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

Abstract

Embodiments of the present application relate to a van loading rate determination method and device, electronic equipment and storage medium, the method comprising: obtaining an initial point cloud; filtering the initial point cloud according to the van parking area and the target height to obtain a pretreated point cloud, wherein the target height includes the sum of the van height and the first height of the electromagnetic wave device from the ground; performing rotation processing and filtering processing on the pretreated point cloud to obtain a target point cloud, wherein the target point cloud includes the point cloud of the van compartment and the interior of the van compartment; determining the loading volume of the van compartment using the target point cloud, and determining the loading rate of the van compartment according to the loading volume. The point cloud detected by the electromagnetic wave device can be used to determine the loading rate of the van compartment in real time and accurately when loading and unloading goods, and the loading rate can be synchronized to the command center in real time, so that the command center can dispatch vans according to the actual situation and improve the utilization rate of vans.

Description

Technical Field

[0001] This application relates to the field of artificial intelligence technology, and in particular to a method, apparatus, electronic device and storage medium for determining the loading rate of a van. Background Technology

[0002] In the logistics field, calculating the load factor of a van is a technique for determining the space occupied by the goods inside the van. Under the premise of not exceeding the weight limit, the load factor calculation for a van is mainly determined by the total space occupied by the loaded goods.

[0003] Traditionally, the loading volume and loading rate of box trucks are mainly estimated by the visual inspection and experience of the loading personnel. The estimation results have large errors. In addition, the information such as loading volume and loading rate estimated by the loading personnel cannot be fed back and synchronized to the command center in a timely manner, which is not conducive to the information processing and command of the command center. Summary of the Invention

[0004] In view of this, in order to solve the technical problems mentioned above, the traditional method of estimating the loading volume and loading rate of box trucks mainly relies on the visual observation and experience of the loading personnel, which results in a large error in the estimation results. In addition, the loading volume and loading rate information estimated by the loading personnel cannot be fed back and synchronized to the command center in a timely manner, which is not conducive to the information processing and command of the command center, this application provides a method, device, electronic device and storage medium for determining the loading rate of box trucks.

[0005] In a first aspect, embodiments of this application provide a method for determining the loading rate of a van, applied to an edge computing server, the method comprising:

[0006] Acquire an initial point cloud, wherein the initial point cloud includes a point cloud generated by an electromagnetic wave device located on the outer side of the rear of the carriage, which detects the area within the field of view of the electromagnetic wave device;

[0007] Based on the parking area of ​​the van and the target height, the initial point cloud is filtered to obtain a preprocessed point cloud, wherein the target height includes the sum of the height of the van and the first height of the electromagnetic wave device from the ground;

[0008] The preprocessed point cloud is rotated and filtered to obtain a target point cloud, wherein the target point cloud includes the point cloud of the van body and the interior of the van body.

[0009] The loading volume of the van compartment is determined using the target point cloud, and the loading rate of the van compartment is determined based on the loading volume.

[0010] In an optional implementation, the step of rotating and filtering the preprocessed point cloud to obtain the target point cloud includes:

[0011] Determine the correction angle corresponding to the preprocessed point cloud, and rotate the preprocessed point cloud around the second coordinate axis toward the first coordinate axis by the correction angle;

[0012] Based on the preprocessed point cloud after rotating the correction angle, a minimum bounding box is fitted.

[0013] From the preprocessed point cloud after rotation by the correction angle, select the preprocessed point cloud after rotation by the correction angle that is located within the minimum bounding cuboid box as the target point cloud.

[0014] In an optional implementation, determining the correction angle corresponding to the preprocessed point cloud includes:

[0015] The right-side portion of the preprocessed point cloud is cropped from the preprocessed point cloud.

[0016] Plane fitting is performed on the preprocessed point cloud on the right side to obtain the first plane equation of the right side plane of the van.

[0017] Determine the equation of the second plane corresponding to the target coordinate horizontal plane;

[0018] Based on the first plane equation and the second plane equation, the angle between the right side plane of the van and the target coordinate plane is determined, and the angle is determined to be the correction angle corresponding to the preprocessed point cloud.

[0019] In an optional implementation, the method further includes:

[0020] From the preprocessed point cloud after rotation by the correction angle, crop out the left portion of the preprocessed point cloud after rotation by the correction angle;

[0021] Plane fitting is performed on the preprocessed point cloud of the left part after the rotation of the correction angle to obtain the third plane equation of the left side plane of the van.

[0022] Based on the third plane equation, the distance between the left side plane of the van and the target coordinate plane is determined, and the distance is determined to be the actual width of the van.

[0023] Based on the actual width of the van's cargo compartment, query the length and height of the cargo compartment.

[0024] In an optional implementation, the method further includes:

[0025] From the preprocessed point clouds after rotating by the correction angle within the smallest enclosing cuboid box, select the preprocessed point cloud after rotating by the correction angle with the largest value.

[0026] The preprocessed point cloud, after being rotated to the maximum of the correction angle, is set as the actual length, width, and height of the van's cargo box.

[0027] In an optional implementation, determining the loading volume of the van's cargo compartment using the target point cloud includes:

[0028] The target point cloud is downsampled using voxels to obtain the voxel-downsampled point cloud.

[0029] Based on the voxel downsampling point cloud, the actual width and actual height of the van cargo compartment are obtained;

[0030] Construct an M*N empty matrix, where M includes the actual width and N includes the actual height;

[0031] According to the preset assignment rules, the target point cloud is assigned to the empty matrix;

[0032] Summing the empty matrix after assignment yields the loading volume of the van's cargo compartment.

[0033] In an optional implementation, assigning the target point cloud to the empty matrix according to a preset assignment rule includes:

[0034] Using the plane corresponding to the actual width and the actual height as a reference plane, for all target point clouds corresponding to any smallest unit in the reference plane, the target point cloud closest to the reference plane is selected and recorded in the corresponding position of the empty matrix corresponding to the smallest unit.

