Container abnormal object position detection method and device, storage medium and equipment

Abstract

The application relates to a container special-shaped object position detection method and device, a storage medium and equipment. The application comprises the following steps: searching laser scanning data of a to-be-detected container special-shaped object in a small-to-large acquisition distance order to obtain a suspected first end point; obtaining a slope parameter of a line segment formed by connecting a first search point and sampling points in a first search distance range based on a preset first search distance range parameter; taking a sampling point with the largest slope parameter as a first end point of the special-shaped object; reversely searching the laser scanning data to obtain a suspected second end point; obtaining a slope parameter of a line segment formed by connecting a second search point and sampling points in a second search distance range based on a preset second search distance range parameter; and taking a sampling point with the largest slope parameter as a second end point. Therefore, position information of end points of the special-shaped object can be obtained according to laser scanning data of the first end point and laser scanning data of the second end point, so that a user can quickly locate the end point position of the special-shaped object.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of container measurement, in particular to a container special-shaped object position detection method and device, a storage medium and equipment. BACKGROUND

[0002] A container is a tool that can load packaged or unpackaged goods for transportation and facilitate loading and unloading by mechanical equipment. The container is formed by stamping and welding a plurality of steel plates that form different parts. In the prior art, laser measurement technology can be used to detect the size on the container. However, for the special-shaped objects with irregular shapes on the container, such as special-shaped steel plates, the existing laser measurement technology is difficult to accurately measure the special-shaped objects on the container, and the measurement accuracy is low. SUMMARY

[0003] Therefore, the purpose of the present application is to provide a container special-shaped object position detection method and device, and a container special-shaped object position detection method is proposed, which can automatically locate the end point position of the container special-shaped object and improve the measurement efficiency and accuracy of the container.

[0004] According to a first aspect of an embodiment of the present application, a container special-shaped object position detection method is provided, and the method comprises:

[0005] Obtaining laser scanning data of a container special-shaped object to be measured; wherein the laser scanning data comprises collection distance data and height data of a plurality of sampling points;

[0006] Starting from the sampling point with the smallest collection distance, the height difference between each sampling point and the reference height is obtained in order from small to large collection distance, and if the height difference between the height of the sampling point and the reference height is within a preset first height difference range, the sampling point is determined as a suspected first end point;

[0007] Based on a preset first search distance range parameter, a first search point corresponding to the suspected first end point and a corresponding first search distance range are obtained, the slope parameter of a line segment formed by connecting the sampling points in the first search distance range from the first search point is obtained, and the sampling point with the largest slope parameter is taken as the first end point of the special-shaped object;

[0008] Starting from the sampling point with the largest collection distance, the height difference between each sampling point and the reference height is obtained in order from large to small collection distance, and if the height difference between the height of the sampling point and the reference height is within a preset second height difference range, the sampling point is determined as a suspected second end point;

[0009] acquire a second search point corresponding to the suspected second endpoint and a corresponding second search distance range based on a preset second search distance range parameter, acquire a slope parameter of a line segment formed by connecting the second search point and a sampling point within the second search distance range, and take the sampling point with the largest slope parameter as the second endpoint of the profiled object;

[0010] acquire position information of the endpoints of the profiled object based on the laser scanning data of the first endpoint and the laser scanning data of the second endpoint.

[0011] According to a second aspect of the embodiments of the present application, a device for detecting the position of a profiled object of a container is provided, and the device comprises:

[0012] a scanning data acquisition module configured to acquire laser scanning data of a profiled object of a container to be measured, wherein the laser scanning data comprises collection distance data and height data of a plurality of sampling points;

[0013] a suspected first endpoint determination module configured to, starting from a sampling point with the smallest collection distance, sequentially acquire a height difference between each sampling point and a reference height in ascending order of collection distance, and determine the sampling point as a suspected first endpoint if the height difference between the height of the sampling point and the reference height is within a preset first height difference range;

[0014] a first endpoint acquisition module configured to, based on a preset first search distance range parameter, acquire a first search point corresponding to the suspected first endpoint and a corresponding first search distance range, acquire a slope parameter of a line segment formed by connecting the first search point and a sampling point within the first search distance range, and take the sampling point with the largest slope parameter as the first endpoint of the profiled object;

[0015] a suspected second endpoint determination module configured to, starting from a sampling point with the largest collection distance, sequentially acquire a height difference between each sampling point and a reference height in descending order of collection distance, and determine the sampling point as a suspected second endpoint if the height difference between the height of the sampling point and the reference height is within a preset second height difference range;

[0016] a second endpoint acquisition module configured to, based on a preset second search distance range parameter, acquire a second search point corresponding to the suspected second endpoint and a corresponding second search distance range, acquire a slope parameter of a line segment formed by connecting the second search point and a sampling point within the second search distance range, and take the sampling point with the largest slope parameter as the second endpoint of the profiled object;

[0017] an endpoint position acquisition module configured to acquire position information of the endpoints of the profiled object based on the laser scanning data of the first endpoint and the laser scanning data of the second endpoint.

[0018] According to a third aspect of the embodiments of the present application, an electronic device is provided, comprising a processor and a memory; wherein the memory stores a computer program, the computer program is adapted to be loaded and executed by the processor to implement the container abnormal shape position detection method in any of the embodiments.

