Multi-dimensional cargo measurement information processing method and system

Abstract

The present application provides a multi-dimensional cargo measurement information processing method and system. The method obtains cargo information of the cargo to be allocated through a first cargo sensor in a first cargo measurement module, obtains actual cargo weight information of the cargo to be allocated using a first weight sensor in the first cargo measurement module, and obtains actual cargo image information of the cargo to be allocated using a first visual sensor, so that the first cargo measurement module generates cargo measurement information according to the cargo information, actual cargo weight information, actual cargo image information and a first position, and sends the cargo measurement information to a cargo allocation cloud platform, so that the cargo allocation cloud platform determines a target transport tool from a set of transport tools to be selected according to the cargo measurement information and a preset cargo allocation model, thereby achieving the technical effect of automatically selecting a target transport tool using the multi-dimensional measurement information of the cargo.

Description

Technical Field

[0001] The present application relates to data processing technology, and in particular to a multi-dimensional cargo measurement information processing method and system. Background Art

[0002] With the rapid development of freight technology, the automatic allocation of goods has become increasingly important in order to improve logistics efficiency.

[0003] In the process of cargo allocation, choosing the right means of transport is crucial to improving the efficiency of cargo circulation. In the prior art, the selection of transport is usually based on the pre-marked information of the cargo, and for cargo that has not been marked with relevant information in advance, it is necessary to rely on manual matching of cargo and transport, which leads to the problem of low cargo circulation efficiency. Summary of the invention

[0004] The present application provides a multi-dimensional cargo measurement information processing method and system to solve the technical problem that for cargo that has not been marked with relevant information in advance, it is necessary to rely on manual matching of cargo and transportation vehicles, which leads to low cargo circulation efficiency.

[0005] In a first aspect, the present application provides a multi-dimensional cargo measurement information processing method, which is applied to a cargo allocation management system, wherein the cargo allocation management system includes a cargo allocation cloud platform and a cargo measurement module cluster that is communicatively connected to the cargo allocation cloud platform, wherein each cargo measurement module in the cargo measurement module cluster is respectively arranged at each storage position in a cargo storage area, and each cargo measurement module in the cargo measurement module cluster includes a weight sensor, a visual sensor, and a cargo sensor; the method includes:

[0006] Acquire cargo information of the cargo to be allocated through the first cargo sensor in the first cargo measurement module, wherein the cargo information includes cargo identification;

[0007] Acquire the actual weight information of the goods to be allocated through the first weight sensor in the first goods measuring module, and acquire the actual image information of the goods to be allocated through the first visual sensor in the first goods measuring module;

[0008] The first cargo measurement module generates cargo measurement information according to the cargo information, the actual cargo weight information, the actual cargo image information and the first position, and sends the cargo measurement information to the cargo allocation cloud platform, wherein the first position is the position information of the storage position corresponding to the first cargo measurement module;

[0009] The cargo allocation cloud platform determines a target transportation tool from a set of candidate transportation tools according to the cargo measurement information and a preset cargo allocation model.

[0010] Optionally, after the cargo allocation cloud platform determines the target transportation tool from the set of candidate transportation tools according to the cargo measurement information and a preset cargo allocation model, it further includes:

[0011] The cargo dispatching cloud platform sends the cargo information to the target transportation vehicle, so that the target transportation vehicle displays the cargo information;

[0012] In response to the cargo confirmation instruction acting on the target transportation vehicle, a navigation route is generated, wherein the navigation route is a vehicle driving route from a current position of the target transportation vehicle to the first position.