[0035] Secondly, embodiments of this application provide a device for determining the loading rate of a van, applied to an edge computing server, the device comprising:

[0036] An initial point cloud acquisition module is used to acquire an initial point cloud, wherein the initial point cloud includes a point cloud generated by an electromagnetic wave device located on the outer side of the rear of the carriage detecting the area within the field of view of the electromagnetic wave device;

[0037] The initial point cloud filtering module is used to filter the initial point cloud according to the parking area of ​​the van and the target height to obtain a preprocessed point cloud. The target height includes the sum of the height of the van and the first height of the electromagnetic wave device from the ground.

[0038] The preprocessed point cloud processing module is used to perform rotation processing and filtering processing on the preprocessed point cloud to obtain a target point cloud, wherein the target point cloud includes the point cloud of the van body and the interior of the van body.

[0039] The van loading rate determination module is used to determine the loading volume of the van compartment using the target point cloud, and to determine the loading rate of the van compartment based on the loading volume.

[0040] Thirdly, embodiments of this application provide an electronic device, including: a processor and a memory, wherein the processor is configured to execute a van loading rate determination program stored in the memory to implement any of the van loading rate determination methods in the first aspect.

[0041] Fourthly, embodiments of this application provide a storage medium storing one or more programs, which can be executed by one or more processors to implement any of the methods for determining the loading rate of a van in the first aspect.

[0042] The technical solution provided in this application provides the following steps: First, an initial point cloud is obtained, comprising point clouds generated by an electromagnetic wave device located on the outer side of the rear of the van, detecting the area within the field of view of the device. Second, the initial point cloud is filtered according to the van's parking area and a target height to obtain a pre-processed point cloud. The target height includes the sum of the van's height and the first height of the electromagnetic wave device from the ground. Third, the pre-processed point cloud is rotated and filtered to obtain a target point cloud, comprising point clouds of the van's cargo compartment and its interior. Fourth, the target point cloud is used to determine the loading volume of the van's cargo compartment, and the loading rate of the van's cargo compartment is determined based on the loading volume. This allows for real-time determination of the van's loading rate from the point cloud detected by the electromagnetic wave device during loading and unloading, with accurate loading rate results that can be synchronized to the command center in real time, facilitating information processing and command at the command center and improving the utilization rate of the van. Attached Figure Description

[0043] Figure 1 A top view of a van parked as provided in an embodiment of this application;

[0044] Figure 2 A side view of a van in its actual parking state, provided for an embodiment of this application;

[0045] Figure 3 A front view of a van in its actual parking state, provided as an embodiment of this application;

[0046] Figure 4A schematic diagram illustrating the implementation process of a method for determining the loading rate of a van provided in this application embodiment;

[0047] Figure 5 A top view of another van parked as provided in an embodiment of this application;

[0048] Figure 6 A top view of a target point cloud provided in an embodiment of this application;

[0049] Figure 7 A schematic diagram of a target point cloud provided for an embodiment of this application;

[0050] Figure 8 A schematic diagram illustrating the implementation process of another method for determining the loading rate of a van provided in this application embodiment;

[0051] Figure 9 A schematic diagram illustrating the implementation process of another method for determining the loading rate of a van provided in this application embodiment;

[0052] Figure 10 A schematic diagram illustrating the implementation process of a method for determining the actual length, width, and height of a van cargo box, provided in an embodiment of this application;

[0053] Figure 11 A schematic diagram illustrating the implementation process of another method for determining the actual length, width, and height of a van cargo box, provided in an embodiment of this application;

[0054] Figure 12 A schematic diagram illustrating the implementation process of another method for determining the loading rate of a van provided in this application embodiment;

[0055] Figure 13 A schematic diagram of an empty matrix provided in an embodiment of this application;

[0056] Figure 14 A schematic diagram of a matrix after assignment provided in an embodiment of this application;

[0057] Figure 15 A schematic diagram illustrating the implementation process of another method for determining the loading rate of a van provided in this application embodiment;

[0058] Figure 16 This is a schematic diagram of a device for determining the loading rate of a van, provided in an embodiment of this application.

[0059] Figure 17 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0061] In this embodiment, the specifications of the van with the desired loading rate are pre-defined: vehicle length: 4.2-17 meters, vehicle width: 1.9-2.5 meters, vehicle height (height of the van roof from the ground): 1.8-2.7 meters. A rectangular area is pre-defined as the parking area for the van, with dimensions of: length: 18 meters, width: 5 meters. The electromagnetic wave device is installed on one side of the wider side of the rectangular area, at a distance greater than or equal to 1 meter from the wider side, and at a height greater than or equal to 2 meters from the ground. Figure 1 As shown, Figure 1 This is a top view of a van parked in an embodiment of this application. The outer rectangle is a rectangular area, the inner rectangle is the van parked inside the rectangular area, the dots outside the outer rectangle are electromagnetic wave devices, the distance L between the electromagnetic wave devices and the outer rectangle is greater than or equal to 1 meter, and the distance between the electromagnetic wave devices and the ground is greater than or equal to 2 meters.

[0062] In this embodiment, the goods are stacked in the cargo compartment from the front of the van to the rear. When the van is parked within the rectangular area, in order for the electromagnetic wave equipment to clearly detect the internal point cloud of the van, the rear of the van needs to face the side where the electromagnetic wave equipment is located. The actual parking position of the van and the rectangular location can be found in [reference needed]. Figure 2 , Figure 3 , Figure 2 This is a side view of a van in its actual parking state, provided as an embodiment of this application. Figure 3 This is a front view of a van in its actual parked state, as provided in an embodiment of this application.