[0019] According to a fourth aspect of the embodiments of the present application, a computer readable storage medium is provided, which stores a computer program, the computer program is executed by a processor to implement the container abnormal shape position detection method in any of the embodiments.

[0020] In the present application, the first end point of the container abnormal shape is searched by searching the laser scanning data of the container abnormal shape to be detected in the order of the acquisition distance from small to large, and the slope parameter of the line segment formed by connecting the first search point and the sampling points in the first search distance range based on the preset first search distance range parameter is obtained, the sampling point with the maximum slope parameter is taken as the first end point of the abnormal shape, and then the second end point is searched by searching the laser scanning data in reverse, the slope parameter of the line segment formed by connecting the second search point and the sampling points in the second search distance range based on the preset second search distance range parameter is obtained, and the sampling point with the maximum slope parameter is taken as the second end point. Thus, the position information of the two end points of the abnormal shape can be obtained according to the laser scanning data of the first end point and the laser scanning data of the second end point, and the user can quickly locate the position of the abnormal shape to measure, repair or replace the abnormal shape.

[0021] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application.

[0022] In order to better understand and implement, the present application is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 Application scenario diagram of the container abnormal shape position detection method of an embodiment of the present application;

[0024] Figure 2 Flowchart of the container abnormal shape position detection method provided by an embodiment of the present application;

[0025] Figure 3 Display interface diagram of the display device in an embodiment of the present application;

[0026] Figure 4 Display interface diagram of the display device in another embodiment of the present application;

[0027] Figure 5 Structure diagram of the container abnormal shape position detection device provided by an embodiment of the present application;

[0028] Figure 6 A structural schematic diagram of an electronic device is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the objects, technical solutions and advantages of the present application clearer, the following will further describe the embodiments of the present application in detail with reference to the drawings.

[0030] It should be clear that the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0031] The following description refers to the accompanying drawings. In the following description, same numbers in different drawings represent the same or similar elements unless otherwise represented. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.

[0032] In the description of the present application, it should be understood that the terms "first", "second", "third", etc. are only used to distinguish similar objects, and do not have to be used to describe a specific order or sequence, nor can they be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. The singular forms "a", "said" and "the" used in the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. The word "if" used herein can be interpreted as "when" or "when" or "in response to determining". In addition, in the description of the present application, "multiple" means two or more, unless otherwise specified. "And / or", which describes the relationship between the associated objects, means that there can be three relationships, for example, A and / or B can mean that there are three cases of A alone, A and B together, and B alone. The character " / " generally represents that the associated objects before and after are in an "or" relationship.

[0033] The container irregularity position detection method of the embodiments of the present application can be applied to the measurement of irregularities as shown in Figure 1 When measuring the contour of an irregularity, it is often necessary to measure the end points of the irregularity. The traditional end point position detection method is usually to determine the end points on both sides by detecting the height difference change of the object. However, for irregular irregularities, the height change of the contour is not uniform, and it is difficult to identify the end point position of the irregularity by detecting the height difference change.

[0034] Therefore, in view of the above problems, please refer toFigure 2 This application provides a method for detecting the location of irregularly shaped objects in a container, comprising the following steps:

[0035] S101: Acquire laser scanning data of the container to be tested; wherein, the laser scanning data includes the acquisition distance data and height data of several sampling points;

[0036] Laser scanning data is point cloud data obtained by scanning the irregular shapes of the container under test with a laser scanning device and receiving and analyzing the reflected light returned from the surface of the irregular shapes of the container under test.

[0037] The sampling points can be detection points on the surface contour of the irregular object, and the position and spacing of each sampling point can be determined according to the structure of the irregular object and the scanning parameters of the laser scanning equipment.

[0038] To facilitate subsequent data processing of the laser scanning data, the laser scanning data can be uploaded to a display device to visualize the collection distance and height data of each sampling point. The display device can be any electronic device with a display screen, including but not limited to smartphones, smart interactive whiteboards, and personal computers. The display device can use existing visualization technologies to present the laser scanning data in a visual form, such as graphs, charts, infographics, or similar materials.

[0039] like Figure 3 As shown, this is a schematic diagram of laser scanning data visualization in one embodiment. The laser scanning data of the irregular object is displayed on the same coordinate system, with height as the vertical axis and acquisition distance as the horizontal axis. During visualization, each acquisition point is marked on this coordinate system based on the acquisition distance data and height data of multiple acquisition points.

[0040] S102: Starting from the sampling point with the smallest acquisition distance, obtain the height difference between each sampling point and the reference height in order of increasing acquisition distance. If the height difference between the sampling point and the reference height is within the preset first height difference range, determine the sampling point as a suspected first endpoint.

[0041] In this embodiment, the laser scanning data can be arranged in ascending order of acquisition distance. When acquiring the height difference between each sampling point and the reference height, the process starts from the first sampling point, which is the sampling point with the smallest acquisition distance.

[0042] In one embodiment, the reference height can be a fixed height value preset by the user to determine whether there is a step. When the difference between the height of the sampling point and the reference height reaches a certain value or is within a certain range, it is determined that there may be a step near the sampling point, and the sampling point is then regarded as the suspected first endpoint.