[0013] Optionally, the cargo allocation management system further includes a truck scale cluster, each truck scale in the truck scale cluster is communicatively connected to the cargo allocation cloud platform; correspondingly, the cargo allocation cloud platform determines a target transport tool from a set of candidate transport tools according to the cargo measurement information and a preset cargo allocation model, including:

[0014] Acquiring the selected transport vehicle information of the selected transport vehicle through the first vehicle sensor on the first vehicle scale in the vehicle scale cluster, the selected transport vehicle information including the selected transport vehicle identification information, the selected transport vehicle load information and the selected transport vehicle cargo size information, the first vehicle scale being arranged at the entrance of the cargo storage area;

[0015] Obtaining the weight information of the transport tool to be selected through the first weighing sensor on the first truck scale, determining the loadable information of the transport tool to be selected according to the load information of the transport tool to be selected and the weight information of the transport tool to be selected, and sending the loadable information of the transport tool to be selected and the information of the transport tool to the cargo allocation cloud platform;

[0016] The cargo allocation cloud platform uses Formula 1 to determine the target transport vehicle according to the loadable information of the selected transport vehicle, the cargo size information of the selected transport vehicle, the actual weight information of the cargo, and the actual size information of the cargo, wherein Formula 1 is: in, is a decision function value, the target transport means is a candidate transport means having a minimum decision function value among the plurality of candidate transport means; is the loadable weight in the loadable information of the selected transport means, is the length dimension in the cargo dimension information of the selected transport vehicle, is the width dimension in the cargo dimension information of the selected transport vehicle, is the height dimension in the cargo dimension information of the selected transport vehicle, is the actual weight of the goods in the actual weight information of the goods, is the length in the first direction of the actual size information of the goods, is the length in the second direction of the actual size information of the goods, is the height of the actual size information of the goods, are the first weight value, the second weight value, the third weight value and the fourth weight value respectively, and .

[0017] Optionally, after generating a navigation route in response to the cargo confirmation instruction acting on the target transport vehicle, the method further includes:

[0018] Acquire target transport vehicle information of the target transport vehicle through a second vehicle sensor of a second truck scale in the truck scale cluster, wherein the target transport vehicle information includes target transport vehicle identification information and target transport vehicle load information, and the second truck scale is the first truck scale arranged on the navigation route;

[0019] Acquiring the target transportation vehicle weight information through the second weighing sensor on the second truck scale;

[0020] The second truck scale generates target vehicle to-be-confirmed information according to the target transport vehicle information and the target transport vehicle weight information, and sends the target vehicle to-be-confirmed information to the cargo allocation cloud platform;

[0021] If the actual weight of the cargo is less than or equal to the difference between the target transport vehicle load in the target transport vehicle load information and the target transport vehicle weight in the target transport vehicle weight information, the cargo allocation cloud platform sends an opening command to the first road gate, and the first road gate is the road gate for continuing the navigation route;

[0022] If the actual weight of the cargo is greater than the difference between the load capacity of the target transport vehicle and the weight of the target transport vehicle, the cargo allocation cloud platform sends an opening instruction to the second road gate, where the second road gate is the road gate leaving the navigation route.

[0023] Optionally, the first visual sensor includes a first angle visual sensor, a first laser ranging sensor, a second angle visual sensor and a second laser ranging sensor, wherein a first shooting axial direction of the first angle visual sensor is orthogonal to a second shooting axial direction of the second angle visual sensor, a first laser emission direction of the first laser ranging sensor is parallel to the first shooting axial direction, and a second laser emission direction of the second laser ranging sensor is parallel to the second shooting axial direction; correspondingly, obtaining actual image information of the goods to be allocated through the first visual sensor in the first goods measurement module includes:

[0024] The first laser is emitted by the first laser ranging sensor, and a first measurement distance is determined, so as to determine a first distance according to the first measurement distance and a first calibration distance, wherein the first calibration distance is a calibration distance between the first angle vision sensor and the first laser ranging sensor in the emission direction of the first laser;

[0025] Acquire the actual image of the first cargo to be allocated through the first angle vision sensor;

[0026] The second laser is emitted by the second laser ranging sensor, and a second measured distance is determined, so as to determine a second distance according to the second measured distance and a second calibrated distance, wherein the second calibrated distance is a calibrated distance between the second angle vision sensor and the second laser ranging sensor in the second laser emitting direction;

[0027] Acquire a second actual image of the goods to be allocated through the second angle vision sensor;

[0028] The actual image information of the goods is generated according to the first distance, the first actual image of the goods, the second distance and the second actual image of the goods, and the actual image information of the goods is used to determine the actual size information of the goods.