[0063] It should be noted that, in the embodiments of this application, the descriptions of the left and right sides of the van compartment refer to the left and right sides as observed from the outside of the rear of the van compartment, and will not be repeated below.

[0064] Figure 4 This application provides a schematic diagram of the implementation process of a method for determining the loading rate of a van, which may include the following steps:

[0065] S401: Acquire initial point cloud, wherein the initial point cloud includes point cloud generated by the electromagnetic wave device located on the outer side of the rear of the carriage, which detects the area within the field of view of the electromagnetic wave device.

[0066] In this embodiment, a point cloud generated by an electromagnetic wave device located on the outer side of the rear of the carriage, probing the area within its field of view, is first acquired; this point cloud is referred to as the initial point cloud. The electromagnetic wave device first collects raw UDP (User Datagram Protocol) data packets of the point cloud data within its field of view, and then parses and calculates the initial point cloud according to the device's specifications and product manual. The electromagnetic wave device can be a linear array lidar, and this application does not limit its use. When the electromagnetic wave device is a linear array lidar, the raw UDP data packets of the point cloud data within the lidar's field of view are collected, and then the initial point cloud is calculated and parsed according to the lidar's specifications and product manual.

[0067] S402: Based on the parking area of ​​the van and the target height, the initial point cloud is filtered to obtain a preprocessed point cloud. The target height includes the sum of the van height and the first height of the electromagnetic wave device from the ground.

[0068] In this embodiment, the initial point cloud is filtered, and all point clouds outside the aforementioned rectangular region and target height range are cropped and removed to obtain a preprocessed point cloud. The target height is set as the sum of the height of the van and the first height of the electromagnetic wave device above the ground. The height of the van can be its actual height or its maximum height; this application does not limit this. For example, if the actual height of the van is 2 meters and the first height of the electromagnetic wave device above the ground is 2 meters, then the target height is 4 meters.

[0069] S403: Perform rotation and filtering processing on the preprocessed point cloud to obtain the target point cloud, which includes the point cloud of the van body and the interior of the van body.

[0070] In this embodiment of the application, the target point cloud includes the point cloud of the van body and the point cloud inside the van body. Therefore, the preprocessed point cloud needs to be filtered to select the point cloud of the van body and the point cloud inside the van body from the point cloud within the rectangular area and the target height range.

[0071] In this embodiment, the origin of the target point cloud in three-dimensional space is the lower right corner vertex of the van, the bottom surface of the van is the XOY plane in three-dimensional space, and the right plane of the van is the XOZ plane in three-dimensional space. That is, the point cloud along the three sides of the lower right corner of the rear of the van is the target point cloud. The positive x-axis is the direction from the rear of the vehicle to the front, the positive y-axis is the direction from the right side of the van to the left, and the positive z-axis is the direction perpendicular to the horizontal plane and upward.

[0072] In this embodiment, the plane containing the electromagnetic wave device, parallel to the rectangular region, is taken as the XOY plane. A straight line parallel to the right long boundary of the rectangular region and located directly above the right long boundary is taken as the x-axis. A straight line parallel to the rear wide boundary of the rectangular region and containing the electromagnetic wave device is taken as the y-axis. Thus, the z-axis is obtained as a straight line perpendicular to the rectangular region and passing through the intersection of the x-axis and y-axis. Figure 5 As shown, Figure 5 This is a top view of another van parked as provided in an embodiment of this application. Figure 5 The positive directions of the x and y axes are marked, from which the positive direction of the z axis can be obtained, and from the above, the height of the origin can be obtained as the distance between the electromagnetic wave device and the ground.

[0073] It should be noted that the embodiments of this application only provide an example of a coordinate system origin. The coordinate system origin can also be set to other locations. For example, the coordinate origin can also be set at the location of the electromagnetic wave device. The directions of each coordinate axis are the same as above, and this application does not limit this. Therefore, the intermediate results calculated using the method provided in this application may differ, but the final determined loading rate of the van body will be the same.

[0074] In this embodiment of the application, since the right boundary of the van is not parallel to the x-axis of the coordinate axis when the van is parked, it is necessary to rotate the preprocessed point cloud to make the right boundary of the van parallel to the x-axis of the coordinate axis so that the electromagnetic wave device can more clearly collect the point cloud inside the van.

[0075] In this embodiment of the application, the top view of the target point cloud is as follows: Figure 6 As shown, Figure 6 This application provides a top view of a target point cloud, as shown in the embodiment of the present application. The actual target point cloud is as follows: Figure 7 As shown, Figure 7 This is a schematic diagram of a target point cloud provided in an embodiment of this application. From left to right, it is the front view (observed from the rear of a van), top view, and left view of the actual target point cloud.

[0076] S404: Use the target point cloud to determine the loading volume of the van compartment, and determine the loading rate of the van compartment based on the loading volume.

[0077] In this embodiment of the application, after obtaining the target point cloud, the target point cloud is processed to determine the volume of goods loaded in the van compartment. Thus, the loading volume of the van compartment can be determined using the target point cloud, and then the loading rate of the van compartment is determined based on the loading volume. Specifically, the loading rate of the van compartment is determined by calculating the ratio of the loading volume to the total volume of the van compartment.

[0078] Based on the above description of the technical solution provided in the embodiments of this application, this application uses electromagnetic wave equipment to acquire an initial point cloud, filters the initial point cloud to obtain a preprocessed point cloud, performs rotation and filtering processing on the preprocessed point cloud to obtain a target point cloud, determines the loading volume of the van compartment based on the target point cloud, and determines the loading rate of the van compartment based on the loading volume. The electromagnetic wave equipment can acquire the initial point cloud in real time, and after the above processing, the loading rate of the van compartment is obtained. Therefore, it is possible to acquire the initial point cloud of the van compartment in real time during loading and unloading, then perform rotation and filtering processing on the initial point cloud to obtain the loading rate of the van compartment in real time. The obtained loading rate is accurate and can be promptly synchronized to the command center for information processing and command.

