Scanning methods, scanning systems, computer equipment, and storage media for vehicle cargo compartments

Abstract

This application discloses a scanning method, scanning system, computer equipment, and storage medium for scanning a vehicle cargo compartment. The scanning method includes: controlling a scanner to scan the cargo compartment of a target vehicle to acquire point cloud data corresponding to multiple scanned surfaces of the cargo compartment; constructing a scanning model of the cargo compartment based on the point cloud data corresponding to the multiple scanned surfaces; determining whether there are steps inside the cargo compartment based on the scanning model; when it is determined that there are steps inside the cargo compartment, generating and issuing step position information, which is used to instruct cargo to avoid the steps during loading; when it is determined that there are no steps inside the cargo compartment of the target vehicle, generating and issuing cargo loading information. Therefore, by using a scanning method to detect whether there are steps inside the cargo compartment of a target vehicle, when steps are present, cargo can avoid the steps during loading. Compared with existing technologies, this can minimize the risk of cargo tipping over at the steps and also make the preset loading height of cargo inside the cargo compartment more reasonable.

Description

Technical Field

[0001] This application relates to the field of logistics, and in particular to a method for scanning a vehicle cargo compartment, a system for scanning a vehicle cargo compartment, a computer device, and a computer-readable storage medium. Background Technology

[0002] In related technologies, after the scanning system scans the cargo compartment of the target vehicle using a scanning method, the user or cargo loading device can load the goods into the cargo compartment of the target vehicle according to the scanning information generated by the scanning system. Since the existing scanning method can only detect square cargo compartments, when there are steps in some cargo compartments, the existing scanning method cannot correctly identify whether there are steps in the cargo compartment. When there are steps in the cargo compartment and the cargo loading device loads the goods into the cargo compartment, the goods placed at the steps in the cargo compartment are prone to tipping over.

[0003] Furthermore, since the bottom wall of the cargo compartment is higher at the step, when the cargo loading device presets the loading position of the cargo based on the scanning information of the scanning system, it is easy to cause the actual height of the cargo after loading to exceed the preset height, which means that the user needs to manually adjust the position of the cargo in the cargo compartment, thereby reducing the cargo loading efficiency. Summary of the Invention

[0004] To improve loading efficiency by eliminating the need for users to manually adjust the position of goods during loading, this application provides a method for scanning vehicle cargo compartments.

[0005] This application further proposes a scanning system for vehicle cargo compartments.

[0006] This application further proposes a computer device.

[0007] This application further proposes a computer-readable storage medium.

[0008] The scanning method for a vehicle cargo compartment provided in this application adopts the following technical solution:

[0009] A method for scanning a vehicle cargo compartment includes: controlling a scanning component to move along a preset path to scan the cargo compartment of a target vehicle, acquiring point cloud data corresponding to multiple surfaces to be scanned in the cargo compartment; constructing a scanning model of the cargo compartment of the target vehicle based on the point cloud data corresponding to the multiple surfaces to be scanned; determining whether there are stairs in the cargo compartment of the target vehicle based on the scanning model of the cargo compartment of the target vehicle; when it is determined that there are stairs in the cargo compartment of the target vehicle, generating and issuing stairs position information, the stairs position information being used to instruct the cargo to avoid them during loading; when it is determined that there are no stairs in the cargo compartment of the target vehicle, generating and issuing cargo loading information, the cargo loading information being used to instruct the cargo to be loaded.

[0010] By adopting the above technical solution, a scanning method is used to detect whether there are steps in the cargo compartment of the target vehicle. When there are steps in the cargo compartment, the cargo can avoid the steps when loading. Compared with the existing technology, it can prevent the cargo from tipping over at the steps in the cargo compartment as much as possible, and can also make the preset loading height of the cargo in the cargo compartment more reasonable. Thus, the user does not need to manually adjust the position of the cargo when loading, thereby improving the loading efficiency.

[0011] Preferably, the preset path is a straight line located above the cargo compartment of the target vehicle and extending along the length of the preset parking area; determining whether there are steps in the cargo compartment of the target vehicle based on the scanning model of the cargo compartment includes: acquiring multiple first position data from the scanning model of the cargo compartment of the target vehicle, wherein the first position data are the position data of scanning points on the surface to be scanned and located directly below the preset path; determining whether there are steps in the cargo compartment of the target vehicle based on the height values ​​of the multiple first position data; determining that there are steps in the cargo compartment of the target vehicle when there are two first position data whose height difference is greater than a first preset difference and less than a second preset difference; determining that there are no steps in the cargo compartment of the target vehicle when there are no two first position data whose height difference is greater than a first preset difference and less than a second preset difference.

[0012] By adopting the above technical solution, the height difference between two scanning points on the two surfaces to be scanned near the steps is greater than the first preset difference and less than the second preset difference. By comparing the height difference between any two first position data, the first preset difference, and the second preset difference, it can be determined whether there are two scanning points whose height difference between the first position data is greater than the first preset difference and less than the second preset difference. Thus, the judgment module can determine whether there are steps in the cargo compartment. When there are steps in the cargo compartment, the cargo can avoid the steps when loading the cargo compartment.

[0013] Preferably, determining whether there are steps in the cargo compartment of the target vehicle based on the height values ​​of multiple first position data further includes: when there are two first position data with height differences less than the first preset difference and not zero, determining that there is a depression or bulge in the cargo compartment of the target vehicle at the corresponding position; when there are two first position data with height differences greater than the second preset difference, determining that the one with the larger height value among the two corresponding scanning points is located on the side wall of the cargo compartment of the target vehicle.

[0014] By adopting the above technical solution, by comparing the height difference between two first position data with the first preset difference and the second preset difference, the position of the target vehicle's cargo box, protrusion, depression, or side wall directly below the preset path can be determined.

[0015] Preferably, the method further includes: determining whether there are protrusions or depressions in the cargo compartment of the target vehicle based on the scanning model of the cargo compartment; when it is determined that there are protrusions or depressions in the cargo compartment of the target vehicle, generating and issuing obstacle location information, the obstacle location information being used to instruct the cargo to avoid obstacles during loading.

[0016] By adopting the above technical solution, and by determining whether there are protrusions or depressions in the cargo compartment of the target vehicle, the cargo can avoid protrusions or depressions when loading the cargo compartment. This can minimize the risk of cargo tilting when the cargo is placed in protrusions or depressions in the cargo compartment, thereby improving the user experience of the cargo loading device.