[0043] The first height difference range can be set according to the structure of the profiled material and the assembly condition. For example, the first height difference range can be set to be greater than the minimum measured height of the profiled material and less than the maximum measured height of the profiled material.

[0044] Alternatively, in another embodiment, the reference height includes a height of at least one sampling point in a third transition distance range determined based on a third transition range parameter and the sampling points.

[0045] The step of determining the sampling point as a suspected first end point specifically includes:

[0046] Starting from the sampling point with the smallest collection distance, the height difference between each sampling point in the third transition distance range and the sampling point is obtained in order of the collection distance from small to large. If the height difference between the sampling point and one sampling point in the third transition distance range is within the preset first height difference range, the sampling point is determined as a suspected first end point.

[0047] The third transition distance range can be a certain step transition range in the laser scanning data. The third transition range parameter can be set according to user requirements. For example, the third transition distance parameter can be gx. When the maximum height ≥ |P[i]-[j]| ≥ minimum height, i is determined as a suspected first end point, where j represents a sampling point in the third transition distance range, j ∈ [i+1, i+gx], and gx represents the third transition range parameter.

[0048] Specifically, in one embodiment, the third transition distance parameter is gx, and the third transition distance range can be set to [i+1, i+gx]. When H2 ≥ P[i]-P[j] ≥ H1, where H1 represents the minimum height, H2 represents the maximum height, P[i] represents the height of the suspected first end point i, j is a sampling point in the third transition distance range [i+1, i+gx], and P[j] represents the height of the sampling point j.

[0049] The minimum height and the maximum height can be set according to the specific structure of the profiled material.

[0050] In this embodiment, by comparing the height of the sampling point with the height of each sampling point in the third transition distance range, when the height difference between the sampling point and one sampling point in the third transition distance range is within the first height difference range, the sampling point is determined as a suspected first end point, which avoids misidentification of the suspected first end point and improves the accuracy of end point identification.

[0051] S103: Obtain a first search point corresponding to the suspected first end point and a corresponding first search distance range based on a preset first search distance range parameter, obtain a slope parameter of a line segment formed by connecting the first search point and a sampling point in the first search distance range, and take the sampling point with the largest slope parameter as the first end point of the irregular object.

[0052] The first search distance range parameter is used to determine a search distance range near the suspected first end point, and the search for the first end point position is performed in the search distance range. The first search distance range can be a distance range before the suspected first end point, a distance range after the suspected first end point, or a distance range before and after the suspected first end point. The first search distance can be set according to the specific structure of the irregular object and the user's demand.

[0053] Specifically, in an embodiment, the first search distance range parameter can include a first transition range parameter used to determine an end point transition range and a first offset range parameter used to determine an end point offset range. The first transition range parameter and the first offset range parameter can be set according to the structure of the irregular object and the specific demand of the user.

[0054] The step of obtaining the first search point corresponding to the suspected first end point specifically includes:

[0055] The first search point is obtained based on the first offset range parameter. The collection distance of the first search point is greater than the collection distance of the suspected first end point.

[0056] The first search point can be determined according to the position of the suspected first end point and the first offset range parameter.

[0057] In the embodiment of the present application, the first search point can be a sampling point after the suspected first end point The first search distance range can be a distance range before and after the suspected first end point. Specifically, the first search distance range can be Wherein, i1 represents the suspected first end point, gx1 represents the first transition range parameter, and qx1 represents the first offset range parameter.

[0058] The step of obtaining the slope parameter of the line segment formed by connecting the first search point and the sampling point in the first search distance range specifically includes:

[0059] The slope parameter of the line segment formed by connecting the first search point and the sampling point in the first search distance range is obtained in the following manner:

[0060]

[0061] wherein k1 represents a slope parameter, represents a first search point represents a height of a sampling point n in the first search distance range, i1 represents a suspected first end point, gx1 represents a first transition range parameter, and qx1 represents a first offset range parameter.

[0062] In the process of obtaining the slope parameter of the line segment formed by connecting the first search point and the sampling point in the first search distance range, the slope parameter can be obtained from the first search point In the process of obtaining the slope parameter of the line segment formed by connecting the first search point and the sampling point in the first search distance range, the slope parameter can be obtained from the first search point

[0063] S104: Starting from the sampling point with the largest collection distance, the height difference between each sampling point and the reference height is obtained in descending order of the collection distance. If the height difference between the height of the sampling point and the reference height is within the preset second height difference range, the sampling point is determined as a suspected second end point.

[0064] When the laser scanning data is arranged in ascending order of the collection distance, starting from the last sampling point, i.e., the sampling point with the largest collection distance, the height difference between each sampling point and the reference height is obtained in descending order of the collection distance, until a suspected second end point with a height difference within the preset second height difference range is obtained.

[0065] In one embodiment, the step of determining the sampling point as a suspected second end point specifically comprises:

[0066] Starting from the sampling point with the largest collection distance, the height difference between each sampling point in the fourth transition distance range and the sampling point is obtained in descending order of the collection distance. If the height difference between the sampling point and a sampling point in the fourth transition distance range is within the preset second height difference range, the sampling point is determined as a suspected second end point.

