Automatic transportation method, system, electronic equipment and readable storage medium for explosives

Abstract

The embodiment of the present application provides a method, system, electronic device and readable storage medium for automatic transportation of explosives, which relates to the field of computer vision technology. The method for automatic transportation of explosives includes: photographing the target explosives to obtain a first image; performing target detection processing on the first image to obtain a second image and azimuth orientation information, wherein the second image is an image of the area where the target detection frame is located in the first image; based on the azimuth orientation information, obtaining a comparison image from the three-dimensional image data of the preset explosives, wherein the preset explosives are explosives with a short-circuited functional control line; when the similarity between the second image and the comparison image is less than a preset similarity threshold, determining that the target explosives are unqualified products. In this way, according to the similarity between the second image and the corresponding comparison image, it is determined whether the explosives corresponding to the first image are short-circuited, so that there is no need for manual visual inspection to determine whether the short-circuit process has been performed, thereby avoiding the problem of human resource consumption.

Description

Technical Field

[0001] The present application relates to the field of computer vision technology, and in particular to an automatic transportation method, system, electronic device and readable storage medium for explosives. Background Art

[0002] The control system of pyrotechnics is energized during transportation, and some connectors of the control cable are not connected. They need to be transported to the designated location and connected to the corresponding equipment. There is a risk of discharge when the cables on the pyrotechnics are energized during transportation. Therefore, it is necessary to short-circuit some functional control lines of the connectors through protective caps to temporarily disable the control function. In this way, uncontrolled operation will not occur during transportation, ensuring safety during transportation.

[0003] Whether the functional control lines of the joints of the pyrotechnics have been short-circuited needs to be judged by manual visual inspection, which consumes a lot of human resources.

[0004] Therefore, the automatic transportation of pyrotechnics requires more human resources. Summary of the invention

[0005] The embodiments of the present application provide a method, system, electronic device and readable storage medium for automatically transporting pyrotechnics, which are used to solve the problem in the related art that a large amount of human resources are required during the automatic transportation of pyrotechnics.

[0006] In a first aspect, an embodiment of the present application provides a method for automatically transporting explosive devices, the method comprising:

[0007] Shooting the target explosive device on the product transportation line to obtain a first image;

[0008] Performing target detection processing on the first image to obtain a second image and the orientation information of the target explosive device on the product transportation line, wherein the second image is an image of the area where the target detection frame in the first image is located;

[0009] Based on the azimuth direction information, a comparison image is obtained from the three-dimensional image data of a preset pyrotechnic device, wherein the preset pyrotechnic device is an pyrotechnic device with a short-circuited functional control line;

[0010] When the similarity between the second image and the comparison image is less than a preset similarity threshold, determining that the target explosive device is an unqualified product;

[0011] In the case that the target explosive device is an unqualified product, the target explosive device is transported to an unqualified product placement area.

[0012] Furthermore, the performing target detection processing on the first image to obtain the second image and the orientation information of the target explosive device on the product transportation line includes:

[0013] The target detection process is performed on the first image to identify and obtain the second image and the first reference plane and the second reference plane of the target explosive device, wherein the first reference plane and the second reference plane are perpendicular to each other;

[0014] Based on the first reference plane and the second reference plane, the orientation information of the target explosive device on the product transportation line is determined.

[0015] Furthermore, the obtaining of a comparison image from three-dimensional image data of a preset pyrotechnic device based on the orientation information includes:

[0016] Determining a target interception direction based on the azimuth orientation information;

[0017] Based on the target interception direction, a comparison image is obtained from the three-dimensional image data of the preset pyrotechnic device.

[0018] Furthermore, when the similarity between the second image and the comparison image is less than a preset similarity threshold, before determining that the target explosive device is an unqualified product, the method further includes:

[0019] The similarity between the second image and the comparison image is calculated based on the second image and the comparison image.

[0020] Furthermore, the calculation formula for calculating the similarity between the second image and the comparison image based on the second image and the comparison image is:

[0021] SSIM(x, y)=[l(x, y)]·[c(x, y)]·[s(x, y)];

[0022] Wherein, x is the second image, y is the comparison image, SSIM(x, y) is the similarity between the second image and the comparison image, l(x, y) is the brightness similarity between the second image and the comparison image, c(x, y) is the contrast similarity between the second image and the comparison image, and s(x, y) is the structural similarity between the second image and the comparison image.