[0017] Preferably, determining whether there is a protrusion or depression in the cargo compartment of the target vehicle based on the scanning model of the cargo compartment includes: acquiring a plurality of consecutive second position data from the scanning model of the cargo compartment of the target vehicle, wherein the plurality of second position data are position data of a plurality of scanning points on the surface to be scanned, and the plurality of scanning points are distributed on two adjacent peripheral walls of the cargo compartment of the target vehicle; determining whether there is a protrusion or depression in the cargo compartment of the target vehicle based on the height value in the plurality of second position data; in the width direction of the cargo compartment of the target vehicle, when there are two adjacent scanning points in the plurality of consecutive scanning points with a distance between them that is less than a third preset difference, and the height difference of the corresponding scanning points is greater than a fourth preset difference and less than a fifth preset difference, it is determined that there is a protrusion or depression in the cargo compartment of the target vehicle on the corresponding surface to be scanned; when there are two adjacent scanning points in the plurality of consecutive scanning points with a distance between them that is less than the third preset difference, and there is no corresponding height difference of the scanning points that is greater than a fourth preset difference and less than a fifth preset difference, it is determined that there is no protrusion or depression in the cargo compartment on the corresponding surface to be scanned.

[0018] By adopting the above technical solution, when there are protrusions or depressions in the cargo compartment, there is a difference between the height value of the protrusion or depression and the height value of the bottom wall of the cargo compartment. Since the protrusions or depressions are randomly distributed at any position on the bottom wall of the cargo compartment, by first judging whether there are protrusions or depressions on the corresponding surface to be scanned based on the position data of multiple scanning points on the surface to be scanned, and then continuously judging whether there are protrusions or depressions on multiple surfaces to be scanned, it can be determined whether there are protrusions or depressions in the cargo compartment. When it is determined that there are protrusions or depressions in the cargo compartment of the target vehicle, the cargo can avoid the protrusions or depressions when loading the cargo compartment.

[0019] Preferably, the method further includes: determining whether the placement angle of the cargo compartment of the target vehicle is greater than a preset offset angle based on the scanning model of the cargo compartment of the target vehicle; when it is determined that the placement angle of the cargo compartment of the target vehicle is greater than the preset offset angle, generating and issuing cargo compartment adjustment information, the cargo compartment adjustment information being used to prompt the target vehicle user to reposition the cargo compartment within the preset placement area.

[0020] By adopting the above technical solution, when the placement angle of the cargo box of the target vehicle is determined to be greater than the preset offset angle, the user can adjust the position of the cargo box in the preset placement area in a timely manner after receiving the cargo box adjustment information, which can ensure that the cargo loading device can work normally.

[0021] Preferably, determining whether the placement angle of the cargo compartment of the target vehicle is greater than a preset offset angle based on the scanning model of the cargo compartment of the target vehicle includes: acquiring multiple third position data from the scanning model of the cargo compartment of the target vehicle, wherein the third position data are the position data of multiple consecutive scanning points on the surface to be scanned whose height values ​​are greater than a preset height value and are located on the same side of the cargo compartment of the target vehicle; determining the extension direction of the cargo compartment of the target vehicle based on the fitted straight line of the multiple third position data; determining the placement angle of the cargo compartment of the target vehicle based on the extension direction of the cargo compartment of the target vehicle and the length direction of the preset placement area; and determining whether the placement angle of the cargo compartment of the target vehicle is greater than the preset offset angle.

[0022] By adopting the above technical solution, the extension direction of the central axis of the cargo box can be determined by calculating the fitted straight line of the upper surface of the left or right side wall of the cargo box, and thus the extension direction of the cargo box can be determined, thereby confirming the placement angle of the cargo box.

[0023] The scanning system for a vehicle cargo compartment provided in this application adopts the following technical solution:

[0024] A vehicle cargo compartment scanning system includes: a data acquisition module for controlling a scanning component to move along a preset path to scan the cargo compartment of a target vehicle and acquire point cloud data corresponding to multiple scanned surfaces of the cargo compartment; a model building module for constructing a scanning model of the cargo compartment of the target vehicle based on the point cloud data corresponding to the multiple scanned surfaces; a judgment module for determining whether there are stairs in the cargo compartment of the target vehicle based on the scanning model of the cargo compartment of the target vehicle; and a notification module for generating and sending stairs position information when it is determined that there are stairs in the cargo compartment of the target vehicle, the stairs position information being used to instruct cargo to avoid them during loading; and for generating and sending cargo loading information when it is determined that there are no stairs in the cargo compartment of the target vehicle, the cargo loading information being used to instruct cargo to be loaded.

[0025] By adopting the above technical solution, the scanning system detects whether there are steps in the cargo compartment of the target vehicle. When there are steps in the cargo compartment, the step position information generated by the notification module can help the goods avoid the steps when loading. Compared with the existing technology, it can prevent the goods from tipping over at the steps in the cargo compartment as much as possible, and can also make the preset loading height of the goods in the cargo compartment more reasonable. Thus, the user does not need to manually adjust the position of the goods when loading, thereby improving the loading efficiency.

[0026] The computer device provided in this application adopts the following technical solution:

[0027] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described method for scanning a vehicle cargo compartment.

[0028] By adopting the above technical solution, when the computer program stored in the memory is executed by the processor, and there are steps in the cargo compartment of the target vehicle, the stored computer program can be executed by the processor to prevent the cargo from tipping over at the steps in the cargo compartment as much as possible, and can also make the preset loading height of the cargo in the cargo compartment more reasonable. Thus, the user does not need to manually adjust the position of the cargo when loading the cargo compartment, thereby improving the loading efficiency.

[0029] The computer-readable storage medium provided in this application adopts the following technical solution:

[0030] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for scanning a vehicle cargo compartment.

[0031] By adopting the above technical solution, when there are steps in the cargo compartment of the target vehicle, the stored computer program can be executed by the processor to prevent the cargo from tipping over at the steps of the cargo compartment as much as possible. It can also make the preset loading height of the cargo in the cargo compartment more reasonable, so that the user does not need to manually adjust the position of the cargo when loading the cargo compartment, thereby improving the loading efficiency.

[0032] In summary, this application includes at least one of the following beneficial technical effects:

[0033] 1. By using a scanning method to detect whether there are steps in the cargo compartment of the target vehicle, when there are steps in the cargo compartment, the cargo can avoid the steps when loading. Compared with the existing technology, it can prevent the cargo from tipping over at the steps in the cargo compartment as much as possible, and can also make the preset loading height of the cargo in the cargo compartment more reasonable. Thus, the user does not need to manually adjust the position of the cargo when loading, thereby improving the loading efficiency.