[0067] The fourth transition distance range can be a certain step transition range in the laser scanning data. The fourth transition range parameter can be set according to user requirements. For example, the fourth transition distance parameter can be gx. When the maximum height ≥ |P[i]-[j]| ≥ the minimum height, the sampling point i is determined as a suspected second end point, wherein j represents a sampling point in the fourth transition range, j ∈ [u-i-gx, u-i], gx represents the fourth transition range parameter, and u represents the number of sampling points in the laser scanning data.

[0068] Specifically, in one embodiment, the fourth transition distance parameter is gx, and the fourth transition distance range can be set as [u-i-gx, u-i]. When H2≥P[i]-P[j]≥H1, wherein H1 represents the minimum height, H2 represents the maximum height, P[i] represents the height of the suspected second end point i, j is a sampling point in the fourth transition distance range [u-i-gx, u-i], and P[j] represents the height of the sampling point j. The minimum height and the maximum height can be set according to the specific structure of the profile.

[0069] In this embodiment, by comparing the height of the sampling point with the height of each sampling point in the fourth transition distance range, when the height difference between the sampling point and a sampling point in the fourth transition distance range is within the second height difference range, the sampling point is regarded as the suspected second end point, which avoids misidentification of the suspected second end point and improves the accuracy of end point identification.

[0070] The suspected first end point and the suspected second end point can be used to determine the end points on both sides of the profile to be measured.

[0071] S105: Based on the preset second search distance range parameter, a second search point corresponding to the suspected second end point and a corresponding second search distance range are obtained, a slope parameter of a line segment formed by connecting the second search point and a sampling point in the second search distance range is obtained, and a sampling point with the largest slope parameter is taken as a second end point of the profile.

[0072] The second search distance range parameter is used to determine a search distance range near the suspected second end point, and the search for the position of the suspected second end point is performed in the search distance range. The second search distance range can be a distance range before the suspected second end point, a distance range after the suspected second end point, or a distance range before and after the suspected second end point.

[0073] In one embodiment, the second search distance range parameter can include a second transition range parameter for determining a step transition range and a second offset range parameter for determining a step offset range. The second transition range parameter and the second offset range parameter can be set according to the structure of the profile and the specific needs of the user.

[0074] The step of obtaining the second search point corresponding to the suspected second end point specifically includes:

[0075] Based on the second offset range parameter, a second search point is obtained. The collection distance of the second search point is greater than the collection distance of the suspected second end point.

[0076] The second offset range parameter can be set according to the structure of the profile and the specific needs of the user.

[0077] In the embodiment of the present application, the second search point can be a sampling point after the suspected second endpoint The second search distance range can be wherein i2 represents the suspected second endpoint, gx2 represents the second transition range parameter, and qx2 represents the second offset range parameter.

[0078] The step of obtaining the slope parameter of the line segment formed by connecting the second search point and the sampling point within the second search distance range specifically includes:

[0079] The slope parameter of the line segment formed by connecting the second search point and the sampling point within the second search distance range is obtained in the following manner:

[0080]

[0081] wherein k2 represents the slope parameter, represents the height of the second search point P[m] represents the height of the sampling point n within the second search distance range, i2 represents the suspected second endpoint, gx2 represents the second transition range parameter, and qx2 represents the second offset range parameter.

[0082] When obtaining the slope parameter of the line segment formed by connecting the second search point and the sampling point within the second search distance range, the slope parameter can be obtained from the second search point starting, and sequentially calculating the slope parameter of the connecting line segment one by one with each sampling point within the second search distance range, when the absolute value of the slope parameter is maximum, the sampling point is determined as the second endpoint.

[0083] S106: Based on the laser scanning data of the first endpoint and the laser scanning data of the second endpoint, the position information of the endpoint of the special-shaped object is obtained.

[0084] The special-shaped object can be an object with an irregular shape on the container, for example, it can be an object such as a special-shaped steel plate or a special-shaped steel structure on the container.

[0085] The position information of the endpoint can be used by the user to quickly locate the endpoint position of the special-shaped object of the container to be measured for size measurement and other operations, or when the special-shaped object is inspected to be abnormal, the corresponding special-shaped object can be found by the user and replaced, thereby improving the maintenance efficiency of the container.

[0086] The position information of the endpoint of the special-shaped object can be displayed on a display device specified by the user. Specifically, in one embodiment, the container special-shaped object position detection method further includes the following steps:

[0087] Displaying the laser scanning data on the display device;

[0088] Based on the position information of the endpoints of the irregular object, an endpoint identifier is added to the sampling point corresponding to the endpoint, and the endpoint identifier is displayed on the display device.

[0089] like Figure 4 As shown, this is a schematic diagram of the display interface of a display device in one embodiment. Laser scanning data from various sampling points of the irregularly shaped container under test is displayed on... Figure 4 In the same coordinate system shown, with height as the vertical axis and acquisition distance as the horizontal axis, after obtaining the position information of the two ends of the irregular object using the container irregular object position detection method of this application, end point identifiers 101 and 102 are added to the end points of the irregular object in the figure and displayed on the display interface. Users can quickly obtain the specific coordinates of the two ends of the container irregular object from the schematic diagram, and thus quickly locate the end point position of the irregular object based on the coordinate information, which facilitates the measurement of the size of the irregular object. Alternatively, when abnormal container irregular object data is detected, the position of the irregular object can be quickly located to facilitate replacement and maintenance operations, thereby improving the efficiency of container inspection and maintenance.

