the entrance of the container as the maximum value of the distance between the camera and the bottom of the container.

[0013] In some embodiments, the camera is a 3D camera.

[0014] In some embodiments, the container is a carriage.

[0015] According to a second aspect of some embodiments of the present invention, there is provided a volume measuring device, comprising: a reference depth determining module configured to determine a reference depth based on a maximum value of a distance between a camera and a bottom of a container, wherein the bottom of the container is opposite to the container entrance, the camera is directed toward the bottom, and the reference depth is greater than or equal to the maximum value; an initial reference volume determining module configured to integrate the reference depth within a circumscribed area of ​​the container entrance to obtain an initial reference volume; a depth map acquiring module configured to acquire a depth map captured by the camera after the container is loaded with cargo; a current reference volume determining module configured to determine a current reference volume based on a depth of a cargo area in the depth map, a non-cargo area in the circumscribed area, and the reference depth; a cargo occupied volume determining module configured to determine the occupied volume of the cargo based on a difference between the initial reference volume and the current reference volume; and an available volume determining module configured to determine the available volume of the container based on the occupied volume of the cargo.

[0016] According to a third aspect of some embodiments of the present invention, there is provided a data processing device, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute any one of the aforementioned volume measurement methods based on instructions stored in the memory.

[0017] According to a fourth aspect of some embodiments of the present invention, there is provided a volume measurement system, comprising: any one of the aforementioned volume measurement devices; and a camera located at the entrance of the container and shooting toward the bottom of the container.

[0018] According to a fifth aspect of some embodiments of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements any one of the aforementioned volume measurement methods.

[0019] Some embodiments of the above invention can improve the accuracy of volume estimation.

[0020] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 paying any creative work.

[0022] Figure 1 A schematic flow chart of a volume measurement method according to some embodiments of the present invention is shown.

[0023] Figure 2 A schematic diagram of a volume measurement scenario is shown as an example.

[0024] Figure 3 A schematic flow chart of a method for determining a current reference volume according to some embodiments of the present invention is shown.

[0025] Figures 4A to 4C Schematic diagram showing a central projection error scenario.

[0026] Figure 5 A schematic flow chart of a method for determining a first volume corresponding to cargo according to some embodiments of the present invention is shown.

[0027] Figure 6 A schematic structural diagram of a volume measurement device according to some embodiments of the present invention is shown.

[0028] Figure 7 A schematic structural diagram of a volume measurement system according to some embodiments of the present invention is shown.

[0029] Figure 8 Schematic diagrams of the structures of volume measuring devices according to other embodiments of the present invention are shown.

[0030] Figure 9 Schematic diagrams of the structures of volume measurement devices according to some further embodiments of the present invention are shown. DETAILED DESCRIPTION

[0031] The following will be combined with the accompanying 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 embodiments described are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0032] Unless otherwise specifically stated, the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0033] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0034] Technologies, methods and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods and equipment should be considered part of the authorization specification.

[0035] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0036] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0037] After analysis, the inventors discovered that 3D cameras use the relationship between dual-camera parallax and depth to construct depth images. Overall, the entire device is projected centrally, resulting in a "larger near, smaller far" depth map output. Specifically, objects of the same size and pose appear larger when closer to the 3D camera and smaller when farther away. This phenomenon can lead to the following problems in vehicle volume estimation scenarios.

[0038] First, the parking positions of the carriages have random deviations. In the depth image, the carriage walls will have a certain angle with the radial direction of the 3D camera. This makes it difficult to estimate the volume of the carriage based on the depth image.

[0039] Secondly, the central projection causes the cargo box walls to not accurately reflect radial relationships. When the radial direction of the 3D camera completely overlaps with the cargo box, the depth estimated by the 3D camera will also have a certain degree of error. This manifests as the walls of a relatively upright cubic cargo box becoming angled cones in the depth map, causing the sides of the cube, which should project a straight line on the bottom plane, to project as a continuous area.

[0040] Therefore, more errors will occur when estimating the volume based on the depth image.

[0041] Figure 1 FIG. 1 is a flow chart showing a volume measurement method according to some embodiments of the present invention. Figure 1 As shown, the volume measurement method of this embodiment includes steps S102 to S112.

[0042] In step S102, a reference depth is determined based on the maximum value of the distance between the camera and the bottom of the container. The reference depth is greater than or equal to the maximum value.

[0043] The bottom of the container is opposite to the container entrance, and the shooting direction of the camera is toward the bottom of the container.