[0034] 2. By determining whether there are protrusions or depressions in the cargo compartment of the target vehicle, the cargo can be loaded to avoid protrusions or depressions. This can minimize the risk of cargo tilting when placed in protrusions or depressions in the cargo compartment, thereby improving the user experience of the cargo loading device.

[0035] 3. When the placement angle of the cargo box of the target vehicle is determined to be greater than the preset offset angle, the user can adjust the position of the cargo box within the preset placement area in a timely manner after receiving the cargo box adjustment information, which can ensure that the cargo loading device can work normally. Attached Figure Description

[0036] Figure 1 This is a flowchart of a vehicle cargo compartment scanning method according to an embodiment of this application;

[0037] Figure 2 This is a structural block diagram of a vehicle cargo compartment scanning system according to an embodiment of this application;

[0038] Figure 3 This is a schematic diagram of the internal structure of a computer device according to an embodiment of this application;

[0039] Figure 4 This is a top view of the vehicle according to an embodiment of this application;

[0040] Figure 5 This is a cross-sectional view of the cargo compartment according to an embodiment of this application;

[0041] Figure 6 This is a schematic diagram of scanning the surface to be scanned according to the embodiments of this application.

[0042] Explanation of reference numerals in the attached figures:

[0043] 100. Scanning system;

[0044] 10. Data Acquisition Module; 20. Model Building Module; 30. Judgment Module; 40. Notification Module;

[0045] 1201. Processor; 1202. Communication interface; 1203. Memory; 1204. Communication bus;

[0046] 200. Vehicle; 210. Cargo box; 220. Preset path; 230. Steps; 240. Bottom wall; 2501. Front side wall; 2502. Rear side wall; 2503. Left side wall; 2504. Right side wall;

[0047] 300. Scanned document. Detailed Implementation

[0048] The following is in conjunction with the appendix Figures 1-6 This application will be described in further detail.

[0049] See Figures 1-6 This application discloses a scanning method and a scanning system 100 for a vehicle cargo box 210. The scanning method is used to scan the cargo box 210 of a vehicle 200 parked in a preset parking area. The vehicle 200 can refer to a truck, which may include a cargo truck, a full trailer tractor truck, a semi-trailer tractor truck, etc. The cargo box 210 is open upwards. By using the scanning method to scan the cargo box 210 of the target vehicle 200, the information generated by the scanning method can be used to instruct the cargo loading device or instruct the user to load the cargo into the box.

[0050] See Figure 2 , Figure 4 , Figure 6 The scanning system 100 according to the embodiments of this application includes: a data acquisition module 10, a model construction module 20, a judgment module 30, and a notification module 40. The data acquisition module 10 is used to control the scanning component 300 to move along a preset path 220 to scan the cargo compartment 210 of the target vehicle 200. The data acquisition module 10 is also used to acquire point cloud data corresponding to multiple surfaces to be scanned on the cargo compartment 210. The scanning component 300 can be constructed as a laser scanning radar. The laser scanning radar can emit laser light into the surface to be scanned. The surface to be scanned is perpendicular to the current movement direction of the laser scanning radar, and the laser scanning radar passes through the surface to be scanned. When the laser scanning radar moves along the preset path 220, the laser scanning radar can continuously scan multiple surfaces to be scanned.

[0051] A laser is emitted into the surface to be scanned by a laser scanning radar. When the laser is reflected on the inner wall of the cargo compartment 210, the reflected laser can be received by the laser scanning radar. The laser scanning radar can determine the interval distance between the laser scanning radar and the scanning point based on the time difference between the laser emission and reception of the laser. The laser scanning radar can also calculate the position information of the scanning point based on the interval distance between the laser scanning radar and the scanning point and the scanning angle. The data acquisition module 10 can communicate with the scanning component 300 to obtain the position data of multiple scanning points in each surface to be scanned. The position data of multiple scanning points in each surface to be scanned form the point cloud data of each surface to be scanned.

[0052] Furthermore, the data acquisition module 10 can send the acquired point cloud data to the model building module 20. The model building module 20 is used to construct a scanning model of the cargo box 210 of the target vehicle 200 based on the point cloud data corresponding to multiple surfaces to be scanned. The scanning model of the cargo box 210 of the target vehicle 200 constructed by the model building module 20 can be a set formed by combining multiple scanning points, or the scanning model of the cargo box 210 of the target vehicle 200 can be a three-dimensional structural model formed by fitting the scanning points of multiple surfaces to be scanned. After constructing the scanning model of the cargo box 210 of the target vehicle 200, the model building module 20 can output the data of the scanning model.

[0053] Furthermore, the judgment module 30 can receive the scanned model data output by the model construction module 20. The judgment module 30 is used to determine whether a staircase 230 exists inside the cargo compartment 210 of the target vehicle 200 based on the scanned model of the cargo compartment 210. Specifically, when the scanned model of the cargo compartment 210 of the vehicle 200 is a set composed of multiple scanned points, the judgment module 30 can determine whether a staircase 230 exists inside the cargo compartment 210 based on the height value of the position data of each scanned point. When the scanned model of the cargo compartment 210 of the target vehicle 200 is a three-dimensional structural model, the judgment module 30 can determine whether a staircase 230 exists inside the cargo compartment 210 based on the structural features at various points within the model. The judgment module 30 can also output the judgment result data.

[0054] Simultaneously, the notification module 40 can receive the judgment result data output by the judgment module 30, and the notification module 40 can generate corresponding notification information based on the judgment result data. Specifically, when it is determined that a step 230 exists within the cargo compartment 210 of the target vehicle 200, the notification module 40 generates and sends step position information, which is used to instruct cargo to avoid the step 230 during loading. The notification module 40 is also used to generate and send cargo loading information when it is determined that a step 230 does not exist within the cargo compartment 210 of the target vehicle 200, which is used to instruct cargo to be loaded. In some embodiments, the notification module 40 can be communicatively connected to the cargo loading device. The notification module 40 can output step position information and cargo loading information to the cargo loading device. After receiving the step position information, when the cargo loading device loads goods into the cargo compartment 210, it can ensure that the goods avoid the step 230, minimizing the risk of the goods tipping over due to the center of gravity being suspended when placed at the step 230 within the cargo compartment 210, thereby improving the user experience of the cargo loading device. Furthermore, when the cargo loading device receives cargo loading information, it can directly load cargo into the cargo compartment 210.