[0090] In this embodiment, the laser scan data of the irregularly shaped container under test is searched in ascending order of acquisition distance to obtain a suspected first endpoint. Based on a preset first search distance range parameter, the slope parameter of the line segment connecting the first search point and the sampling points within the first search distance range is obtained. The sampling point with the largest slope parameter is taken as the first endpoint of the irregularly shaped container. Then, the laser scan data is searched in reverse to obtain a suspected second endpoint. Based on a preset second search distance range parameter, the slope parameter of the line segment connecting the second search point and the sampling points within the second search distance range is obtained. The sampling point with the largest slope parameter is taken as the second endpoint. Thus, the location information of the irregularly shaped container endpoint can be obtained based on the laser scan data of the first and second endpoints, improving the detection accuracy of irregularly shaped containers. Alternatively, when an irregularly shaped container fails inspection, the user can quickly locate the corresponding irregularly shaped container and perform dimensional measurement, repair, or replacement, improving the efficiency of container inspection and repair.

[0091] In one embodiment, before obtaining the first search point corresponding to the suspected first endpoint and the corresponding first search distance range based on a preset first search distance range parameter, the following steps are further included:

[0092] Based on preset transition range parameters, the range of suspected endpoints of the suspected first endpoint is determined; wherein, the range of suspected endpoints includes a first range of suspected endpoints with a sampling distance less than the sampling distance of the suspected first endpoint and a second range of suspected endpoints with a sampling distance greater than the sampling distance of the suspected first endpoint;

[0093] obtaining a first height average value of each sampling point in the first suspected end point range and a second height average value of each sampling point in the second suspected end point range;

[0094] if the difference between the first height average value and the second height average value is within a preset second height difference range, obtaining a first search point corresponding to the suspected first end point and a corresponding first search distance range based on a preset first search distance range parameter;

[0095] Otherwise, it is determined that there is no end point of the abnormal object near the suspected first end point.

[0096] The transition range parameter can be set according to the structure of the abnormal object and actual needs of a user, for example, in the embodiment of the present application, when the maximum height is greater than or equal to |P[i]-[j]| and |P[i]-[j]| is greater than or equal to the minimum height, j is a sampling point in the third transition distance range, the transition range parameter can be gx, the first suspected end point range can be [i, i-gx], and the second suspected end point range can be [j, j+gx].

[0097] When the maximum height is greater than or equal to |Agv1-Agv2| and |Agv1-Agv2| is greater than or equal to the minimum height, it is determined that there is an end point of the abnormal object near the suspected first end point, and step S103 of the present application is performed to obtain the first end point of the abnormal object. Otherwise, it is determined that there is no end point of the abnormal object near the suspected first end point, and thus it is not necessary to calculate the specific position of the end point, so as to reduce the data processing amount and improve the efficiency of detecting the position of the abnormal object of the container.

[0098] In one embodiment, the step of obtaining the first height average value of each sampling point in the first suspected end point range specifically comprises:

[0099] The first height average value of each sampling point in the first suspected end point range is obtained in the following manner:

[0100]

[0101] wherein Agv1 represents the first height average value, gx represents the transition range parameter, k represents a sampling point in the first suspected end point range, P[k] represents the height of the sampling point k, and [i-gx, i] represents the first suspected end point range.

[0102] The step of obtaining the second height average value of each sampling point in the second suspected end point range specifically comprises:

[0103]

[0104] wherein Agv2 represents the second height average value, [j, j+gx] represents the second suspected end point range, and P[k] represents the height of the sampling point k.

[0105] Similarly, before acquiring the second search point corresponding to the suspected second end point and the corresponding second search distance range based on the preset second search distance range parameter, the method further comprises the following steps:

[0106] determining a suspected end point range of the suspected second end point based on a preset transition range parameter; wherein the suspected end point range comprises a third suspected end point range with a collection distance greater than the collection distance of the suspected second end point and a fourth suspected end point range with a collection distance less than the collection distance of the suspected second end point;

[0107] acquiring a third height average value of each sampling point in the third suspected end point range and a fourth height average value of each sampling point in the fourth suspected end point range;

[0108] if the difference between the third height average value and the fourth height average value is within a preset third height difference range, acquiring the second search point corresponding to the suspected second end point and the corresponding second search distance range based on a preset second search distance range parameter;

[0109] otherwise, determining that there is no end point of the abnormal object near the suspected second end point.

[0110] The transition range parameter can be set according to the structure of the abnormal object and actual user requirements, for example, in the embodiment of the present application, when the maximum height ≥ |P[i]-[j]| ≥ minimum height, i is determined as the suspected first end point, wherein j represents a sampling point in the third transition distance range, the transition range parameter can be gx, the third suspected end point range can be [i, i+gx], and the fourth suspected end point range can be [j-gx, j].