[0079] Figure 8 This is a schematic diagram illustrating the implementation process of another method for determining the loading rate of a van provided in this application embodiment. The method may include the following steps:

[0080] S801: Acquire initial point cloud, wherein the initial point cloud includes point cloud generated by the electromagnetic wave device located on the outer side of the rear of the carriage, which detects the area within the field of view of the electromagnetic wave device.

[0081] S802: Based on the parking area of ​​the van and the target height, the initial point cloud is filtered to obtain a preprocessed point cloud. The target height includes the sum of the van height and the first height of the electromagnetic wave device from the ground.

[0082] In the embodiments of this application, S801 and S802 have been described in detail in S401 and S402, and will not be repeated here.

[0083] S803: Determine the correction angle corresponding to the preprocessed point cloud, and rotate the preprocessed point cloud around the second coordinate axis toward the first coordinate axis to correct the angle.

[0084] In this embodiment, a correction angle is determined for the preprocessed point cloud. This correction angle is the angle between the right long boundary of the van's cargo compartment and the first coordinate axis, where the first coordinate axis is the x-axis. Depending on the actual situation, the preprocessed point cloud is rotated clockwise or counterclockwise around the second coordinate axis by the correction angle, so that the right long boundary of the van's cargo compartment is parallel to the first coordinate axis.

[0085] S804: Fit the minimum bounding box to the preprocessed point cloud after rotation correction.

[0086] In this embodiment of the application, after the preprocessed point cloud is rotated and corrected by an angle, the minimum bounding cuboid box is fitted, that is, the minimum bounding cuboid box that can surround the van body is fitted.

[0087] S805: From the preprocessed point cloud after rotation correction, select the preprocessed point cloud after rotation correction that is located within the smallest bounding cuboid box as the target point cloud.

[0088] In this embodiment of the application, point clouds located within the minimum bounding cuboid box are selected from the preprocessed point clouds after rotation correction, and the point clouds located within the minimum bounding cuboid box are taken as target point clouds.

[0089] In this embodiment of the application, after obtaining the target point cloud, the lower right corner of the target point cloud is taken as the origin of the new coordinate system, and the directions of each coordinate axis are the same as the original directions.

[0090] S806: Determine the loading volume of the van body using the target point cloud, and determine the loading rate of the van body based on the loading volume.

[0091] In the embodiments of this application, S806 has been described in detail in S404, and will not be repeated here.

[0092] Based on the above description of the embodiments of this application, after the preprocessed point cloud is rotated and corrected by an angle, the preprocessed point cloud after rotation and correction is filtered to obtain the point cloud of the carriage and the interior of the carriage. This point cloud is recorded as the target point cloud, that is, the origin of the coordinate system is moved to the rear lower corner vertex of the target point cloud, while the coordinate axis direction remains unchanged. The rotation and correction angle allows the electromagnetic wave equipment to observe the target point cloud more clearly, and there is no need to move the preprocessed point cloud after rotation and correction, thus improving the efficiency of determining the loading rate.

[0093] Figure 9 This is a schematic diagram illustrating the implementation process of another method for determining the loading rate of a van provided in this application. The method may include the following steps:

[0094] S901: Acquire initial point cloud, wherein the initial point cloud includes point cloud generated by the electromagnetic wave device located on the outer side of the rear of the carriage, which detects the area within the field of view of the electromagnetic wave device.

[0095] S902: Based on the parking area of ​​the van and the target height, the initial point cloud is filtered to obtain a preprocessed point cloud. The target height includes the sum of the van height and the first height of the electromagnetic wave device from the ground.

[0096] In the embodiments of this application, S901 and S902 have been described in detail in S801 and S802, and will not be repeated here.

[0097] S903: Crop the right-side portion of the preprocessed point cloud from the preprocessed point cloud.

[0098] In this embodiment, the right-side portion of the preprocessed point cloud is cropped from the preprocessed point cloud. Specifically, the cropping width can be determined according to the actual situation, so that the cropped preprocessed point cloud includes all or part of the point cloud on the right side of the van's cargo compartment. For example, a 1.5-meter portion of the point cloud on the right side is cropped from the preprocessed point cloud.

[0099] S904: Perform plane fitting on the preprocessed point cloud of the right side to obtain the first plane equation of the right side plane of the van.

[0100] In this embodiment, the preprocessed point cloud on the right side is fitted with a plane to obtain the first plane equation of the right side plane of the van. Specifically, the coordinates of three non-collinear points can be determined from all or part of the point cloud of the right side plane of the van, and the first plane equation ax + by + cz + d = 0 can be calculated.

[0101] S905: Determine the equation of the second plane corresponding to the target coordinate plane.

[0102] In this embodiment of the application, the target coordinate plane is the XOZ plane, and the equation of the second plane corresponding to the XOZ plane is denoted as Ax+By+Cz+D=0.

[0103] S906: Based on the first plane equation and the second plane equation, determine the angle between the right side plane of the van and the target coordinate plane, and determine the angle as the correction angle corresponding to the preprocessed point cloud. Rotate the preprocessed point cloud around the second coordinate axis towards the first coordinate axis to correct the angle.

[0104] In this embodiment of the application, the angle between the right side plane of the van and the target coordinate plane is determined based on the angle between the first plane equation and the second plane equation, and this angle is determined to be the correction angle corresponding to the preprocessed point cloud.

[0105] In this embodiment, the included angle is calculated as follows, where θ is the included angle between the first plane equation and the second plane equation.