[0055] Furthermore, when the cargo loading device is adapted to determine the placement position and height of the goods in the cargo compartment 210 based on the geometric dimensions of the goods, after receiving the step position information, the cargo loading device can also adjust the placement position and height of the goods in the cargo compartment 210 according to the height of the step 230, thereby making the placement position and height of the goods in the cargo compartment 210 more reasonable. After the cargo loading device loads the goods into the cargo compartment 210, the user does not need to manually adjust the placement position and height in the cargo compartment 210, thereby improving the cargo loading efficiency.

[0056] Therefore, by scanning the presence of a step 230 in the cargo compartment 210 of the target vehicle 200 by the scanning system 100, when the step 230 is present in the cargo compartment 210, the step position information generated by the notification module 40 can help the cargo avoid the step 230 during loading. Compared with the prior art, this can prevent the cargo from tipping over at the step 230 in the cargo compartment 210 as much as possible, and can also make the preset loading height of the cargo in the cargo compartment 210 more reasonable. This allows the user to avoid manually adjusting the position of the cargo during loading, thereby improving the loading efficiency.

[0057] Based on this, this application further proposes a scanning method for a vehicle cargo compartment 210. This scanning method is applicable to the scanning system 100 described in the above embodiments. See [link to relevant documentation]. Figures 1-6 The scanning method according to the embodiments of this application includes the following steps:

[0058] S1. Control the scanning component 300 to move along the preset path 220 to scan the cargo compartment 210 of the target vehicle 200 and obtain point cloud data corresponding to multiple surfaces to be scanned in the cargo compartment 210.

[0059] S2. Based on the point cloud data corresponding to multiple surfaces to be scanned, construct a scanning model of the cargo box 210 of the target vehicle 200.

[0060] S3. Based on the scanning model of the cargo compartment 210 of the target vehicle 200, determine whether there is a staircase 230 inside the cargo compartment 210 of the target vehicle 200.

[0061] S4. When it is determined that there is a step 230 in the cargo compartment 210 of the target vehicle 200, the step position information is generated and issued. The step position information is used to indicate the avoidance when loading the cargo compartment.

[0062] S5. When it is determined that there is no step 230 in the cargo compartment 210 of the target vehicle 200, cargo loading information is generated and issued. The cargo loading information is used to instruct the cargo to be loaded.

[0063] The scanning method can be implemented by the scanning system 100 described in the above embodiments. The data acquisition module 10 of the scanning system 100 can control the scanning component 300 to move along a preset path 220 to scan the cargo box 210 of the target vehicle 200. The data acquisition module 10 can also acquire point cloud data corresponding to multiple surfaces to be scanned in the cargo box 210. The scanning component 300 can be constructed as a laser scanning radar. The data acquisition module 10 can communicate with the scanning component 300 to acquire the position data of multiple scanning points in each surface to be scanned. The position data of multiple scanning points in each surface to be scanned forms the point cloud data of each surface to be scanned.

[0064] Furthermore, the data acquisition module 10 can send the acquired point cloud data to the model building module 20 of the above embodiment. The model building module 20 is adapted to construct a scanning model of the cargo box 210 of the target vehicle 200 based on the point cloud data corresponding to multiple surfaces to be scanned. After constructing the scanning model of the cargo box 210 of the target vehicle 200, the model building module 20 can output the data of the scanning model.

[0065] Furthermore, the judgment module 30 in the above embodiment can receive the scanned model data output by the model construction module 20. The judgment module 30 can determine whether there is a staircase 230 inside the cargo compartment 210 of the target vehicle 200 based on the scanned model of the cargo compartment 210 of the target vehicle 200. Specifically, when the scanned model of the cargo compartment 210 of the vehicle 200 is a set formed by multiple scanned points, the judgment module 30 can determine whether there is a staircase 230 inside the cargo compartment 210 based on the height value of the position data of each scanned point. When the scanned model of the cargo compartment 210 of the target vehicle 200 is a three-dimensional structural model, the judgment module 30 can determine whether there is a staircase 230 inside the cargo compartment 210 based on the structural features at various points within the model. Furthermore, the judgment module 30 can output the judgment result data.

[0066] Meanwhile, the notification module 40 in the above embodiment can receive the judgment result data output by the judgment module 30, and the notification module 40 can generate corresponding notification information based on the judgment result data. Specifically, the notification module 40 generates and sends out step position information when it is determined that a step 230 exists in the cargo compartment 210 of the target vehicle 200. The notification module 40 is also used to generate and send out cargo loading information when it is determined that a step 230 does not exist in the cargo compartment 210 of the target vehicle 200. The cargo loading information is used to instruct cargo loading. In some embodiments, the notification module 40 can be communicatively connected to the cargo loading device. The notification module 40 can output step position information and cargo loading information to the cargo loading device. After receiving the step position information, when the cargo loading device loads goods into the cargo compartment 210, it can ensure that the goods avoid the step 230, thus minimizing the risk of the goods tipping over due to the center of gravity being suspended when placed at the step 230 within the cargo compartment 210, thereby improving the user experience of the cargo loading device. Furthermore, when the cargo loading device receives cargo loading information, it can directly load cargo into the cargo compartment 210.

[0067] Furthermore, when the cargo loading device is adapted to determine the placement position and height of the goods in the cargo compartment 210 based on the geometric dimensions of the goods, after receiving the step position information, the cargo loading device can also adjust the placement position and height of the goods in the cargo compartment 210 according to the height of the step 230, thereby making the placement position and height of the goods in the cargo compartment 210 more reasonable. After the cargo loading device loads the goods into the cargo compartment 210, the user does not need to manually adjust the placement position and height in the cargo compartment 210, thereby improving the cargo loading efficiency.

[0068] Therefore, by using a scanning method to detect whether there is a step 230 in the cargo compartment 210 of the target vehicle 200, when there is a step 230 in the cargo compartment 210, the goods can avoid the step 230 when loading. Compared with the prior art, it can prevent the goods at the step 230 of the cargo compartment 210 from tipping over as much as possible, and can also make the preset loading height of the goods in the cargo compartment 210 more reasonable. Thus, the user does not need to manually adjust the position of the goods when loading, thereby improving the loading efficiency.