[0029] Optionally, before the cargo allocation cloud platform determines the target transportation tool from the set of candidate transportation tools according to the cargo measurement information and the preset cargo allocation model, it further includes:

[0030] The cargo allocation cloud platform determines that there is a first light spot in the actual image of the first cargo and a second light spot in the actual image of the second cargo, wherein the first light spot is the light spot formed by the first laser on the cargo to be allocated, and the second light spot is the light spot formed by the second laser on the cargo to be allocated.

[0031] Optionally, before the cargo allocation cloud platform determines the target transportation tool from the set of candidate transportation tools according to the cargo measurement information and the preset cargo allocation model, it further includes:

[0032] The cargo allocation cloud platform determines a first cargo loading outline according to the first cargo actual image, where the first cargo loading outline is a first rectangular outer frame for accommodating the first cargo actual outline corresponding to the first cargo actual image;

[0033] The cargo allocation cloud platform determines the length of the first image according to the first rectangular frame and the first image height , wherein the first image length is the horizontal dimension of the first rectangular frame on the first actual image of the goods, and the height of the first image is is the size of the first rectangular outer frame along the vertical direction on the actual image of the first cargo;

[0034] The cargo dispatching cloud platform uses formula 1 and according to the length of the first image and the first image height Determine the first actual length and the first actual height , the formula 1 is:

[0035] in, is the first distance, is the focal length of the first angle vision sensor, is the pixel size corresponding to the actual image of the first cargo;

[0036] The cargo allocation cloud platform determines a second cargo loading contour according to the second cargo actual image, where the second cargo loading contour is a second rectangular outer frame for accommodating the second cargo actual contour corresponding to the second cargo actual image;

[0037] The cargo allocation cloud platform determines the length of the second image according to the second rectangular outer frame and the second image height , wherein the second image length is the horizontal dimension of the second rectangular outer frame on the second actual image of the goods, and the height of the second image is is the size of the second rectangular outer frame along the vertical direction on the actual image of the second cargo;

[0038] The cargo dispatching cloud platform uses formula 2 and according to the length of the second image and the second image height Determine the second actual length and the second actual height , the formula 2 is:

[0039] in, is the second distance, is the focal length of the second angle vision sensor, is the pixel size corresponding to the actual image of the second cargo;

[0040] The cargo dispatching cloud platform determines the first actual length , first actual height , the second actual length and the second actual height Generate actual size information of the goods.

[0041] Optionally, the cargo dispatching cloud platform may be configured to dispatch the cargo according to the first actual length. , first actual height , the second actual length and the second actual height Generate actual size information of goods, including:

[0042] The cargo dispatching cloud platform determines the first actual height And the second actual height Determine the reference height ;

[0043] The cargo dispatching cloud platform determines the first actual length The second actual length And the reference height Generate actual size information of the goods.

[0044] Optionally, the cargo dispatching cloud platform may be configured to dispatch the cargo according to the first actual length. The second actual length And the reference height Generate the actual size information of the goods, including:

[0045] The cargo dispatching cloud platform uses formula 3 and calculates the actual height of the cargo dispatching cloud platform according to the first actual height. And the second actual height Determine the actual altitude deviation rate , the formula 3 is:

[0046] The cargo dispatching cloud platform determines the actual height deviation rate Greater than the preset actual altitude deviation rate threshold;

[0047] The cargo dispatching cloud platform uses Formula 4 and calculates the first actual length And the second actual length Determine the first reference length and the second reference length , the formula 4 is:

[0048] The cargo dispatching cloud platform determines the first reference length The second reference length And the reference height Generate actual size information of the goods.