[0023] In a second aspect, an embodiment of the present application provides an automatic transportation system for explosives, the system comprising:

[0024] A shooting module, used for shooting the target explosive device on the product transportation line to obtain a first image;

[0025] An obtaining module, used for performing target detection processing on the first image to obtain a second image and the orientation information of the target explosive device on the product transportation line, wherein the second image is an image of the area where the target detection frame in the first image is located;

[0026] An acquisition module, configured to acquire a comparison image from three-dimensional image data of a preset pyrotechnic device based on the azimuth orientation information, wherein the preset pyrotechnic device is a pyrotechnic device with a short-circuited functional control line;

[0027] A determination module, configured to determine that the target explosive device is an unqualified product when the similarity between the second image and the comparison image is less than a preset similarity threshold;

[0028] The transport module is used to transport the target pyrotechnic product to a non-conforming product placement area when the target pyrotechnic product is a non-conforming product.

[0029] Furthermore, the obtaining module comprises:

[0030] Obtaining a submodule, for performing target detection processing on the first image, identifying and obtaining a second image and a first reference plane and a second reference plane of the target explosive device, wherein the first reference plane and the second reference plane are perpendicular to each other;

[0031] The first determination submodule is used to determine the orientation information of the target explosive device on the product transportation line based on the first reference plane and the second reference plane.

[0032] Furthermore, the acquisition module includes:

[0033] A second determination submodule is used to determine a target interception direction based on the azimuth orientation information;

[0034] The acquisition submodule is used to acquire a comparison image from the three-dimensional image data of a preset pyrotechnic device based on the target interception direction.

[0035] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method for automatic transport of pyrotechnics as described in the first aspect.

[0036] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the automatic transportation method of pyrotechnics as described in the first aspect are implemented.

[0037] The improvements of the embodiments of the present application mainly include: (1) performing target detection processing on the first image to obtain a second image and the orientation information of the target pyrotechnic on the product transportation line; (2) based on the orientation information, obtaining a comparison image from the three-dimensional image data of the preset pyrotechnic; (3) based on the target interception direction, obtaining a comparison image from the three-dimensional image data of the preset pyrotechnic; (4) based on the second image and the comparison image, calculating the similarity between the second image and the comparison image; (5) a calculation formula for the similarity.

[0038] In the embodiment of the present application, the automatic transport method of pyrotechnics includes: photographing the target pyrotechnics to obtain a first image; performing target detection processing on the first image to obtain a second image and azimuth orientation information, the second image being an image of the area where the target detection frame is located in the first image; based on the azimuth orientation information, obtaining a comparison image from the three-dimensional image data of the preset pyrotechnics, the preset pyrotechnics being pyrotechnics with a short-circuited functional control line; when the similarity between the second image and the comparison image is greater than a preset similarity threshold, determining that the target pyrotechnics are unqualified products. In this way, according to the similarity between the second image and the corresponding comparison image, it is determined whether the pyrotechnics corresponding to the first image are short-circuited, so that there is no need for manual visual inspection to determine whether the short-circuit process has been performed, thereby avoiding the problem of human resource consumption. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0040] Figure 1 A schematic diagram of a process flow of an automatic transportation method for explosives provided in an embodiment of the present application;

[0041] Figure 2 A schematic diagram of a process flow of an automatic transportation system for explosives provided in an embodiment of the present application;

[0042] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0043] Figure 4 A schematic structural diagram of a three-dimensional image of the target explosive device provided in an embodiment of the present application;

[0044] Figure 5 Schematic diagram of the front view, side view and top view of the target pyrotechnic device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] like Figure 1 As shown, the present application embodiment provides a flow chart of an automatic transportation method for explosives, including the following steps:

[0047] Step 101, photographing a target explosive device on a product transportation line to obtain a first image;

[0048] Step 102, performing target detection processing on the first image to obtain a second image and orientation information of the target explosive device on the product transportation line, wherein the second image is an image of the area where the target detection frame in the first image is located;

[0049] Step 103, based on the azimuth direction information, obtaining a comparison image from the three-dimensional image data of a preset pyrotechnic device, wherein the preset pyrotechnic device is an pyrotechnic device with a short-circuited functional control line;

[0050] Step 104, when the similarity between the second image and the comparison image is less than a preset similarity threshold, determining that the target explosive device is an unqualified product;

[0051] Step 105 , when the target explosive device is an unqualified product, the target explosive device is transported to an unqualified product placement area.