[0069] See Figure 4 , Figure 6In some embodiments of this application, the preset path 220 is a straight line located above the cargo compartment 210 of the target vehicle 200 and extending along the length of the preset parking area. That is, the laser scanning radar is adapted to move from above the target cargo compartment 210 along the length of the preset parking area, meaning the cargo compartment 210 of the target vehicle 200 is located below the laser scanning radar. When the laser scanning radar emits a laser, the laser can illuminate the interior of the cargo compartment 210, thereby enabling the laser scanning radar to acquire the position data of the scanning points within the cargo compartment 210. Furthermore, the length of the preset path 220 is greater than the length of the cargo compartment 210 to ensure that the scanning area of ​​the laser scanning radar completely covers the cargo compartment, thereby making the scanning model of the cargo compartment 210 more complete.

[0070] And see also Figures 4-6 Based on the scanning model of the cargo compartment 210 of the target vehicle 200, determining whether there is a staircase 230 inside the cargo compartment 210 of the target vehicle 200 may also include the following steps:

[0071] S101. Obtain multiple first position data from the scanning model of the cargo box 210 of the target vehicle 200. The first position data are the position data of the scanning point on the surface to be scanned and located directly below the preset path 220.

[0072] S102. Based on the height values ​​in multiple first position data, determine whether there is a step 230 inside the cargo box 210 of the target vehicle 200.

[0073] S103. When there is a height difference between two first position data that is greater than a first preset difference and less than a second preset difference, it is determined that there is a step 230 in the cargo box 210 of the target vehicle 200.

[0074] S104. When there is no height difference between two first position data that is greater than the first preset difference and less than the second preset difference, it is determined that there is no step 230 in the cargo box 210 of the target vehicle 200.

[0075] In the above embodiment, after receiving the data of the scanning model output by the model construction module 20, the judgment module 30 can obtain multiple first position data from the scanning model of the cargo compartment 210 of the target vehicle 200, and the judgment module 30 is adapted to determine whether there is a step 230 in the cargo compartment 210 of the target vehicle 200 based on the height value in the multiple first position data. Specifically, when there is a step 230 inside the cargo compartment 210, the bottom wall 240 of the cargo compartment 210 forms two planes that are opposite to each other and spaced apart at the step 230 along the height direction of the cargo compartment 210. The two spaced planes can be a first plane and a second plane, and the two planes are arranged sequentially along the length direction of the cargo compartment 210. When the cargo compartment 210 is placed in the preset parking area, the length direction of the cargo compartment 210 is consistent with the length direction of the parking area. At this time, among the multiple scanning points located directly below the preset path 220, some scanning points are located on the first plane, some scanning points are located on the second plane, and some scanning points are located on the upper surface of the front side wall 2501 or the upper surface of the rear side wall 2502 of the cargo compartment 210.

[0076] The height values ​​of the scanning points on the first plane are different from those on the second plane. Furthermore, the height difference between the scanning points on the first and second planes is greater than a first preset difference but less than a second preset difference. Also, the height differences between the scanning points on the upper surface of the front wall 2501 or the upper surface of the rear wall 2502 of the cargo compartment 210 and the scanning points on the first plane, and between the scanning points on the upper surface of the front wall 2501 or the upper surface of the rear wall 2502 of the cargo compartment 210 and the scanning points on the second plane, are all significantly greater than the second preset difference. The judgment module 30 can compare the height difference between any two first position data points, the first preset difference, and the second preset difference to determine whether there are two scanning points whose height difference is greater than the first preset difference and less than the second preset difference. Therefore, the judgment module 30 can determine whether a step 230 exists inside the cargo compartment 210.

[0077] Furthermore, determining whether a step 230 exists inside the cargo compartment 210 of the target vehicle 200 based on the height values ​​in multiple first location data may also include the following steps:

[0078] S105. When there are two first position data with height differences less than the first preset difference and not zero, it is determined that the cargo box 210 of the target vehicle 200 has a depression or bulge at the corresponding position.

[0079] S106. When there is a height difference between two first position data that is greater than a second preset difference, determine that the one with the larger height value among the two corresponding scanning points is located on the side wall of the cargo box 210 of the target vehicle 200.

[0080] When there is no step 230 inside the cargo compartment 210, the height of the upper surface of the bottom wall 240 of the cargo compartment 210 is basically the same at all points. At this time, among the multiple scanning points located directly below the preset path 220, some scanning points are located on the upper surface of the bottom wall 240 of the cargo compartment 210, and some scanning points are located on the upper surface of the front side wall 2501 or the upper surface of the rear side wall 2502 of the cargo compartment 210. The judgment module 30 can compare the height difference between any two first position data, the first preset difference, and the second preset difference to determine whether there is a height difference between the first position data of two scanning points that is less than the first preset difference and not zero, or a height difference between the first position data of two scanning points that is greater than the second preset difference. Thus, the judgment module 30 can determine whether there is a depression or bulge inside the cargo compartment 210, and determine the side wall position of the cargo compartment 210 of the target vehicle 200.

[0081] It should be understood that the steps 230 inside the cargo box 210 are shape adjustments made to the cargo box 210 according to the structure of the vehicle 200, and the protrusions or depressions are defects on the surface of the cargo box 210 after being impacted during use. The protrusions or depressions will damage the surface flatness of the cargo box 210. In this application, the height value of the steps 230 is greater than the value of the first preset difference and less than the value of the second preset difference, and the height values ​​of the protrusions and depressions are less than the value of the first preset difference and are not 0.

[0082] See Figure 6 In some embodiments of this application, the scanning method may further include the following steps:

[0083] S201. Based on the scanning model of the cargo box 210 of the target vehicle 200, determine whether there are any protrusions or depressions inside the cargo box 210 of the target vehicle 200.

[0084] S202. When it is determined that there is a protrusion or dent in the cargo compartment 210 of the target vehicle 200, obstacle location information is generated and issued. The obstacle location information is used to instruct the cargo to avoid the obstacle when loading the cargo compartment.

[0085] In this embodiment, after receiving the scanned model data output by the model construction module 20, the judgment module 30 can determine whether there are protrusions or depressions inside the cargo box 210 of the target vehicle 200 based on the scanned model of the cargo box 210. Specifically, when the scanned model of the cargo box 210 of the vehicle 200 is a set formed by multiple scan points, the judgment module 30 can determine whether there are protrusions or depressions inside the cargo box 210 based on the height value of the position data of each scan point. When the scanned model of the cargo box 210 of the target vehicle 200 is a three-dimensional structural model, the judgment module 30 can determine whether there are protrusions or depressions inside the cargo box 210 based on the structural features at various points within the model. Furthermore, the judgment module 30 can output the judgment result data.