[0106]

[0107] After obtaining the correction angle, the preprocessed point cloud is rotated around the second coordinate axis toward the first coordinate axis by the correction angle. For example, if the angle θ between the first plane and the second plane is calculated to be 30°, then the preprocessed point cloud is rotated 30° around the second coordinate axis toward the first coordinate axis.

[0108] S907: Fit the minimum bounding box to the preprocessed point cloud after rotation correction.

[0109] S908: From the preprocessed point cloud after rotation correction, select the preprocessed point cloud after rotation correction that is located within the smallest bounding cuboid box as the target point cloud.

[0110] S909: Determine the loading volume of the van body using the target point cloud, and determine the loading rate of the van body based on the loading volume.

[0111] In the embodiments of this application, S907 to S909 have been described in detail in S804 to S806, and will not be repeated here.

[0112] Based on the above description of the embodiments of this application, by cropping a portion of the point cloud and fitting the carriage boundary plane in the point cloud, the plane equation of the carriage boundary plane can be quickly obtained, and the angle between the carriage and the target coordinate plane can be further obtained, thus improving the calculation efficiency.

[0113] Based on S404, after determining the loading volume of the van, when determining the loading rate of the van's cargo compartment based on the loading volume, it is necessary to determine the total volume of the cargo compartment. Therefore, it is necessary to determine the actual length, width, and height of the cargo compartment. Figure 10 This application provides a schematic diagram of the implementation process of a method for determining the actual length, width, and height of a van cargo box, which may include the following steps:

[0114] S1001: Obtain the initial point cloud, wherein the initial point cloud includes the point cloud generated by the electromagnetic wave device located on the outer side of the rear of the carriage, which detects the area within the field of view of the electromagnetic wave device.

[0115] S1002: Based on the parking area of ​​the van and the target height, the initial point cloud is filtered to obtain a preprocessed point cloud. The target height includes the sum of the van height and the first height of the electromagnetic wave device from the ground.

[0116] S1003: Determine the correction angle corresponding to the preprocessed point cloud, and rotate the preprocessed point cloud around the second coordinate axis toward the first coordinate axis to correct the angle.

[0117] In the embodiments of this application, S1001 to S1003 have been described in detail in S801 to S803, and will not be repeated here.

[0118] S1004: From the preprocessed point cloud after rotation correction, crop out the left part of the preprocessed point cloud after rotation correction.

[0119] In this embodiment, the left-side portion of the preprocessed point cloud after rotation correction is cropped from the preprocessed point cloud after rotation correction. Specifically, the cropping width can be determined according to the actual situation, so that the cropped preprocessed point cloud includes all or part of the point cloud on the left side of the van's cargo box. For example, a 1.5-meter portion of the left-side point cloud is cropped from the preprocessed point cloud after rotation correction.

[0120] S1005: Perform plane fitting on the preprocessed point cloud after rotation correction of the left part to obtain the third plane equation of the left side plane of the van.

[0121] In this embodiment, a plane fitting is performed on the preprocessed point cloud of the left side to obtain the third plane equation of the left side plane of the van. Specifically, the coordinates of three non-collinear points can be determined from all or part of the point cloud of the left side plane of the van, and the third plane equation a'x+b'y+c'z+d=0 can be calculated.

[0122] S1006: Based on the third plane equation, determine the distance between the left side plane of the van and the target coordinate plane, and determine the distance as the actual width of the van.

[0123] In this embodiment, the distance between the third plane and the target coordinate plane is calculated to determine the distance between the left side plane of the van and the target coordinate plane, and this distance is determined as the actual width of the van. For example, if the distance between the left side plane of the van and the target coordinate plane is 2.3 meters, then the actual width of the van is 2.3 meters.

[0124] S1007: Query the length and height of the van body based on the actual width of the van body.

[0125] In this embodiment, a van specification table is pre-stored, which records the correspondence between the actual width, length, and height of the vans. Based on the actual width of the van obtained above, the actual length and height of the van are retrieved from the pre-stored van specification table. This determines the van's cargo volume.

[0126] Based on the above description of the technical solutions provided in the embodiments of this application, this application calculates the actual width of the carriage, queries the corresponding actual length and height based on the actual width, and thus determines the volume of the carriage, avoiding the situation where the actual width, length, and height of the carriage determined by point cloud are inaccurate.

[0127] Figure 11 This application provides a schematic flowchart of another method for determining the actual length, width, and height of a van cargo box, which may include the following steps:

[0128] S1101: Obtain the initial point cloud, wherein the initial point cloud includes the point cloud generated by the electromagnetic wave device located on the outer side of the rear of the carriage, which detects the area within the field of view of the electromagnetic wave device.

[0129] S1102: Based on the parking area of ​​the van and the target height, the initial point cloud is filtered to obtain a preprocessed point cloud. The target height includes the sum of the van height and the first height of the electromagnetic wave device from the ground.

[0130] S1103: Determine the correction angle corresponding to the preprocessed point cloud, and rotate the preprocessed point cloud around the second coordinate axis toward the first coordinate axis to correct the angle.

[0131] S1104: Fit the minimum bounding box cuboid based on the preprocessed point cloud after rotation correction angle.

[0132] S1105: From the preprocessed point cloud after rotation correction, select the preprocessed point cloud after rotation correction that is located within the smallest bounding cuboid box as the target point cloud.

[0133] In the embodiments of this application, S1101 to S1105 have been described in detail in S801 to S805, and will not be repeated here.

[0134] S1106: Select the preprocessed point cloud with the largest rotation correction angle from the preprocessed point cloud located within the smallest bounding cuboid box after rotation correction.

[0135] In this embodiment, the preprocessed point cloud after rotation correction within the smallest enclosing cuboid box is the point cloud of the carriage and the interior of the carriage. The outermost point cloud in the preprocessed point cloud after rotation correction within the smallest enclosing cuboid box is the carriage point cloud, that is, the preprocessed point cloud after the largest rotation correction angle is the carriage point cloud.