[0044] Figure 2 The schematic diagram of the volume measurement scenario is shown as an example. Figure 2 As shown, the container 20 is loaded with goods 200 , and the camera 21 is located at an entrance 201 of the container 20 and shoots toward the bottom 202 of the container 20 .

[0045] In some embodiments, the container is a carriage, and the entrance to the carriage is a door of the carriage.

[0046] In some embodiments, when the container is empty, a depth map captured by a camera is obtained; within the circumscribed area of ​​the container entrance, a maximum depth value is detected as the maximum distance between the camera and the bottom of the container.

[0047] In step S104 , the reference depth is integrated within the circumscribed area of ​​the inlet of the container to obtain an initial reference volume.

[0048] Because some 3D cameras still adhere to the perspective principle of appearing larger near and smaller far away, when the camera is directed toward the bottom of a container, the resulting depth map includes both the bottom and the sidewalls. When calculating the initial reference volume, embodiments of the present invention treat the bottom and sidewalls as areas on the same plane, and assume that the distance from this plane to the camera is the reference depth. Based on this assumption, the initial reference volume is determined.

[0049] In step S106, after the container is loaded with goods, a depth map captured by the camera is obtained.

[0050] In step S108 , a current reference volume is determined based on the depth of the cargo area in the depth map, the non-cargo area in the circumscribed area, and the reference depth.

[0051] In some embodiments, a first volume is determined based on the depth of the cargo area in the depth map; a second volume is determined based on the non-cargo area in the circumscribed area and the reference depth; and the sum of the first volume and the second volume is determined as the current reference volume.

[0052] In the cargo area, due to the occlusion of the cargo, the volume of the area in the direction perpendicular to the projection plane changes. This change information is calculated with reference to the depth information in the depth map; the non-cargo area is not blocked, so the depth remains unchanged and is still calculated using the reference depth.

[0053] In step S110 , the occupied volume of the cargo is determined according to the difference between the initial reference volume and the current reference volume.

[0054] When calculating the volume of the container's bottom and sidewalls, a reference depth is used. This reference depth is not the actual depth, resulting in errors in the calculated results. However, since the same error exists when determining the initial reference volume and the current reference volume, subtracting the two eliminates this error, similar to the "tare" operation during weighing. This ensures that the resulting volume change, i.e., the estimated volume occupied by the cargo, is relatively accurate.

[0055] In step S112, the available volume of the container is determined according to the occupied volume of the goods.

[0056] For example, the actual volume of the container is subtracted from the volume occupied by the cargo to obtain the available volume.

[0057] Considering cargo loading scenarios, once a load is loaded, even if there is space behind it, new cargo is generally not placed behind the already loaded cargo when continuing to load. Therefore, the space between the surface of the cargo facing the camera and the bottom of the container can be considered occupied space and does not belong to the container's usable volume.

[0058] The above embodiment sets a reference depth for the depth map and the container to be measured, such as the distance between the camera and the farthest point on the bottom of the container, or a larger distance. Based on this reference depth, the integrated depth value is calculated for all points within the container on the depth map as the estimated volume of the object in front of the camera. This value reflects the relative volume of the object in front of the camera.

[0059] When the relative position of depth information deviates due to factors such as the placement of goods, the relative relationship remains consistent before and after placement. This deviation is primarily due to two factors: the object's projected distance in the camera's tangential direction, and the object's radial depth distance from the camera. The relationship between these two variables leading to this deviation can be reflected by setting the area corresponding to the depth point. Based on this fixed relationship, directly integrating the target over depth can estimate a value that is positively correlated with the target's true volume.

[0060] Experiments have shown that regardless of whether the container is placed at an angle or not, the method of the above embodiment can obtain relatively accurate measurement results.

[0061] Therefore, embodiments of the present invention can improve the accuracy of volume estimation.

[0062] After further analysis, the inventors found that when goods approach the sidewalls of the container, part of the sidewalls are obscured due to the central projection phenomenon. To solve this problem, some embodiments of the present invention provide a method for restoring the depth of the obscured sidewalls.

[0063] Figure 3 FIG. 1 is a flow chart showing a method for determining a current reference volume according to some embodiments of the present invention. Figure 3 As shown, the current reference volume determination method of this embodiment includes steps S302 to S312.

[0064] In step S302 , the bottom area and the side wall area of ​​the container are determined in the circumscribed area of ​​the container inlet.

[0065] In step S304, a first volume is determined according to the depth of the cargo area in the depth map.