[0086] Meanwhile, the notification module 40 in the above embodiment can receive the judgment result data output by the judgment module 30, and the notification module 40 can generate corresponding notification information based on the judgment result data. The notification module 40 can generate and issue obstacle location information when it is determined that there is a protrusion or depression in the cargo compartment 210 of the target vehicle 200. In some embodiments, the notification module 40 can be communicatively connected to a prompting device. The notification module 40 can output obstacle location information to the prompting device. When the prompting device receives the obstacle location information, the prompting device can issue a first prompt signal. After receiving the first prompt signal, the user can avoid the protrusion or depression during the loading of goods into the cargo compartment 210. It should be noted that the prompt signal can be one or more combinations of sound signals, light signals, image signals, and buzzer signals.

[0087] However, this application is not limited to this. For example, by making the notification module 40 of the above embodiment communicatively connected with the cargo loading device, the notification module 40 can output obstacle location information to the cargo loading device. After receiving the obstacle location information, when the cargo loading device loads goods into the cargo compartment 210, it can make the goods avoid protrusions or depressions. This can minimize the risk of the goods tilting when placed in protrusions or depressions in the cargo compartment 210, thereby improving the user experience of the cargo loading device.

[0088] See Figure 6 In some embodiments of this application, determining whether there are protrusions or depressions inside the cargo compartment 210 of the target vehicle 200 based on the scanning model of the cargo compartment 210 of the target vehicle 200 may include the following steps:

[0089] S301. Obtain multiple consecutive second position data from the scanning model of the cargo box 210 of the target vehicle 200. The multiple second position data are the position data of multiple scanning points on the surface to be scanned. The multiple scanning points are distributed on the two adjacent peripheral walls of the cargo box 210 of the target vehicle 200. It should be noted that the two adjacent peripheral walls of the cargo box 210 can refer to the left side wall 2503 and the bottom wall 240 of the cargo box 210, or the two adjacent peripheral walls of the cargo box 210 can refer to the right side wall 2504 and the bottom wall 240 of the cargo box 210.

[0090] S302. Based on the height values ​​in multiple second position data, determine whether there are any protrusions or depressions inside the cargo box 210 of the target vehicle 200.

[0091] S303. In the width direction of the cargo box 210 of the target vehicle 200, when there are two adjacent scanning points in a series of consecutive scanning points with a distance between them that is less than a third preset difference, and the height difference of the corresponding scanning points is greater than a fourth preset difference and less than a fifth preset difference, it is determined that the cargo box 210 of the target vehicle 200 has a protrusion or depression in the corresponding surface to be scanned.

[0092] S304. When the distance between two adjacent scanning points in a series of consecutive scanning points is less than the third preset difference, and there is no corresponding scanning point with a height difference greater than the fourth preset difference and less than the fifth preset difference, it is determined that there is no protrusion or depression in the cargo box 210 in the corresponding scanning surface.

[0093] In the above embodiment, after receiving the scanned model data output by the model construction module 20, the judgment module 30 can obtain a plurality of consecutive second position data from the scanned model of the cargo compartment 210 of the target vehicle 200. The judgment module 30 is adapted to determine whether there are protrusions or depressions inside the cargo compartment 210 of the target vehicle 200 based on the plurality of consecutive second position data. In other words, this application can further detect whether there are protrusions or depressions within a plurality of surfaces to be scanned.

[0094] Specifically, when there is a protrusion or depression inside the cargo compartment 210, there is a difference between the height value of the protrusion or depression and the height value of the bottom wall 240 of the cargo compartment 210. Since the protrusion or depression will be randomly distributed at any position of the bottom wall 240 of the cargo compartment 210, the judgment module 30 can first determine whether there is a protrusion or depression on the corresponding surface to be scanned based on the position data of multiple scanning points on the surface to be scanned. Then, the judgment module 30 can continuously judge whether there is a protrusion or depression on multiple surfaces to be scanned in order to determine whether there is a protrusion or depression inside the cargo compartment 210.

[0095] Furthermore, due to the irregular shapes of the protrusions and depressions, the angles between the sidewalls of the protrusions and the bottom wall 240 of the cargo compartment 210, and the angles between the sidewalls of the depressions and the bottom wall 240 of the cargo compartment 210, are both smaller than the angles between the bottom wall 240 and the sidewalls of the cargo compartment 210. Therefore, when two adjacent scanning points are located on the bottom wall 240 of the cargo compartment 210 and the sidewall of the protrusion or depression, or on the sidewall of the cargo compartment 210 and the sidewall of the protrusion or depression, or both on the sidewall of the protrusion or depression, or on the sidewall of the protrusion, the angles are smaller than the angles between the bottom wall 240 and the sidewall of the protrusion or depression. When scanning on the side wall of a recessed area, if the distance between two adjacent scanning points is less than the third preset difference, and the height difference between the two scanning points is greater than the fourth preset difference and less than the fifth preset difference, then by judging whether there are two scanning points whose distance in the width direction of the cargo box 210 of the target vehicle 200 is less than the third preset difference, and the height difference of the corresponding scanning points is greater than the fourth preset difference and less than the fifth preset difference, it can be determined whether there is a protrusion or a depression in the cargo box 210 of the vehicle 200 within the corresponding surface to be scanned.

[0096] See Figure 4 In some embodiments of this application, the scanning method may further include the following steps:

[0097] S401. Based on the scanning model of the cargo box 210 of the target vehicle 200, determine whether the placement angle of the cargo box 210 of the target vehicle 200 is greater than the preset offset angle.

[0098] S402. When it is determined that the placement angle of the cargo box 210 of the target vehicle 200 is greater than the preset offset angle, the cargo box 210 adjustment information is generated and issued. The cargo box 210 adjustment information is used to prompt the user of the target vehicle 200 to reposition the cargo box 210 in the preset placement area.

[0099] In this embodiment, after receiving the scanned model data output by the model construction module 20, the judgment module 30 can determine whether the placement angle of the cargo box 210 of the target vehicle 200 is greater than a preset offset angle based on the scanned model of the cargo box 210 of the target vehicle 200. Specifically, when the scanned model of the cargo box 210 of the vehicle 200 is a set formed by multiple scan points, the judgment module 30 can determine whether the placement angle of the cargo box 210 is greater than the preset offset angle based on the distance between the position data of each scan point in the width direction of the cargo box 210 and the scanning element 300 (i.e., the laser scanning radar). When the scanned model of the cargo box 210 of the target vehicle 200 is a three-dimensional structural model, the judgment module 30 can determine whether the placement angle of the cargo box 210 is greater than the preset offset angle based on the overall structural features within the model. Furthermore, the judgment module 30 can output judgment result data.