[0111] When the maximum height ≥ |Agv3-Agv4| ≥ minimum height, it is determined that there is an end point of the abnormal object near the suspected second end point, and the second end point of the abnormal object is acquired in step S105 of the present application, otherwise, it is determined that there is no end point of the abnormal object near the suspected second end point, and thus it is not necessary to calculate the specific position of the end point, so as to reduce the data processing amount and improve the efficiency of the position detection of the abnormal object of the container.

[0112] Specifically, the step of acquiring the third height average value of each sampling point in the third suspected end point range and the fourth height average value of each sampling point in the fourth suspected end point range comprises:

[0113] The third height average value of each sampling point in the third suspected end point range is acquired in the following manner:

[0114]

[0115] wherein, Agv3 represents the third height average value, gx represents a transition range parameter, k represents a sampling point in the third suspected end point range, P[k] represents the height of the sampling point k, and [i, i+gx] represents the third suspected end point range.

[0116] In the following manner, the fourth height average value of each sampling point in the fourth suspected end point range is obtained:

[0117]

[0118] wherein, Agv4 represents the fourth height average value, k represents a sampling point in the fourth suspected end point range, P[k] represents the height of the sampling point k, and [j-gx, j] represents the fourth suspected end point range.

[0119] The embodiment provides a container abnormal shape position detection device, which can be used to execute the container abnormal shape position detection method of the embodiment. For details not disclosed in the embodiment, refer to the method embodiment of the application.

[0120] Please refer to Figure 5 , Figure 5 is a structural schematic diagram of a container abnormal shape position detection device disclosed by the embodiment. The container abnormal shape position detection device comprises:

[0121] The scanning data acquisition module 201 is configured to acquire laser scanning data of a container abnormal shape to be detected, wherein the laser scanning data comprises collection distance data and height data of a plurality of sampling points.

[0122] The suspected first end point determination module 202 is configured to, starting from a sampling point with the smallest collection distance, sequentially acquire a height difference between each sampling point and a reference height in ascending order of collection distance, and determine the sampling point as a suspected first end point if the height difference between the height of the sampling point and the reference height is within a preset first height difference range.

[0123] The first end point acquisition module 203 is configured to, based on a preset first search distance range parameter, acquire a first search point corresponding to the suspected first end point and a corresponding first search distance range, acquire a slope parameter of a line segment formed by connecting the sampling points in the first search distance range and the first search point, and take a sampling point with the largest slope parameter as a first end point of the abnormal shape.

[0124] The suspected second end point determination module 204 is configured to, starting from a sampling point with the largest collection distance, sequentially acquire a height difference between each sampling point and a reference height in descending order of collection distance, and determine the sampling point as a suspected second end point if the height difference between the height of the sampling point and the reference height is within a preset second height difference range.

[0125] The second endpoint acquisition module 205 is configured to acquire a second search point corresponding to the suspected second endpoint and a corresponding second search distance range based on a preset second search distance range parameter, acquire a slope parameter of a line segment formed by connecting the second search point and a sampling point in the second search distance range, and take the sampling point with the largest slope parameter as the second endpoint of the irregular object.

[0126] The endpoint position acquisition module 206 is configured to acquire position information of the endpoint of the irregular object based on the laser scanning data of the first endpoint and the laser scanning data of the second endpoint.

[0127] It should be noted that the container irregular object position detection device provided in the above embodiments is used to execute the container irregular object position detection method, and only the division of the above functional modules is used as an example for illustration. In actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the container irregular object position detection device provided in the above embodiments and the container irregular object position detection method of the above embodiments belong to the same concept, and the implementation process is described in detail in the method embodiments. Therefore, it is not repeated here.

[0128] The electronic device provided in the embodiments of the present application can be used to execute all or part of the steps of the container irregular object position detection method of the embodiments of the present application. For details not disclosed in the embodiments of the present application, please refer to the method embodiments of the present application.

[0129] Please refer to Figure 6 , Figure 6 The electronic device provided in the embodiments of the present application can be used to execute all or part of the steps of the container irregular object position detection method of the embodiments of the present application. For details not disclosed in the embodiments of the present application, please refer to the method embodiments of the present application.

[0130] In the preferred embodiments of the present application, the electronic device 300 includes a memory 301, at least one processor 302, at least one communication bus 303, and a transceiver 304.

[0131] Those skilled in the art should understand that Figure 6 The structure of the electronic device shown is not limited in the embodiments of the present application. It can be a bus structure or a star structure. The electronic device 300 can also include more or fewer other hardware or software, or different component arrangements.

[0132] In some embodiments, the electronic device 300 is a device capable of automatically performing numerical calculation and / or information processing according to pre-set or stored instructions, and the hardware thereof includes, but is not limited to, a microprocessor, an application-specific integrated circuit, a programmable gate array, a digital processor, an embedded device, etc. The electronic device 300 can also include a client device, which includes, but is not limited to, any electronic product capable of human-computer interaction with a client through a keyboard, a mouse, a remote controller, a touchpad, a voice control device, etc., such as a personal computer, a tablet computer, a smart phone, a digital camera, etc.