[0066] In step S306, it is determined whether the side wall of the container is blocked by the cargo. If not, step S308 is executed; if yes, step S310 is executed.

[0067] In step S308 , the reference depth is integrated in the non-cargo area in the circumscribed area of ​​the container inlet to determine a second volume.

[0068] In step S310, the reference depth is integrated across the non-cargo area of ​​the bottom region of the container and the sidewall region to determine a second volume. This restores the obscured sidewall portion so that the volume corresponding to the sidewall portion remains the same before and after loading, thereby eliminating errors.

[0069] In step S312, the sum of the first volume and the second volume is determined as the current reference volume.

[0070] Through the above embodiment, when the side wall in the captured depth image is blocked by cargo, the side wall can be restored, thereby improving the accuracy of volume estimation.

[0071] After analysis, the inventors found that the central projection may also lead to calculation errors of the first volume. Figures 4A to 4C Schematic diagram showing a central projection error scenario.

[0072] Figure 4A A schematic diagram of a measurement scenario is shown in Figure 2. Figure 4A In the figure, the rectangular cargo is placed close to the left side wall of the container, and the front side 41 of the cargo is slightly tilted, and its left side is closer to the projection plane of the camera 40. Due to the central projection effect of the 3D camera, the actual captured image shows the front side 41 and the right side 43 of the cargo, as shown in the figure. Figure 4B However, in the case of parallel projection, the captured image should present the front side 41 and the left side 42 of the goods, as shown in FIG. Figure 4C When calculating the volume occupied by the cargo, since 41 and 42 are closer to the camera, they should be calculated based on 41 and 42. In this case, the cargo area in the depth map captured by the 3D camera needs to be corrected.

[0073] Figure 5 FIG. 1 is a flow chart showing a method for determining a first volume corresponding to cargo according to some embodiments of the present invention. Figure 5 As shown, the method for determining the first volume in this embodiment includes steps S502 to S506.

[0074] In step S502, it is determined whether the current projection error condition is met. If not, step S504 is executed; if yes, step S506 is executed.

[0075] Generally, when goods are close to the side wall of the container, projection error will occur. In some embodiments, a corresponding condition is added to the case where the projection of an invisible surface on the reference depth plane increases due to reasons such as the placement of objects, and this condition is used as the projection error condition.

[0076] In some embodiments, the surface of the cargo included in the depth map is determined. For example, in the cargo area of ​​the depth map, the area where the depth change value is less than a preset value is determined as the front of the cargo, and the area where the depth change value is not less than the preset value is determined as the side of the cargo; when the distance between the front of the cargo and the camera decreases in the direction away from the central axis of the camera, and the side of the cargo is located in the direction close to the central axis of the front, it is determined that the current projection error condition is met.

[0077] In step S504 , the depth is integrated in the cargo area to obtain a first volume.

[0078] In step S506 , the cargo area is corrected, and the depth is integrated in the corrected cargo area to obtain a first volume.

[0079] In some embodiments, the area and depth of the hidden surface located on the opposite side of the side are restored based on the front and side surfaces. For example, the tilt angle of the cargo is calculated based on the size information of the front and side surfaces, and then the area size of the hidden surface is calculated, and the depth of the hidden surface is converted based on the depth of the side surface in the depth map; the area where the front and hidden surfaces are located is used as the corrected cargo area.

[0080] Through the above embodiments, the central projection error can be corrected, further improving the accuracy of volume estimation.

[0081] Reference below Figure 6 An embodiment of the volume measuring device of the present invention will be described.

[0082] Figure 6 FIG. 1 shows a schematic diagram of the structure of a volume measurement device according to some embodiments of the present invention. Figure 6As shown, the volume measurement device 600 of this embodiment includes: a reference depth determination module 6100, configured to determine a reference depth based on the maximum value of the distance between a camera and the bottom of a container, wherein the bottom of the container is opposite to the container entrance, the camera is directed toward the bottom, and the reference depth is greater than or equal to the maximum value; an initial reference volume determination module 6200, configured to integrate the reference depth within a circumscribed area of ​​the container entrance to obtain an initial reference volume; a depth map acquisition module 6300, configured to acquire a depth map captured by the camera after the container is loaded with cargo; a current reference volume determination module 6400, configured to determine a current reference volume based on the depth of the cargo area in the depth map, the non-cargo area in the circumscribed area, and the reference depth; a cargo occupied volume determination module 6500, configured to determine the cargo occupied volume based on the difference between the initial reference volume and the current reference volume; and an available volume determination module 6600, configured to determine the available volume of the container based on the cargo occupied volume.