[0100] Meanwhile, the notification module 40 in the above embodiment can receive the judgment result data output by the judgment module 30, and the notification module 40 can generate corresponding notification information based on the judgment result data. Specifically, the notification module 40 can generate and issue cargo box 210 adjustment information when it is determined that the placement angle of the cargo box 210 of the target vehicle 200 is greater than a preset offset angle. In some embodiments, the notification module 40 can be communicatively connected to a prompting device. The notification module 40 can output cargo box 210 adjustment information to the prompting device. When the prompting device receives the cargo box 210 adjustment information, the prompting device can issue a second prompt signal. After receiving the second prompt signal, the user can reposition the cargo box 210 within the preset placement area.

[0101] See Figure 4 Furthermore, based on the scanned model of the cargo box 210 of the target vehicle 200, determining whether the placement angle of the cargo box 210 of the target vehicle 200 is greater than a preset offset angle may include the following steps:

[0102] S501. Obtain multiple third position data from the scanning model of the cargo box 210 of the target vehicle 200. The third position data are the position data of multiple consecutive scanning points on the surface to be scanned whose height values ​​are greater than preset height values ​​and are located on the same side of the cargo box 210 of the target vehicle 200.

[0103] S502. Determine the extension direction of the cargo box 210 of the target vehicle 200 based on the fitted straight line of multiple third position data.

[0104] S503. Determine the placement angle of the cargo box 210 of the target vehicle 200 based on the extension direction of the cargo box 210 of the target vehicle 200 and the length direction of the preset placement area.

[0105] S504. Determine whether the placement angle of the cargo box 210 of the target vehicle 200 is greater than the preset offset angle.

[0106] The preset height value can be lower than the height of the upper surface of the side wall of the cargo compartment 210 and higher than the height of the step 230 inside the cargo compartment 210. That is to say, the scanning points corresponding to the third position data are all located on the upper surface of the side wall of the cargo compartment 210. The side wall of the cargo compartment 210 can refer to the left side wall 2503 and the right side wall 2504 of the cargo compartment 210. The left side wall 2503, the right side wall 2504 of the cargo compartment 210 and the central axis of the cargo compartment 210 are set parallel to each other. By calculating the fitted straight line of the upper surface of the left side wall 2503 or the right side wall 2504 of the cargo compartment 210, the extension direction of the central axis of the cargo compartment 210 can be determined, and thus the extension direction of the cargo compartment 210 can be determined. Therefore, the placement angle of the cargo compartment 210 can be confirmed. It should be noted that the preset offset angle is the maximum placement angle at which the cargo loading device can load the cargo into the cargo box 210 without the cargo shifting when the cargo box 210 is placed in the preset placement area. By judging whether the placement angle of the cargo box 210 of the target vehicle 200 is greater than the preset offset angle by the judgment module 30, it can be ensured that the cargo loading device can work normally.

[0107] According to some specific embodiments of the present invention, before constructing a scanning model of the cargo compartment 210 of the target vehicle 200 based on point cloud data corresponding to multiple surfaces to be scanned, the following steps may be included:

[0108] S601. Determine whether the height value of the position data of each scanning point is greater than the minimum height value, and whether the interval distance between the scanning point in the width direction of the cargo compartment 210 and the scanning component 300 (i.e., the laser scanning radar) is less than the maximum width value.

[0109] S602. Clear scan points whose height value is greater than the minimum height value and whose interval distance between the cargo compartment 210 and the scanned item 300 in the width direction is less than the maximum width value.

[0110] Among them, the scanning points that meet the above conditions are located below the cargo box 210 or are too far away from the cargo box 210 in the width direction. By clearing the scanning points that meet the above conditions, the number of scanning points in each surface to be scanned can be reduced, thereby improving the efficiency of the model building module 20 in building the scanning model of the cargo box 210 of the target vehicle 200.

[0111] To implement the scanning method described in the above embodiments, the implementation process of the functions and roles of each unit in the scanning system 100 of the vehicle 200 cargo compartment 210 described in this application embodiment is detailed in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0112] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this application according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0113] To implement the scanning method described in the above embodiments, this application further discloses a computer device. The computer device according to the embodiments of this application includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the vehicle cargo box scanning method described in the above embodiments.

[0114] According to the computer device described in the embodiments of this application, when the computer program stored in the memory is executed by the processor, and there are steps in the cargo compartment of the target vehicle, the stored computer program can prevent the cargo from tipping over at the steps of the cargo compartment as much as possible, and can also make the preset loading height of the cargo in the cargo compartment more reasonable, so that the user does not need to manually adjust the position of the cargo when loading the cargo compartment, thereby improving the loading efficiency of the cargo compartment.

[0115] To implement the scanning method described in the above embodiments, this application further discloses a computer-readable storage medium. According to the embodiments of this application, the computer-readable storage medium stores a computer program, which, when executed by a processor, implements the vehicle cargo compartment scanning method described in the above embodiments.

[0116] According to the computer-readable storage medium described in the embodiments of this application, when there are steps in the cargo compartment of the target vehicle, when the stored computer program is executed by the processor, it can prevent the cargo at the steps of the cargo compartment from tipping over as much as possible, and can also make the preset loading height of the cargo in the cargo compartment more reasonable, so that the user does not need to manually adjust the position of the cargo when loading the cargo compartment, thereby improving the loading efficiency of the cargo compartment.

[0117] Furthermore, such as Figure 3As shown, the computer device described in this application embodiment includes at least one processor 1201, at least one communication interface 1202, at least one memory 1203, and at least one communication bus 1204. In the embodiments of the present invention, the number of processor 1201, communication interface 1202, memory 1203, and communication bus 1204 is at least one, and the processor 1201, communication interface 1202, and memory 1203 communicate with each other through the communication bus 1204.

[0118] The memory 1203 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc. The memory 1203 stores computer programs, and after receiving execution instructions, the processor 1201 executes the program to implement the steps of the scanning method described in the above embodiments.

[0119] Processor 1201 may be an integrated circuit chip with signal processing capabilities. The aforementioned processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be 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 invention. The general-purpose processor can be a microprocessor or any conventional processor.