[0049] In a second aspect, the present application provides a cargo allocation management system, comprising: a cargo allocation cloud platform and a cargo measurement module cluster that is communicatively connected to the cargo allocation cloud platform, wherein each cargo measurement module in the cargo measurement module cluster is respectively arranged at each storage position in a cargo storage area, and each cargo measurement module in the cargo measurement module cluster comprises a weight sensor, a visual sensor and a cargo sensor;

[0050] Acquire cargo information of the cargo to be allocated through the first cargo sensor in the first cargo measurement module, wherein the cargo information includes cargo identification;

[0051] Acquire the actual weight information of the goods to be allocated through the first weight sensor in the first goods measuring module, and acquire the actual image information of the goods to be allocated through the first visual sensor in the first goods measuring module;

[0052] The first cargo measurement module generates cargo measurement information according to the cargo information, the actual cargo weight information, the actual cargo image information and the first position, and sends the cargo measurement information to the cargo allocation cloud platform, wherein the first position is the position information of the storage position corresponding to the first cargo measurement module;

[0053] The cargo allocation cloud platform determines a target transportation tool from a set of candidate transportation tools according to the cargo measurement information and a preset cargo allocation model.

[0054] In a third aspect, the present application provides an electronic device, including:

[0055] processor; and,

[0056] A memory, configured to store executable instructions of the processor;

[0057] The processor is configured to perform any possible method described in the first aspect by executing the executable instructions.

[0058] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement any possible method described in the first aspect.

[0059] The multi-dimensional cargo measurement information processing method and system provided in the present application obtain cargo information of the cargo to be allocated by using the first cargo sensor in the first cargo measurement module, obtain actual cargo weight information of the cargo to be allocated by using the first weight sensor in the first cargo measurement module, and obtain actual cargo image information of the cargo to be allocated by using the first visual sensor, so that the first cargo measurement module generates cargo measurement information according to the cargo information, actual cargo weight information, actual cargo image information and the first position, and sends the cargo measurement information to the cargo allocation cloud platform, so that the cargo allocation cloud platform determines the target transport tool from the set of candidate transport tools according to the cargo measurement information and the preset cargo allocation model, thereby achieving the technical effect of automatically selecting the target transport tool by using the multi-dimensional measurement information of the cargo. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0061] Figure 1 It is a flowchart of a multi-dimensional cargo measurement information processing method according to an exemplary embodiment of the present application;

[0062] Figure 2 is a flowchart of a multi-dimensional cargo measurement information processing method according to another exemplary embodiment of the present application;

[0063] Figure 3 is a structural schematic diagram of a cargo allocation management system according to an exemplary embodiment of the present application;

[0064] Figure 4 It is a schematic diagram of the structure of an electronic device according to an exemplary embodiment of the present application.

[0065] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0066] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0067] Figure 1 FIG. 1 is a flow chart of a multi-dimensional cargo measurement information processing method according to an exemplary embodiment of the present application. Figure 1 As shown, the method provided in this embodiment includes:

[0068] S101. Acquire cargo information of cargo to be allocated through a first cargo sensor in a first cargo measurement module.

[0069] The method provided in this embodiment can be applied to a cargo allocation management system. The cargo allocation management system may include a cargo allocation cloud platform and a cargo measurement module cluster that is communicatively connected to the cargo allocation cloud platform. Each cargo measurement module in the cargo measurement module cluster is respectively arranged at each storage position in the cargo storage area. Each cargo measurement module in the cargo measurement module cluster includes a weight sensor, a visual sensor, and a cargo sensor. Optionally, the cargo allocation management system may be a management and allocation system for port cargo transportation, or a management and allocation system within a logistics company, and the corresponding cargo may be a container, or a plate, coil, or other cargo with an external frame packaging.

[0070] In this embodiment, the cargo information of the cargo to be allocated may be obtained through the first cargo sensor in the first cargo measurement module, wherein the cargo information may include a cargo identification, such as a cargo number. Optionally, the first cargo sensor may be a Bluetooth sensing device, a Near Field Communication (NFC) sensor, a QR code scanning device, etc.