[0133] It should be noted that the electronic device 300 is only an example, and other existing or future electronic products, such as those adaptable to the present application, should also be included in the protection scope of the present application and are hereby incorporated by reference.

[0134] In some embodiments, the memory 301 stores a computer program, and the computer program is executed by the at least one processor 302 to implement all or part of the steps of the container abnormal shape position detection method according to the embodiments. The memory 301 includes a Read-Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), a One-time Programmable Read-Only Memory (OTPROM), an Electrically-Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM) or other optical disk memories, magnetic disk memories, magnetic tape memories, or any other computer-readable medium capable of carrying or storing data.

[0135] In some embodiments, the at least one processor 302 is a control unit of the electronic device 300, which connects various components of the entire electronic device 300 through various interfaces and lines, and performs various functions and processes data of the electronic device 300 by running or executing programs or modules stored in the memory 301 and calling data stored in the memory 301. For example, the at least one processor 302 implements all or part of the steps of the container abnormal shape position detection method described in the embodiments of the present application when executing the computer program stored in the memory, or implements all or part of the functions of the container abnormal shape position detection device. The at least one processor 302 can be composed of integrated circuits, for example, can be composed of a single packaged integrated circuit, or can be composed of multiple packaged integrated circuits with the same function or different functions, including one or more central processing units (CPU), microprocessors, digital processing chips, graphics processors, combinations of various control chips, etc.

[0136] In some embodiments, the at least one communication bus 303 is configured to realize the connection and communication between the memory 301, the at least one processor 302, etc.

[0137] The electronic device 300 can also include various sensors, Bluetooth modules, Wi-Fi modules, etc., which are not described here.

[0138] The embodiments provide a computer readable storage medium, which stores a computer program, the instructions of which are suitable for being loaded and executed by a processor to implement the container abnormal shape position detection method of the embodiments of the present application. The specific implementation process can refer to the specific description of the above embodiments, which is not described here.

[0139] For the device embodiments, since they basically correspond to the method embodiments, the related parts can refer to the part of the description of the method embodiments. The device embodiments described above are only illustrative, and the components described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. According to actual needs, some or all of the modules can be selected to achieve the purpose of the present application. Those skilled in the art can understand and implement without creative labor.

[0140] Those skilled in the art will appreciate that embodiments of the present application can be readily used as a method, a system or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer-readable program code.

[0141] The present application is described in reference to the flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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, special purpose computer, embedded processing system or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in one or more of the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in one or more of the flowchart illustrations and / or block diagrams.

[0142] The embodiments of the present application are only intended to illustrate the present application, and not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A method for detecting the location of irregularly shaped objects in a container, characterized in that, The method includes: Acquire laser scanning data of the irregularly shaped container to be tested; wherein, the laser scanning data includes the acquisition distance data and height data of several sampling points; Starting from the sampling point with the shortest sampling distance, the height difference between each sampling point and the reference height is obtained in order of increasing sampling distance. If the height difference between the sampling point and the reference height is within a preset first height difference range, the sampling point is determined to be a suspected first endpoint. Based on the preset first search distance range parameter, the first search point and the corresponding first search distance range corresponding to the suspected first endpoint are obtained, the slope parameter of the line segment formed by connecting the first search point and the sampling point within the first search distance range is obtained, and the sampling point with the largest slope parameter is taken as the first endpoint of the irregular object. Starting from the sampling point with the largest sampling distance, the height difference between each sampling point and the reference height is obtained in descending order of sampling distance. If the height difference between the sampling point and the reference height is within the preset second height difference range, the sampling point is determined to be a suspected second endpoint. Based on the preset second search distance range parameter, the second search point corresponding to the suspected second endpoint and the corresponding second search distance range are obtained, the slope parameter of the line segment formed by connecting the second search point and the sampling point within the second search distance range is obtained, and the sampling point with the largest slope parameter is taken as the second endpoint of the irregular object. Based on the laser scanning data of the first endpoint and the laser scanning data of the second endpoint, the position information of the endpoints of the irregular object is obtained.

2. The method for detecting the location of irregularly shaped objects in a container according to claim 1, characterized in that, The reference height includes the height of at least one sampling point within a third transition distance range determined based on the third transition range parameter and the sampling point; The steps prior to determining the sampling point as a suspected first endpoint specifically include: Starting from the sampling point with the smallest sampling distance, the height difference between each sampling point within the third transition distance range and the sampling point is obtained in order from smallest to largest sampling distance. If the height difference between the sampling point and a sampling point within the third transition distance range is within the preset first height difference range, the sampling point is determined to be a suspected first endpoint. The steps prior to determining the sampling point as a suspected second endpoint specifically include: Starting from the sampling point with the largest acquisition distance, the height difference between each sampling point within the fourth transition distance range and the sampling point is obtained in descending order of acquisition distance. If the height difference between the sampling point and a sampling point within the fourth transition distance range is within the preset second height difference range, the sampling point is determined to be a suspected second endpoint.