[0120] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable storage medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0121] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0122] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A method of scanning a vehicle cargo bed, the method comprising: The method comprises the following steps: controlling a scanning device (300) to move along a preset path (220) to scan a cargo compartment (210) of a target vehicle (200) and obtain point cloud data corresponding to a plurality of scanning surfaces of the cargo compartment (210); constructing a scanning model of the cargo compartment (210) of the target vehicle (200) according to the point cloud data corresponding to the plurality of scanning surfaces; judging whether there is a step (230) in the cargo compartment (210) of the target vehicle (200) according to the scanning model of the cargo compartment (210) of the target vehicle (200); when it is determined that there is a step (230) in the cargo compartment (210) of the target vehicle (200), generating and sending step position information, which is used to indicate avoidance during cargo compartment loading; when it is determined that there is no step (230) in the cargo compartment (210) of the target vehicle (200), generating and sending cargo compartment loading information, which is used to indicate cargo compartment loading; the preset path (220) is a straight line above the cargo compartment (210) of the target vehicle (200) and extending along the length direction of a preset parking area; the step of judging whether there is a step (230) in the cargo compartment (210) of the target vehicle (200) according to the scanning model of the cargo compartment (210) of the target vehicle (200) comprises the following steps: obtaining a plurality of first position data from the scanning model of the cargo compartment (210) of the target vehicle (200), the first position data being position data of scanning points on the scanning surfaces and located directly below the preset path (220); judging whether there is a step (230) in the cargo compartment (210) of the target vehicle (200) according to height values in the plurality of first position data; when there are two first position data with a height difference greater than a first preset difference and less than a second preset difference, it is determined that there is a step (230) in the cargo compartment (210) of the target vehicle (200); when there are no two first position data with a height difference greater than the first preset difference and less than the second preset difference, it is determined that there is no step (230) in the cargo compartment (210) of the target vehicle (200); the step of judging whether there is a step (230) in the cargo compartment (210) of the target vehicle (200) according to height values in the plurality of first position data further comprises the following steps: when there are two first position data with a height difference less than the first preset difference and not equal to zero, it is determined that there is a depression or protrusion at the corresponding position in the cargo compartment (210) of the target vehicle (200); when there are two first position data with a height difference greater than the second preset difference, it is determined that the scanning point with the greater height value is located at the side wall of the cargo compartment (210) of the target vehicle (200); the method further comprises the following steps: judging whether there is a protrusion or depression in the cargo compartment (210) of the target vehicle (200) according to the scanning model of the cargo compartment (210) of the target vehicle (200). When it is determined that there is a protrusion or dent in the cargo compartment (210) of the target vehicle (200), obstacle location information is generated and issued, which is used to indicate the avoidance when loading the cargo compartment; The step of determining whether there are protrusions or depressions inside the cargo compartment (210) of the target vehicle (200) based on the scanning model of the cargo compartment (210) of the target vehicle (200) includes: Multiple consecutive second position data are obtained from the scanning model of the cargo compartment (210) of the target vehicle (200). The multiple second position data are the position data of multiple scanning points on the surface to be scanned. The multiple scanning points are distributed on the two adjacent peripheral walls of the cargo compartment (210) of the target vehicle (200). Based on the height values ​​in multiple second position data, determine whether there are protrusions or depressions in the cargo box (210) of the target vehicle (200); In the width direction of the cargo box (210) of the target vehicle (200), when there are two adjacent scanning points in a series of scanning points with a distance between them that is less than a third preset difference, and the height difference of the corresponding scanning points is greater than a fourth preset difference and less than a fifth preset difference, it is determined that the cargo box (210) of the target vehicle (200) has a protrusion or depression in the corresponding surface to be scanned. When the distance between two adjacent scanning points in a series of consecutive scanning points is less than the third preset difference, and there is no corresponding scanning point with a height difference greater than the fourth preset difference and less than the fifth preset difference, it is determined that the cargo box (210) does not have any protrusions or depressions in the corresponding surface to be scanned.

2. The method of claim 1, wherein, The method further includes: Based on the scanning model of the cargo box (210) of the target vehicle (200), determine whether the placement angle of the cargo box (210) of the target vehicle (200) is greater than the preset offset angle. When it is determined that the placement angle of the cargo box (210) of the target vehicle (200) is greater than the preset offset angle, cargo box (210) adjustment information is generated and issued. The cargo box (210) adjustment information is used to prompt the target vehicle (200) user to reposition the cargo box (210) in the preset placement area.

3. The method of scanning a vehicle cargo bed of claim 2, wherein, The step of determining whether the placement angle of the cargo box (210) of the target vehicle (200) is greater than a preset offset angle based on the scanning model of the cargo box (210) of the target vehicle (200) includes: Multiple third position data are obtained from the scanning model of the cargo compartment (210) of the target vehicle (200). The third position data are the position data of scanning points on multiple consecutive surfaces to be scanned, where the height value is greater than a preset height value and they are located on the same side of the cargo compartment (210) of the target vehicle (200). The extension direction of the cargo box (210) of the target vehicle (200) is determined based on the fitted straight line of multiple third position data; The placement angle of the cargo box (210) of the target vehicle (200) is determined based on the extension direction of the cargo box (210) of the target vehicle (200) and the length direction of the preset placement area. determine whether a placement angle of the cargo compartment (210) of the target vehicle (200) is greater than the preset offset angle.

4. A scanning system for a vehicle cargo bed, characterized by, The scanning method of the vehicle cargo compartment according to any one of claims 1-3, the scanning system comprises: a data acquisition module (10) configured to control a scanning object (300) to move along a preset path (220) to scan a cargo compartment (210) of a target vehicle (200) and acquire point cloud data corresponding to a plurality of scanning surfaces of the cargo compartment (210); a model construction module (20) configured to construct a scanning model of the cargo compartment (210) of the target vehicle (200) according to the point cloud data corresponding to the plurality of scanning surfaces; a determination module (30) configured to determine whether there is a step (230) in the cargo compartment (210) of the target vehicle (200) according to the scanning model of the cargo compartment (210) of the target vehicle (200); a notification module (40) configured to generate and issue step position information when it is determined that there is a step (230) in the cargo compartment (210) of the target vehicle (200), the step position information being used to indicate avoidance when loading cargo; and generate and issue cargo loading information when it is determined that there is no step (230) in the cargo compartment (210) of the target vehicle (200), the cargo loading information being used to indicate loading of cargo.

5. A computer device comprising a memory (1203), a processor (1201), and a computer program stored in the memory (1203) and loadable into the internal memory of the processor (1201), comprising software code portions for performing the method when the software code portions are run by the processor (1201) on the computer device, the method of claim 1 or 2 or 3 or 4. The processor (1201) executes the computer program to implement the scanning method of the vehicle cargo compartment according to any one of claims 1-3.

6. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 5. The computer program is executed by the processor (1201) to implement the scanning method of the vehicle cargo compartment according to any one of claims 1-3.

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