[0071] S102: Acquire actual weight information of the goods to be allocated through the first weight sensor in the first goods measurement module, and acquire actual image information of the goods to be allocated through the first visual sensor in the first goods measurement module.

[0072] In this step, the actual weight information of the goods to be allocated can be obtained through the first weight sensor in the first goods measurement module, and the actual image information of the goods to be allocated can be obtained through the first visual sensor in the first goods measurement module. The first weight sensor can be a weighing sensor set on the ground or a weighing sensor set on the storage platform. The first visual sensor can be a camera, or a unit module composed of a camera and other distance measuring devices. If it is a single camera, a binocular camera can be used.

[0073] S103. The first cargo measurement module generates cargo measurement information according to the cargo information, the actual cargo weight information, the actual cargo image information and the first position, and sends the cargo measurement information to the cargo allocation cloud platform.

[0074] In this step, the first cargo measurement module generates cargo measurement information according to the cargo information, the actual cargo weight information, the actual cargo image information and the first position, and sends the cargo measurement information to the cargo allocation cloud platform. The first position is the location information of the storage location corresponding to the first cargo measurement module.

[0075] S104: The cargo allocation cloud platform determines a target transportation tool from a set of candidate transportation tools according to the cargo measurement information and a preset cargo allocation model.

[0076] After the cargo dispatching cloud platform receives the cargo measurement information, it can determine the target transport tool from the set of candidate transport tools according to the cargo measurement information and the preset cargo dispatching model. Optionally, the target transport tool can be a truck, a forklift, an automatic guided vehicle, etc.

[0077] In a possible implementation, the cargo allocation management system may further include a truck scale cluster, wherein each truck scale in the truck scale cluster is connected to the cargo allocation cloud platform in communication. Correspondingly, for a specific implementation of S104, the information of the selected transportation vehicle of the selected transportation vehicle may be obtained through the first vehicle sensor on the first truck scale in the truck scale cluster, wherein the information of the selected transportation vehicle includes identification information of the selected transportation vehicle, load information of the selected transportation vehicle, and cargo size information of the selected transportation vehicle, and the first truck scale is arranged at the entrance of the cargo storage area.

[0078] Then, the weight information of the candidate transport vehicle is obtained through the first weighing sensor on the first vehicle scale, so as to determine the loadable information of the candidate transport vehicle according to the load information of the candidate transport vehicle and the weight information of the candidate transport vehicle, and send the loadable information of the candidate transport vehicle and the information of the candidate transport vehicle to the cargo allocation cloud platform.

[0079] The cargo dispatching cloud platform uses formula 1 to determine the target transport vehicle based on the load information of the selected transport vehicle, the cargo size information of the selected transport vehicle, the actual weight information of the cargo, and the actual size information of the cargo, where formula 1 is:

[0080] in, is the decision function value, and the target transport tool is the transport tool with the smallest decision function value among multiple transport tools to be selected; is the loadable weight in the loadable information of the selected transport means, is the length dimension in the cargo dimension information of the selected transport vehicle, The width dimension in the cargo dimension information of the selected transport vehicle. is the height dimension in the cargo dimension information of the selected transport vehicle, is the actual weight of the goods in the actual weight information of the goods, It is the length in the first direction of the actual size information of the goods. It is the length of the second direction in the actual size information of the goods. The height of the actual size of the goods. are the first weight value, the second weight value, the third weight value and the fourth weight value respectively, and .

[0081] In this embodiment, cargo information of the cargo to be allocated is obtained by the first cargo sensor in the first cargo measurement module, actual cargo weight information of the cargo to be allocated is obtained by the first weight sensor in the first cargo measurement module, and actual cargo image information of the cargo to be allocated is obtained by the first visual sensor, so that the first cargo measurement module generates cargo measurement information according to the cargo information, actual cargo weight information, actual cargo image information and the first position, and sends the cargo measurement information to the cargo allocation cloud platform, so that the cargo allocation cloud platform determines the target transportation tool from the set of candidate transportation tools according to the cargo measurement information and the preset cargo allocation model, thereby achieving the technical effect of automatically selecting the target transportation tool by using the multi-dimensional measurement information of the cargo.