[0052] In an embodiment of the present application, the target detection process may be performed using the YOLOV5 algorithm.

[0053] It should be understood that the same processing method is used for each target pyrotechnic product, and the embodiment of the present application is performed on one target pyrotechnic product.

[0054] It should be understood that the three-dimensional image data of the preset pyrotechnic device is as follows: Figure 4 shown.

[0055] It should be understood that the front view, side view and top view of the preset pyrotechnic device are as follows: Figure 5 shown.

[0056] The embodiment of the present application provides a method, system, electronic device and readable storage medium for automatic transportation of explosives, which relates to the field of computer vision technology. The method for automatic transportation of explosives includes: photographing the target explosives to obtain a first image; performing target detection processing on the first image to obtain a second image and azimuth orientation information, wherein the second image is an image of the area where the target detection frame is located in the first image; based on the azimuth orientation information, obtaining a comparison image from the three-dimensional image data of the preset explosives, wherein the preset explosives are explosives with a short-circuited functional control line; when the similarity between the second image and the comparison image is less than a preset similarity threshold, determining that the target explosives are unqualified products. In this way, according to the similarity between the second image and the corresponding comparison image, it is determined whether the explosives corresponding to the first image are short-circuited, so that there is no need for manual visual inspection to determine whether the short-circuit process has been performed, thereby avoiding the problem of human resource consumption.

[0057] Furthermore, the performing target detection processing on the first image to obtain the second image and the orientation information of the target explosive device on the product transportation line includes:

[0058] The target detection process is performed on the first image to identify and obtain the second image and the first reference plane and the second reference plane of the target explosive device, wherein the first reference plane and the second reference plane are perpendicular to each other;

[0059] Based on the first reference plane and the second reference plane, the orientation information of the target explosive device on the product transportation line is determined.

[0060] Further, based on the orientation information, obtaining a comparison image from the three-dimensional image data of a preset pyrotechnic device includes:

[0061] Determining a target interception direction based on the azimuth orientation information;

[0062] Based on the target interception direction, a comparison image is obtained from the three-dimensional image data of the preset pyrotechnic device.

[0063] Furthermore, when the similarity between the second image and the comparison image is less than a preset similarity threshold, before determining that the target explosive device is an unqualified product, the method further includes:

[0064] The similarity between the second image and the comparison image is calculated based on the second image and the comparison image.

[0065] Furthermore, the calculation formula for calculating the similarity between the second image and the comparison image based on the second image and the comparison image is:

[0066] SSIM(x,y)=[l(x,y)].[c(x,y)].[s(x,y)];

[0067] Wherein, x is the second image, y is the comparison image, SSIM(x,y) is the similarity between the second image and the comparison image, l(x,y) is the brightness similarity between the second image and the comparison image, c(x,y) is the contrast similarity between the second image and the comparison image, and s(x,y) is the structural similarity between the second image and the comparison image.

[0068] Furthermore, the performing target detection processing on the first image to obtain the second image and the orientation information of the target explosive device on the product transportation line includes:

[0069] The target detection process is performed on the first image to identify and obtain the second image and the first reference plane and the second reference plane of the target explosive device, wherein the first reference plane and the second reference plane are perpendicular to each other;

[0070] Based on the first reference plane and the second reference plane, the orientation information of the target explosive device on the product transportation line is determined.

[0071] Furthermore, the obtaining of a comparison image from three-dimensional image data of a preset pyrotechnic device based on the orientation information includes:

[0072] Determining a target interception direction based on the azimuth orientation information;

[0073] Based on the target interception direction, a comparison image is obtained from the three-dimensional image data of the preset pyrotechnic device.

[0074] Furthermore, when the similarity between the second image and the comparison image is less than a preset similarity threshold, before determining that the target explosive device is an unqualified product, the method further includes:

[0075] The similarity between the second image and the comparison image is calculated based on the second image and the comparison image.