[0083] In some embodiments, the current reference volume determination module 6400 is further configured to determine a first volume based on the depth of the cargo area in the depth map; determine a second volume based on the non-cargo area in the circumscribed area and the reference depth; and determine the sum of the first volume and the second volume as the current reference volume.

[0084] In some embodiments, the volume measurement method further includes an area determination module 6700, which is configured to determine the bottom area and the side wall area of ​​the container in the circumscribed area; and the current reference volume determination module 6400 is further configured to, when the side wall of the container is not obscured by cargo, integrate the reference depth in the non-cargo area in the circumscribed area to determine the second volume; and when the side wall of the container is obscured by cargo, integrate the reference depth in the non-cargo area in the bottom area and the side wall area to determine the second volume.

[0085] In some embodiments, the current reference volume determination module 6400 is further configured to determine whether a projection error condition is currently met; if not, integrate the depth in the cargo area to obtain a first volume; if met, correct the cargo area and integrate the depth in the corrected cargo area to obtain the first volume.

[0086] In some embodiments, the current reference volume determination module 6400 is further configured to determine the surface of the cargo included in the depth map; when the distance between the front of the cargo and the camera decreases in a direction away from the central axis of the camera, and the side of the cargo is located in a direction close to the central axis of the front, it is determined that the current projection error condition is met.

[0087] In some embodiments, the current reference volume determination module 6400 is further configured to restore the area and depth of the hidden surface located on the opposite side according to the front and side faces; and use the area of ​​the front and hidden surface as the corrected cargo area.

[0088] In some embodiments, the current reference volume determination module 6400 is further configured to determine, in the cargo area of ​​the depth map, an area where the depth change value is less than a preset value as the front of the cargo, and determine an area where the depth change value is not less than the preset value as the side of the cargo.

[0089] In some embodiments, the reference depth determination module 6100 is further configured to obtain a depth map captured by a camera when the container is empty; and detect the maximum depth value within the circumscribed area of ​​the entrance of the container as the maximum value of the distance between the camera and the bottom of the container.

[0090] In some embodiments, the container is a carriage.

[0091] Figure 7 FIG. 1 shows a schematic diagram of a volume measurement system according to some embodiments of the present invention. Figure 7 As shown, the volume measurement system 70 of this embodiment includes a volume measurement device 600 and a camera 700. The camera 700 is located at the entrance of the container and shoots toward the bottom of the container.

[0092] In some embodiments, camera 700 is a 3D camera.

[0093] Figure 8 Schematic diagrams of the structure of volume measurement devices according to other embodiments of the present invention are shown. Figure 8 As shown, the volume measurement device 80 of this embodiment includes: a memory 810 and a processor 820 coupled to the memory 810 , and the processor 820 is configured to execute the volume measurement method in any of the aforementioned embodiments based on instructions stored in the memory 810 .

[0094] The memory 810 may include, for example, a system memory, a fixed non-volatile storage medium, etc. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs.

[0095] Figure 9 FIG. 1 shows a schematic structural diagram of a volume measurement device according to some other embodiments of the present invention. Figure 9As shown, the volume measurement device 90 of this embodiment includes a memory 910 and a processor 920. It may also include an input / output interface 930, a network interface 940, a storage interface 950, and the like. These interfaces 930, 940, 950, as well as the memory 910 and the processor 920, can be connected, for example, via a bus 960. The input / output interface 930 provides a connection interface for input / output devices such as a display, mouse, keyboard, and touch screen. The network interface 940 provides a connection interface for various networked devices. The storage interface 950 provides a connection interface for external storage devices such as SD cards and USB flash drives.

[0096] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein the program implements any of the aforementioned volume measurement methods when executed by a processor.