[0136] S1107: Set the preprocessed point cloud after the maximum rotation correction angle to the actual length, width and height of the van body.

[0137] In this embodiment of the application, the preprocessed point cloud after determining the maximum rotation correction angle is the point cloud of the van, and the ZYX coordinate values ​​of the preprocessed point cloud after the maximum rotation correction angle are set as the actual length, width and height of the van van.

[0138] Based on the above description of the technical solutions provided in the embodiments of this application, this application selects the preprocessed point cloud with the largest rotation correction angle from the preprocessed point cloud located in the minimum bounding box as the carriage point cloud, thereby determining the actual width, length and height of the carriage and simplifying the operation steps.

[0139] Figure 12 This is a schematic diagram illustrating the implementation process of another method for determining the loading rate of a van provided in this application. The method may include the following steps:

[0140] S1201: Obtain the initial point cloud, wherein the initial point cloud includes the point cloud generated by the electromagnetic wave device located on the outer side of the rear of the carriage, which detects the area within the field of view of the electromagnetic wave device.

[0141] S1202: Based on the parking area of ​​the van and the target height, the initial point cloud is filtered to obtain a preprocessed point cloud. The target height includes the sum of the van height and the first height of the electromagnetic wave device from the ground.

[0142] S1203: Perform rotation and filtering processing on the preprocessed point cloud to obtain the target point cloud, which includes the point cloud of the van body and the interior of the van body.

[0143] In the embodiments of this application, S1201 to S1203 have been described in detail in S401 to S403, and will not be repeated here.

[0144] S1204: Perform voxel downsampling on the target point cloud to obtain the voxel downsampled point cloud.

[0145] S1205: Obtain the actual width and height of the van body based on the point cloud after voxel downsampling.

[0146] S1206: Construct an M*N empty matrix, where M includes the actual width and N includes the actual height.

[0147] The following provides a unified explanation of S1204 to S1206:

[0148] In this embodiment, after obtaining the target point cloud, voxel downsampling is performed on the target point cloud to obtain a voxel-downsampled point cloud. For example, using 1 cm as the size of the voxel box during voxel downsampling, the target point cloud is downsampled to obtain a voxel-downsampled point cloud.

[0149] In this embodiment, the actual width and height of the van's cargo compartment are obtained from the voxel-downsampled point cloud. Specifically, the number of voxel boxes included in the width and height of the voxel-downsampled point cloud can be determined. The actual width M and actual height N of the van's cargo compartment are determined based on the dimensions of the voxel boxes. M and N are then used as dimensions to construct an empty matrix of dimensions M and N, i.e., an M*N empty matrix. Figure 13 As shown, Figure 13 This is a schematic diagram of an empty matrix provided in an embodiment of this application. Figure 13 The horizontal axis represents the width of the vehicle, and the vertical axis represents its height.

[0150] S1207: Assign the target point cloud to an empty matrix according to the preset assignment rules.

[0151] In this embodiment of the application, the target point cloud is assigned to the aforementioned empty matrix according to a preset assignment rule, and the assigned matrix is ​​as follows: Figure 14 As shown, Figure 14 This is a schematic diagram of a matrix after assignment, provided as an embodiment of this application.

[0152] S1208: Summing the empty matrix after assignment yields the loading volume of the van's cargo compartment.

[0153] In this embodiment of the application, the summation of the empty matrix after assignment is recorded as the loading volume of the van compartment.

[0154] S1209: Determine the loading rate of the van compartment based on the loading volume.

[0155] In the embodiments of this application, S1209 has been described in detail in S404, and will not be repeated here.

[0156] Figure 15 A schematic diagram illustrating the implementation process of a method for determining the loading rate of a van, provided in this application embodiment, includes the following steps:

[0157] S1501: Acquire initial point cloud, wherein the initial point cloud includes point cloud generated by the electromagnetic wave device located on the outer side of the rear of the carriage, which detects the area within the field of view of the electromagnetic wave device.

[0158] S1502: Based on the parking area of ​​the van and the target height, the initial point cloud is filtered to obtain a preprocessed point cloud. The target height includes the sum of the van height and the first height of the electromagnetic wave device from the ground.

[0159] S1503: Perform rotation and filtering processing on the preprocessed point cloud to obtain the target point cloud, which includes the point cloud of the van body and the interior of the van body.

[0160] S1504: Perform voxel downsampling on the target point cloud to obtain the voxel downsampled point cloud.

[0161] S1505: Obtain the actual width and height of the van body based on the point cloud after voxel downsampling.

[0162] S1506: Construct an M*N empty matrix, where M includes the actual width and N includes the actual height.

[0163] In the embodiments of this application, S1501 to S1506 have been described in detail in S1201 to S1206, and will not be repeated here.

[0164] S1507: Using the plane corresponding to the actual width and actual height as the reference plane, for all target point clouds corresponding to any smallest unit in the reference plane, select the target point cloud closest to the reference plane and record it in the corresponding position in the empty matrix corresponding to the smallest unit.

[0165] In this embodiment, the plane corresponding to the actual width and actual height is used as the reference plane. For all target point clouds corresponding to the smallest unit in the reference plane, the target point cloud closest to the reference plane is selected and recorded in the corresponding position of the empty matrix corresponding to the smallest unit.

[0166] In this embodiment, since the goods are stacked sequentially from the front to the rear of the van, a reference plane is set at the van's cargo box boundary in the rear direction. The smallest unit in the reference plane includes a square with a voxel box size of [missing information - likely a side length]. For any smallest unit, the target point cloud closest to the reference plane among all target point clouds corresponding to that unit is determined. The distance between the target point cloud closest to the reference plane and the van's cargo box boundary in the front direction is recorded in the corresponding position of the empty matrix corresponding to the smallest unit. Specifically, the number of voxel boxes between the target point cloud closest to the reference plane and the van's cargo box boundary in the front direction can be determined first. The product of the number of voxel boxes and the volume of one voxel box is used as the distance between the target point cloud closest to the reference plane and the van's cargo box boundary in the front direction, and this distance is recorded in the corresponding position of the empty matrix corresponding to the smallest unit.