3. The method for detecting the location of irregularly shaped objects in a container according to claim 1, characterized in that, The first search distance range parameter includes a first transition range parameter and a first offset range parameter; The steps for obtaining the first search point corresponding to the suspected first endpoint specifically include: Based on the first offset range parameter, a first search point is obtained; wherein, the acquisition distance of the first search point is greater than the acquisition distance of the suspected first endpoint; The steps for obtaining the slope parameter of the line segment formed by connecting the first search point and the sampling points within the first search distance range specifically include: The slope parameter of the line segment formed by connecting the first search point and the sampling points within the first search distance range is obtained in the following manner: Where k1 represents the slope parameter, Indicates the first search point The height, P[n] represents the height of sampling point n within the first search distance range. i1 represents the suspected first endpoint, gx1 represents the first transition range parameter, and qx1 represents the first offset range parameter.

4. The method for detecting the location of irregularly shaped objects in a container according to claim 1, characterized in that, The second search distance range parameter includes a second transition range parameter and a second offset range parameter; The steps for obtaining the second search point corresponding to the suspected second endpoint specifically include: Based on the second offset range parameter, a second search point is obtained; wherein the acquisition distance of the second search point is greater than the acquisition distance of the suspected second endpoint; The steps for obtaining the slope parameter of the line segment formed by connecting the second search point and the sampling points within the second search distance range specifically include: The slope parameter of the line segment formed by connecting the second search point and the sampling points within the second search distance range is obtained in the following manner: Where k2 represents the slope parameter, Indicates the second search point The height, P[m] represents the height of the sampling point n within the second search distance range. i2 represents the suspected second endpoint, gx2 represents the second transition range parameter, and qx2 represents the second offset range parameter.

5. The method for detecting the location of irregularly shaped objects in a container according to claim 1, characterized in that, Before obtaining the first search point and the corresponding first search distance range corresponding to the suspected first endpoint based on the preset first search distance range parameter, the following steps are also included: Based on preset transition range parameters, the range of suspected endpoints of the suspected first endpoint is determined; wherein, the range of suspected endpoints includes a first range of suspected endpoints with a sampling distance less than the sampling distance of the suspected first endpoint and a second range of suspected endpoints with a sampling distance greater than the sampling distance of the suspected first endpoint; Obtain the first average height of each sampling point within the range of the first suspected endpoint and the second average height of each sampling point within the range of the second suspected endpoint; If the difference between the first average height and the second average height is within a preset second height difference range, the first search point corresponding to the suspected first endpoint and the corresponding first search distance range are obtained based on the preset first search distance range parameter. Otherwise, it is determined that there is no endpoint of the irregular object near the suspected first endpoint.

6. The method for detecting the location of irregularly shaped objects in a container according to claim 5, characterized in that, The steps for obtaining the first average height of each sampling point within the range of the first suspected endpoint specifically include: The first average height of each sampling point within the range of the first suspected endpoint is obtained in the following manner: Where Agv1 represents the first average height, gx represents the transition range parameter, k represents the sampling point within the range of the first suspected endpoint, P[k] represents the height of sampling point k, and [i-gx,i] represents the range of the first suspected endpoint; The steps for obtaining the average second height of each sampling point within the range of the second suspected endpoint specifically include: Where Agv2 represents the second average height, [j,j+gx] represents the range of the second suspected endpoint, and P[k] represents the height of sampling point k.

7. The method for detecting the location of irregularly shaped objects in a container according to claim 1, characterized in that, It also includes the following steps: The laser scanning data is displayed on a display device; Based on the position information of the endpoints of the irregular object, an endpoint identifier is added to the sampling point corresponding to the endpoint, and the endpoint identifier is displayed on the display device.

8. A container irregular object location detection device, characterized in that, The device includes: The scanning data acquisition module is used to acquire laser scanning data of the irregularly shaped container to be tested; wherein, the laser scanning data includes the acquisition distance data and height data of several sampling points; The suspected first endpoint determination module is used to obtain the height difference between each sampling point and the reference height in order of increasing sampling distance, starting from the sampling point with the smallest sampling distance. If the height difference between the sampling point and the reference height is within a preset first height difference range, the sampling point is determined to be a suspected first endpoint. The first endpoint acquisition module is used to acquire the first search point and the corresponding first search distance range corresponding to the suspected first endpoint based on the preset first search distance range parameter, acquire the slope parameter of the line segment formed by connecting the first search point and the sampling point within the first search distance range, and take the sampling point with the largest slope parameter as the first endpoint of the irregular object. The suspected second endpoint determination module is used to obtain the height difference between each sampling point and the reference height in descending order of sampling distance, starting from the sampling point with the largest sampling distance. If the height difference between the sampling point and the reference height is within a preset second height difference range, the sampling point is determined to be a suspected second endpoint. The second endpoint acquisition module is used to acquire the second search point and the corresponding second search distance range corresponding to the suspected second endpoint based on the preset second search distance range parameter, acquire the slope parameter of the line segment formed by connecting the second search point and the sampling point within the second search distance range, and take the sampling point with the largest slope parameter as the second endpoint of the irregular object. The endpoint location acquisition module is used to acquire the endpoint location information of the irregular object based on the laser scanning data of the first endpoint and the laser scanning data of the second endpoint.

9. An electronic device, characterized in that, include: A processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and executed as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the container irregular object location detection method as described in any one of claims 1 to 7.

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