[0097] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable non-transitory storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0098] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0099] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0100] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0101] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A volume measurement method, comprising: determining a reference depth according to a maximum value of a distance between a camera and a bottom of a container, wherein the bottom of the container is opposite to the container entrance, the shooting direction of the camera is toward the bottom, and the reference depth is greater than or equal to the maximum value; Integrating the reference depth within a circumscribed area of ​​the inlet of the container to obtain an initial reference volume; After the container is loaded with goods, obtaining a depth map captured by the camera; Determining a current reference volume based on the depth of the cargo area in the depth map, the non-cargo area in the circumscribed area, and the reference depth, includes: determining the bottom area and the sidewall area of ​​the container in the circumscribed area; judging whether a projection error condition is currently met, wherein determining the surface of the cargo included in the depth map, and if the distance between the front of the cargo and the camera decreases in a direction away from the central axis of the camera, and the side of the cargo is located in a direction of the front close to the central axis, it is determined that the projection error condition is currently met; if the projection error condition is not met, integrating the depth in the cargo area to obtain a first volume; if the projection error condition is met, integrating the depth in the cargo area to obtain a first volume Correcting the depth of the container in the cargo area and integrating the depth in the corrected cargo area to obtain a first volume; integrating the reference depth in the non-cargo area of ​​the circumscribed area when the side wall of the container is not blocked by the cargo to determine a second volume; integrating the reference depth in the non-cargo area of ​​the bottom area and the side wall area when the side wall of the container is blocked by the cargo to determine a second volume; integrating the reference depth in the non-cargo area of ​​the bottom area and the side wall area when the side wall of the container is blocked by the cargo to determine a second volume; and determining the sum of the first volume and the second volume as a current reference volume; determining the occupied volume of the cargo according to the difference between the initial reference volume and the current reference volume; The available volume of the container is determined according to the occupied volume of the cargo.

2. The volume measurement method according to claim 1, wherein: The correcting the cargo area includes: Restore the area and depth of the hidden surface located on the side opposite to the side according to the front face and the side face; The area where the front surface and the hidden surface are located is used as the corrected cargo area.

3. The volume measurement method according to claim 1, wherein: Determining the surface of the cargo included in the depth map includes: In the cargo area of ​​the depth map, an area where the depth change value is less than a preset value is determined as the front of the cargo, and an area where the depth change value is not less than the preset value is determined as the side of the cargo.

4. The volume measurement method according to claim 1, further comprising: When the container is empty, obtaining a depth map captured by the camera; In the circumscribed area of ​​the entrance of the container, a maximum depth value is detected as the maximum value of the distance between the camera and the bottom of the container.

5. The volume measurement method according to any one of claims 1 to 4, wherein: The camera is a 3D camera.

6. The volume measurement method according to any one of claims 1 to 4, wherein: The container is a carriage.

7. A volume measuring device comprising: a reference depth determination module configured to determine a reference depth based on a maximum value of a distance between a camera and a bottom of a container, wherein the bottom of the container is opposite to the container entrance, the shooting direction of the camera is toward the bottom, and the reference depth is greater than or equal to the maximum value; an initial reference volume determination module configured to integrate the reference depth within a circumscribed area of ​​the inlet of the container to obtain an initial reference volume; a depth map acquisition module, configured to acquire a depth map captured by the camera after the container is loaded with goods; The current reference volume determination module is configured to determine the current reference volume based on the depth of the cargo area in the depth map, the non-cargo area in the circumscribed area, and the reference depth, including: determining the bottom area and the sidewall area of ​​the container in the circumscribed area; judging whether a projection error condition is currently met, wherein the surface of the cargo included in the depth map is determined to meet the projection error condition when the distance between the front of the cargo and the camera decreases in a direction away from the central axis of the camera and the side of the cargo is located in a direction of the front close to the central axis; if the projection error condition is not met, integrating the depth in the cargo area to obtain a first volume; if the projection error condition is met, Condition, correcting the cargo area and integrating the depth in the corrected cargo area to obtain a first volume; when the side wall of the container is not blocked by the cargo, integrating the reference depth in the non-cargo area of ​​the circumscribed area to determine a second volume; when the side wall of the container is blocked by the cargo, integrating the reference depth in the non-cargo area of ​​the bottom area and the side wall area to determine a second volume; when the side wall of the container is blocked by the cargo, integrating the reference depth in the non-cargo area of ​​the bottom area and the side wall area to determine a second volume; and determining the sum of the first volume and the second volume as a current reference volume; a cargo occupied volume determination module configured to determine the occupied volume of the cargo based on a difference between the initial reference volume and the current reference volume; The available volume determination module is configured to determine the available volume of the container according to the occupied volume of the cargo.

8. A volume measuring device comprising: Memory; as well as A processor coupled to the memory, wherein the processor is configured to execute the volume measurement method according to any one of claims 1 to 6 based on instructions stored in the memory.

9. A volume measurement system comprising: The volume measuring device according to claim 7 or 8; as well as The camera is located at the entrance of the container and shoots towards the bottom of the container.

10. A computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the volume measurement method according to any one of claims 1 to 6 is implemented.

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