[0076] Furthermore, the calculation formula for calculating the similarity between the second image and the comparison image based on the second image and the comparison image is:

[0077] SSIM(x,y)=[l(x,y)]·[c(x,y)].[s(x,y)];

[0078] Wherein, x is the second image, y is the comparison image, SSIM(x, y) is the similarity between the second image and the comparison image, l(x, y) is the brightness similarity between the second image and the comparison image, c(x, y) is the contrast similarity between the second image and the comparison image, and s(x, y) is the structural similarity between the second image and the comparison image.

[0079] Furthermore, in some embodiments, the calculation formula of l(x, y) is: The calculation formula of c(x, y) is: The calculation formula of s(x, y) is:

[0080] Wherein, μx is the average grayscale of the second image, μ y is the average grayscale of the comparison image, σ x is the standard deviation of the second image, σ y is the standard deviation of the comparison image, σ xy is the standard deviation of the second image and the comparison image.

[0081] Furthermore, in some embodiments, the μ x The calculation formula is The μ y The calculation formula is: The σ x The calculation formula is: The σ y The calculation formula is: The σ xy The calculation formula is:

[0082]

[0083] Among them, H is the number of horizontal pixels of the second image or the comparison image, M is the number of vertical pixels of the second image or the comparison image, i is the horizontal coordinate of the current pixel, j is the vertical coordinate of the current pixel, x(i, j) is the grayscale value of the coordinate value (i, j) on the second image, y(i, j) is the grayscale value of the coordinate value (i, j) on the comparison image, C1 is a constant, C2 is a constant, and C3 is a constant.

[0084] like Figure 2 As shown, an embodiment of the present application provides a structural schematic diagram of an automatic transportation system for explosives, the system comprising:

[0085] A shooting module 201 is used to shoot a target explosive device on a product transportation line to obtain a first image;

[0086] The obtaining module 202 is used to perform target detection processing on the first image to obtain a second image and the orientation information of the target explosive device on the product transportation line, wherein the second image is an image of the area where the target detection frame in the first image is located;

[0087] An acquisition module 203 is used to acquire a comparison image from three-dimensional image data of a preset pyrotechnic device based on the azimuth orientation information, wherein the preset pyrotechnic device is a pyrotechnic device with a short-circuited functional control line;

[0088] A determination module 204, configured to determine that the target explosive device is an unqualified product when the similarity between the second image and the comparison image is less than a preset similarity threshold;

[0089] The transport module 205 is used to transport the target pyrotechnic product to a non-conforming product placement area when the target pyrotechnic product is a non-conforming product.

[0090] Furthermore, the obtaining module comprises:

[0091] Obtaining a submodule, for performing target detection processing on the first image, identifying and obtaining a second image and a first reference plane and a second reference plane of the target explosive device, wherein the first reference plane and the second reference plane are perpendicular to each other;

[0092] The first determination submodule is used to determine the orientation information of the target explosive device on the product transportation line based on the first reference plane and the second reference plane.

[0093] Furthermore, the acquisition module includes:

[0094] A second determination submodule is used to determine a target interception direction based on the azimuth orientation information;

[0095] The acquisition submodule is used to acquire a comparison image from the three-dimensional image data of a preset pyrotechnic device based on the target interception direction.

[0096] It should be noted that the automatic transportation system for explosives provided in the embodiment of the present application can achieve the following Figure 1 The entire technical process of the method for automatic transportation of pyrotechnics shown in the embodiment achieves the same technical effect and will not be described again here to avoid repetition.

[0097] The embodiment of the present application also provides an electronic device, comprising: a processor, a memory, and a program stored in the memory and executable on the processor, wherein the program is executed by the processor to implement the above Figure 1 The various processes of the method embodiment shown can achieve the same technical effect, and will not be described again here to avoid repetition.

[0098] For details, see Figure 3 As shown, an embodiment of the present application further provides an electronic device, including a bus 301 , a transceiver 302 , an antenna 303 , a bus interface 304 , a processor 305 and a memory 306 .

[0099] In this embodiment, the electronic device further includes: a computer program stored in the memory 306 and executable on the processor 305. When the computer program is executed by the processor 305, the following can be achieved: Figure 1 The various processes of the digital human model creation method shown in the embodiment can achieve the same technical effect, and will not be described again here to avoid repetition.