[0167] S1508: Summing the empty matrix after assignment yields the loading volume of the van's cargo compartment.

[0168] S1509: Determine the loading rate of the van compartment based on the loading volume.

[0169] In the embodiments of this application, S1508 and S1509 have been described in detail in S1208 to S1209, and will not be repeated here.

[0170] Figure 16This is a schematic diagram of a device for determining the loading rate of a van provided in an embodiment of this application. The device includes: an initial point cloud acquisition module 1601, an initial point cloud filtering module 1602, a preprocessed point cloud processing module 1603, and a van loading rate determination module 1604.

[0171] The initial point cloud acquisition module 1601 is used to acquire an initial point cloud, wherein the initial point cloud includes a point cloud generated by an electromagnetic wave device detecting a region within the field of view of the electromagnetic wave device.

[0172] The initial point cloud filtering module 1602 is used to filter the initial point cloud according to the parking area of ​​the van and the target height to obtain a preprocessed point cloud, wherein the target height includes the sum of the height of the van and the first height of the electromagnetic wave device from the ground.

[0173] The preprocessed point cloud processing module 1603 is used to perform rotation processing and filtering processing on the preprocessed point cloud to obtain a target point cloud, wherein the target point cloud includes the point cloud of the van body and the interior of the van body.

[0174] The van loading rate determination module 1604 is used to determine the loading volume of the van compartment using the target point cloud, and to determine the loading rate of the van compartment based on the loading volume.

[0175] Figure 17 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 17 The illustrated electronic device 1700 includes at least one processor 1701, a memory 1702, at least one network interface 1704, and a user interface 1703. The various components in the electronic device 1700 are coupled together via a bus system 1705. It is understood that the bus system 1705 is used to implement communication between these components. In addition to a data bus, the bus system 1705 also includes a power bus, a control bus, and a status signal bus. However, for clarity, ... Figure 17 The general labeled all buses as Bus System 1705.

[0176] The user interface 1703 may include a display, keyboard or clicking device (e.g., mouse, trackball), touchpad or touch screen.

[0177] It is understood that the memory 1702 in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate Synchronous DRAM (DDRSDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memory 1702 described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0178] In some implementations, memory 1702 stores elements, executable units or data structures, or subsets thereof, or extended sets thereof: operating system 17021 and application program 17022.

[0179] The operating system 17021 includes various system programs, such as the framework layer, core library layer, and driver layer, used to implement various basic business functions and handle hardware-based tasks. The application program 17022 includes various applications, such as a media player and a browser, used to implement various application functions. Programs implementing the methods of the embodiments of this application can be included in application program 17022.

[0180] In this embodiment, by calling the program or instructions stored in memory 1702, specifically the program or instructions stored in application program 17022, processor 1701 executes the method steps provided in each method embodiment, including, for example:

[0181] Acquire an initial point cloud, wherein the initial point cloud includes a point cloud generated by an electromagnetic wave device located on the outer side of the rear of the carriage, which detects the area within the field of view of the electromagnetic wave device;

[0182] Based on the parking area of ​​the van and the target height, the initial point cloud is filtered to obtain a preprocessed point cloud, wherein the target height includes the sum of the height of the van and the first height of the electromagnetic wave device from the ground;

[0183] The preprocessed point cloud is rotated and filtered to obtain a target point cloud, wherein the target point cloud includes the point cloud of the van body and the interior of the van body.

[0184] The loading volume of the van compartment is determined using the target point cloud, and the loading rate of the van compartment is determined based on the loading volume.

[0185] The methods disclosed in the embodiments of this application can be applied to or implemented by processor 1701. Processor 1701 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in processor 1701 or by instructions in software form. The processor 1701 may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software units in the decoding processor. The software unit can reside in a mature storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 1702. Processor 1701 reads the information in memory 1702 and, in conjunction with its hardware, completes the steps of the above method.

[0186] It is understood that the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions of this application, or combinations thereof.

[0187] For software implementation, the techniques described herein can be implemented through units that perform the functions described herein. The software code can be stored in memory and executed by a processor. The memory can be implemented within the processor or external to the processor.

[0188] The electronic device provided in this embodiment may be as follows: Figure 12 The electronic device shown can perform the following: Figure 4 , 8 This involves all the steps in determining the loading rate of box trucks in sections 12 and 15, thereby achieving... Figure 4 , 8 For details on the technical effects of the methods for determining the loading rate of box trucks in sections 12 and 15, please refer to [link / reference needed]. Figure 4 , 8 The descriptions related to ~12 and 15 are brief and will not be elaborated upon here.

[0189] This application also provides a storage medium (computer-readable storage medium). This storage medium stores one or more programs. The storage medium may include volatile memory, such as random access memory; it may also include non-volatile memory, such as read-only memory, flash memory, hard disk, or solid-state drive; and it may also include combinations of the above types of memory.

[0190] When one or more programs in the storage medium can be executed by one or more processors to implement the above-described method for determining the loading rate of a van executed on the electronic device side.

[0191] The processor executes a van loading rate determination program stored in memory to implement the following steps of a van loading rate determination method executed on the electronic device side:

[0192] Acquire an initial point cloud, wherein the initial point cloud includes a point cloud generated by an electromagnetic wave device located on the outer side of the rear of the carriage, which detects the area within the field of view of the electromagnetic wave device;

[0193] Based on the parking area of ​​the van and the target height, the initial point cloud is filtered to obtain a preprocessed point cloud, wherein the target height includes the sum of the height of the van and the first height of the electromagnetic wave device from the ground;

[0194] The preprocessed point cloud is rotated and filtered to obtain a target point cloud, wherein the target point cloud includes the point cloud of the van body and the interior of the van body.