[0082] Based on the above embodiment, the cargo dispatching cloud platform can also send cargo information to the target transport vehicle so that the target transport vehicle displays the cargo information. Then, in response to the cargo confirmation instruction acting on the target transport vehicle, a navigation route is generated, which is the vehicle driving route from the current position of the target transport vehicle to the first position, thereby realizing the automatic generation of the navigation route to improve the efficiency of cargo transportation.

[0083] In addition, the target transport vehicle information of the target transport vehicle can also be obtained through the second vehicle sensor of the second truck scale in the truck scale cluster. The target transport vehicle information includes the target transport vehicle identification information and the target transport vehicle load information. The second truck scale is the first truck scale arranged on the navigation route. Then, the target transport vehicle weight information is obtained through the second weighing sensor on the second truck scale. In addition, the second truck scale generates the target vehicle to-be-confirmed information according to the target transport vehicle information and the target transport vehicle weight information, and sends the target vehicle to-be-confirmed information to the cargo allocation cloud platform. If the actual weight of the cargo is less than or equal to the difference between the target transport vehicle load in the target transport vehicle load information and the target transport vehicle weight in the target transport vehicle weight information, the cargo allocation cloud platform sends an opening command to the first road gate, and the first road gate is the road gate for continuing the navigation route. If the actual weight of the cargo is greater than the difference between the target transport vehicle load and the target transport vehicle weight, the cargo allocation cloud platform sends an opening command to the second road gate, and the second road gate is the road gate for leaving the navigation route. This enables the actual load capacity of the target transport vehicle to be reviewed, and by automatically opening different road gates, automatic diversion of the transport vehicles is achieved, effectively improving the deployment efficiency of the target transport vehicles.

[0084] Figure 2 FIG. 1 is a flow chart of a multi-dimensional cargo measurement information processing method according to another exemplary embodiment of the present application. Figure 2 As shown, the multi-dimensional cargo measurement information processing method provided in this embodiment includes:

[0085] S201. Acquire cargo information of cargo to be allocated through a first cargo sensor in a first cargo measurement module.

[0086] In this step, the cargo information of the cargo to be allocated may be obtained through the first cargo sensor in the first cargo measurement module, wherein the cargo information may include a cargo identification, such as a cargo number. Optionally, the first cargo sensor may be a Bluetooth sensing device, an NFC sensor, a QR code scanning device, etc.

[0087] S202: Acquire actual weight information of the goods to be allocated through the first weight sensor in the first goods measurement module, and acquire actual image information of the goods to be allocated through the first visual sensor in the first goods measurement module.

[0088] In this step, the actual weight information of the goods to be allocated can be obtained through the first weight sensor in the first goods measurement module, and the actual image information of the goods to be allocated can be obtained through the first visual sensor in the first goods measurement module. The first weight sensor can be a weighing sensor set on the ground or a weighing sensor set on the storage platform. The first visual sensor can be a camera, or a unit module composed of a camera and other distance measuring devices.

[0089] It is worth mentioning that when the inventors selected the first visual sensor, they found that if a binocular camera is used, it would require a higher cost, and if a monocular camera is used, the above functions cannot be achieved. Therefore, the inventors combined the monocular camera and the laser rangefinder into a unit module and performed parameter calibration, thereby realizing a low-cost visual sensor solution. Therefore, in one possible implementation, the above-mentioned first visual sensor may include a first angle visual sensor, a first laser ranging sensor, a second angle visual sensor, and a second laser ranging sensor, wherein the first shooting axial direction of the first angle visual sensor is orthogonal to the second shooting axial direction of the second angle visual sensor, the first laser emission direction of the first laser ranging sensor is parallel to the first shooting axial direction, and the second laser emission direction of the second laser ranging sensor is parallel to the second shooting axial direction. Correspondingly, the actual image information of the goods to be allocated is obtained by the first visual sensor in the first cargo measurement module, including:

[0090] The first laser range finder is used to emit a first laser and determine a first measurement distance, so as to determine the first distance according to the first measurement distance and the first calibration distance, wherein the first calibration distance is the calibration distance between the first angle vision sensor and the first laser range finder in the direction of the first laser emission. The first actual image of the goods to be allocated is obtained by the first angle vision sensor. The second laser range finder is used to emit a second laser and determine a second measurement distance, so as to determine the second distance according to the second measurement distance and the second calibration distance, wherein the second calibration distance is the calibration distance between the second angle vision sensor and the second laser range finder in the direction of the second laser emission. The second actual image of the goods to be allocated is obtained by the second angle vision sensor. The actual image information of the goods is generated according to the first distance, the actual image of the first goods, the second distance and the actual image of the second goods, and the actual image information of the goods is used to determine the actual size information of the goods.

[0091] In addition, it is worth noting that since the laser distance sensor can only measure the straight-line distance, it is impossible to achieve the panoramic distance measurement of the binocular camera. Therefore, when the height of the goods to be allocated is lower than the position of the laser distance sensor (for example, when the goods to be allocated are plates with a low stacking height), or when there is a hollow position in the goods to be allocated, and the hollow position is corresponding to the position of the laser distance sensor (for example, when the goods to be allocated are steel coils), the laser distance sensor will pass through the goods to be allocated, resulting in the inability to determine the above-mentioned first distance and second distance. Therefore, before the cargo allocation cloud platform determines the target transportation tool from the set of transportation tools to be selected based on the cargo measurement information and the preset cargo allocation model, the cargo allocation cloud platform can identify the laser spot of the actual image of the first cargo and the actual image of the second cargo. Since the laser spot has the characteristics of high brightness and red, each pixel in the image can be traversed in computer image processing and its RGB (red, green and blue) value can be checked. When the red component (R) of a pixel is significantly higher than the green (G) and blue (B) components, it can be considered that this pixel belongs to the laser spot. Therefore, before the cargo allocation cloud platform determines the target transport tool from the set of candidate transport tools based on the cargo measurement information and the preset cargo allocation model, it is first determined that there is a first light spot in the actual image of the first cargo and a second light spot in the actual image of the second cargo, wherein the first light spot is the light spot formed by the first laser on the cargo to be allocated, and the second light spot is the light spot formed by the second laser on the cargo to be allocated.

[0092] If the cargo allocation cloud platform determines that there is no laser spot in the actual image of the cargo, it can send a prompt message to the monitoring terminal, thereby prompting the monitoring terminal to manually collect data on the cargo to be allocated at that location. In addition, the laser distance sensor or the module composed of the laser distance sensor and the camera can be set on a vertically arranged and height-adjustable height adjustment device, and then when the cargo allocation cloud platform determines that there is no laser spot in the actual image of the cargo, the cargo allocation cloud platform can send a height adjustment instruction to the height adjustment device to adjust the height of the laser distance sensor or the module composed of the laser distance sensor and the camera.

[0093] It is worth mentioning that the cargo distribution cloud platform can perform contour recognition on the actual image of the cargo, and then, according to the position distribution area of ​​the cargo contour in the image, the height adjustment device adjusts the laser ranging sensor or the module composed of the laser ranging sensor and the camera to the corresponding area, thereby realizing dynamic adjustment of the height of the laser ranging sensor or the module composed of the laser ranging sensor and the camera based on the image obtained by the camera.

[0094] S203. The first cargo measurement module generates cargo measurement information according to the cargo information, the actual cargo weight information, the actual cargo image information and the first position, and sends the cargo measurement information to the cargo allocation cloud platform.