[0100] exist Figure 3 In the embodiment, the bus architecture (represented by bus 301) is shown, and bus 301 may include any number of interconnected buses and bridges, and bus 301 links various circuits including one or more processors represented by processor 305 and memory represented by memory 306. Bus 301 may also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. Bus interface 304 provides an interface between bus 301 and transceiver 302. Transceiver 302 may be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. Data processed by processor 305 is transmitted on a wireless medium via antenna 303, and further, antenna 303 also receives data and transmits the data to processor 305.

[0101] The processor 305 is responsible for managing the bus 301 and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management and other control functions. The memory 306 can be used to store data used by the processor 305 when performing operations.

[0102] Optionally, the processor X05 may be a CPU, an ASIC, an FPGA or a CPLD.

[0103] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, each process of the above-mentioned digital human model creation method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. The computer-readable storage medium is, for example, ROM, RAM, a magnetic disk or an optical disk.

Claims

1. A method for automatically transporting explosives, characterized in that: The method comprises: Shooting the target explosive device on the product transportation line to obtain a first image; Performing target detection processing on the first image to obtain a second image and the orientation information of the target explosive device on the product transportation line, wherein the second image is an image of the area where the target detection frame in the first image is located; Based on the azimuth direction information, a comparison image is obtained from the three-dimensional image data of a preset pyrotechnic device, wherein the preset pyrotechnic device is an pyrotechnic device with a short-circuited functional control line; When the similarity between the second image and the comparison image is less than a preset similarity threshold, determining that the target explosive device is an unqualified product; If the target explosive device is an unqualified product, transport the target explosive device to an unqualified product placement area; The step of obtaining a comparison image from the three-dimensional image data of a preset pyrotechnic device based on the orientation information includes: Determining a target interception direction based on the azimuth orientation information; Based on the target interception direction, a comparison image is obtained from the three-dimensional image data of the preset pyrotechnic device.

2. The automatic transportation method of explosives according to claim 1, characterized in that: The performing target detection processing on the first image to obtain the second image and the orientation information of the target explosive device on the product transportation line includes: The target detection process is performed on the first image to identify and obtain the second image and the first reference plane and the second reference plane of the target explosive device, wherein the first reference plane and the second reference plane are perpendicular to each other; Based on the first reference plane and the second reference plane, the orientation information of the target explosive device on the product transportation line is determined.

3. An automatic transportation system for explosives, which implements the method according to claim 1, characterized in that: The system comprises: A shooting module, used for shooting a target explosive device on a product transportation line to obtain a first image; An obtaining module, used for performing target detection processing on the first image to obtain a second image and the orientation information of the target explosive device on the product transportation line, wherein the second image is an image of the area where the target detection frame in the first image is located; An acquisition module, configured to acquire a comparison image from three-dimensional image data of a preset pyrotechnic device based on the azimuth orientation information, wherein the preset pyrotechnic device is a pyrotechnic device with a short-circuited functional control line; A determination module, configured to determine that the target explosive device is an unqualified product when the similarity between the second image and the comparison image is less than a preset similarity threshold; A transport module, used for transporting the target pyrotechnic product to a non-conforming product placement area when the target pyrotechnic product is a non-conforming product; The acquisition module comprises: A second determination submodule is used to determine a target interception direction based on the azimuth orientation information; The acquisition submodule is used to acquire a comparison image from the three-dimensional image data of a preset pyrotechnic device based on the target interception direction.

4. The automatic transport system for explosives according to claim 3 is characterized in that: The obtaining module comprises: Obtaining a submodule, for performing target detection processing on the first image, identifying and obtaining a second image and a first reference plane and a second reference plane of the target explosive device, wherein the first reference plane and the second reference plane are perpendicular to each other; The first determination submodule is used to determine the orientation information of the target explosive device on the product transportation line based on the first reference plane and the second reference plane.

5. An electronic device, characterized in that: It includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the method for automatic transportation of explosives as described in any one of claims 1-2 are implemented.

6. A readable storage medium, characterized in that: The readable storage medium stores programs or instructions, and when the programs or instructions are executed by the processor, the steps of the automatic transportation method of pyrotechnics as described in any one of claims 1-2 are implemented.

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