[0195] The loading volume of the van compartment is determined using the target point cloud, and the loading rate of the van compartment is determined based on the loading volume.

[0196] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0197] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented in hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0198] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this application. It should be understood that the above description is only a specific embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for determining the loading rate of a van, characterized in that, Applied to edge computing servers, the method includes: Acquire an initial point cloud, wherein the initial point cloud includes a point cloud generated by an electromagnetic wave device located on the outer side of the rear of the carriage, which detects the area within the field of view of the electromagnetic wave device; Based on the parking area of ​​the van and the target height, the initial point cloud is filtered to obtain a preprocessed point cloud, wherein the target height includes the sum of the height of the van and the first height of the electromagnetic wave device from the ground; The preprocessed point cloud is subjected to rotation and filtering processing to obtain a target point cloud, wherein the target point cloud includes point clouds of the van body and the interior of the van body, including: determining the correction angle corresponding to the preprocessed point cloud; rotating the preprocessed point cloud around the second coordinate axis towards the first coordinate axis by the correction angle; fitting a minimum bounding box based on the preprocessed point cloud after the rotation by the correction angle; and selecting the preprocessed point cloud located within the minimum bounding box after the rotation by the correction angle as the target point cloud. From the preprocessed point cloud after rotation and correction, crop out the left portion of the preprocessed point cloud after rotation and correction; perform planar fitting on the left portion of the preprocessed point cloud after rotation and correction to obtain the third plane equation of the left side plane of the van; determine the distance between the left side plane of the van and the target coordinate plane based on the third plane equation, and determine the distance as the actual width of the van; query the length and height of the van based on the actual width of the van; The loading volume of the van compartment is determined using the target point cloud, and the loading rate of the van compartment is determined based on the loading volume.

2. The method according to claim 1, characterized in that, Determining the correction angle corresponding to the preprocessed point cloud includes: The right-side portion of the preprocessed point cloud is cropped from the preprocessed point cloud. Plane fitting is performed on the preprocessed point cloud on the right side to obtain the first plane equation of the right side plane of the van. Determine the equation of the second plane corresponding to the target coordinate plane; Based on the first plane equation and the second plane equation, the angle between the right side plane of the van and the target coordinate plane is determined, and the angle is determined to be the correction angle corresponding to the preprocessed point cloud.

3. The method according to claim 1, characterized in that, The method further includes: From the preprocessed point clouds after rotating by the correction angle within the smallest enclosing cuboid box, select the preprocessed point cloud after rotating by the correction angle with the largest value. The preprocessed point cloud, after being rotated to the maximum of the correction angle, is set as the actual length, width, and height of the van's cargo box.

4. The method according to claim 1, characterized in that, Determining the loading volume of the van's cargo compartment using the target point cloud includes: The target point cloud is downsampled using voxels to obtain the voxel-downsampled point cloud. Based on the voxel downsampling point cloud, the actual width and actual height of the van cargo compartment are obtained; Construct an M*N empty matrix, where M includes the actual width and N includes the actual height; According to the preset assignment rules, the target point cloud is assigned to the empty matrix; Summing the empty matrix after assignment yields the loading volume of the van's cargo compartment.

5. The method according to claim 4, characterized in that, The step of assigning the target point cloud to the empty matrix according to a preset assignment rule includes: Using the plane corresponding to the actual width and the actual height as a reference plane, for all target point clouds corresponding to any smallest unit in the reference plane, the target point cloud closest to the reference plane is selected and recorded in the corresponding position of the empty matrix corresponding to the smallest unit.

6. A device for determining the loading rate of a van, characterized in that, The device, applied to an edge computing server, includes: An initial point cloud acquisition module is used to acquire an initial point cloud, wherein the initial point cloud includes a point cloud generated by an electromagnetic wave device located on the outer side of the rear of the carriage detecting the area within the field of view of the electromagnetic wave device; The initial point cloud filtering module is used to filter the initial point cloud according to the parking area of ​​the van and the target height to obtain a preprocessed point cloud. The target height includes the sum of the height of the van and the first height of the electromagnetic wave device from the ground. The preprocessed point cloud processing module is used to perform rotation and filtering processing on the preprocessed point cloud to obtain a target point cloud. The target point cloud includes point clouds within the van body and inside the van body. The module includes: determining a correction angle corresponding to the preprocessed point cloud; rotating the preprocessed point cloud around a second coordinate axis towards a first coordinate axis by the correction angle; fitting a minimum bounding box based on the preprocessed point cloud after the correction angle rotation; and selecting the preprocessed point clouds located within the minimum bounding box after the correction angle rotation as the target point cloud. From the preprocessed point cloud after rotation and correction, crop out the left portion of the preprocessed point cloud after rotation and correction; perform planar fitting on the left portion of the preprocessed point cloud after rotation and correction to obtain the third plane equation of the left side plane of the van; determine the distance between the left side plane of the van and the target coordinate plane based on the third plane equation, and determine the distance as the actual width of the van; query the length and height of the van based on the actual width of the van; The van loading rate determination module is used to determine the loading volume of the van compartment using the target point cloud, and to determine the loading rate of the van compartment based on the loading volume.

7. An electronic device, characterized in that, include: A processor and a memory, the processor being configured to execute a van loading rate determination program stored in the memory to implement the van loading rate determination method of any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium stores one or more programs, which can be executed by one or more processors to implement the method for determining the loading rate of a van according to any one of claims 1 to 5.

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