[0095] In this step, the first cargo measurement module generates cargo measurement information according to the cargo information, the actual cargo weight information, the actual cargo image information and the first position, and sends the cargo measurement information to the cargo allocation cloud platform. The first position is the location information of the storage location corresponding to the first cargo measurement module.

[0096] S204: Acquire the candidate transport tool information of the candidate transport tool through the first vehicle sensor on the first vehicle scale in the vehicle scale cluster.

[0097] Optionally, the above-mentioned cargo allocation management system may further include a truck scale cluster, wherein each truck scale in the truck scale cluster is connected to the cargo allocation cloud platform in communication. In this step, the information of the selected transportation vehicle of the selected transportation vehicle may be obtained through the first vehicle sensor on the first truck scale in the truck scale cluster, and the information of the selected transportation vehicle includes the identification information of the selected transportation vehicle, the load information of the selected transportation vehicle, and the cargo size information of the selected transportation vehicle, and the first truck scale is arranged at the entrance of the cargo storage area.

[0098] S205: Obtain the weight information of the transport tool to be selected through the first weighing sensor on the first vehicle scale.

[0099] In this step, the weight information of the candidate transport vehicle can be obtained through the first weighing sensor on the first vehicle scale, so as to determine the loadable information of the candidate transport vehicle according to the load information of the candidate transport vehicle and the weight information of the candidate transport vehicle, and send the loadable information of the candidate transport vehicle and the information of the candidate transport vehicle to the cargo allocation cloud platform.

[0100] S206. The cargo allocation cloud platform determines the target transport vehicle according to the load capacity information of the selected transport vehicle, the cargo size information of the selected transport vehicle, the actual weight information of the cargo, and the actual size information of the cargo.

[0101] In this step, the cargo dispatching cloud platform uses Formula 1 to determine the target transport vehicle according to the load information of the selected transport vehicle, the cargo size information of the selected transport vehicle, the actual weight information of the cargo, and the actual size information of the cargo, wherein Formula 1 is:

[0102] in, is the decision function value, and the target transport tool is the transport tool with the smallest decision function value among multiple transport tools to be selected; is the loadable weight in the loadable information of the selected transport means, is the length dimension in the cargo dimension information of the selected transport vehicle, The width dimension in the cargo dimension information of the selected transport vehicle. is the height dimension in the cargo dimension information of the selected transport vehicle, is the actual weight of the goods in the actual weight information of the goods, It is the length in the first direction of the actual size information of the goods. It is the length of the second direction in the actual size information of the goods. The height of the actual size of the goods. are the first weight value, the second weight value, the third weight value and the fourth weight value respectively, and .

[0103] Optionally, before the cargo allocation cloud platform determines the target transportation tool from the set of candidate transportation tools according to the cargo measurement information and the preset cargo allocation model, the following steps may also be included:

[0104] The cargo dispatching cloud platform determines the first cargo loading contour according to the first cargo actual image, and the first cargo loading contour is a first rectangular outer frame for accommodating the first cargo actual contour corresponding to the first cargo actual image. The determination of the first cargo loading contour may be to first identify the contour of the cargo based on the contour recognition algorithm, and then form the cargo loading contour based on the cargo contour, wherein the boundary of the cargo loading contour is determined by the outermost boundary of the cargo contour in the horizontal and vertical directions.

[0105] The cargo dispatching cloud platform determines the length of the first image according to the first rectangular frame and the first image height , where the first image length is the horizontal dimension of the first rectangular frame on the actual image of the first product, and the height of the first image is It is the size of the first rectangular outer frame along the vertical direction on the actual image of the first cargo.

[0106] The cargo dispatching cloud platform uses formula 1 and calculates the length of the first image. and the first image height Determine the first actual length and the first actual height , Formula 1 is:

[0107] in, is the first distance, is the focal length of the first angle vision sensor, is the pixel size corresponding to the actual image of the first product.

[0108] The cargo allocation cloud platform determines a second cargo loading contour according to the second cargo actual image, where the second cargo loading contour is a second rectangular outer frame for accommodating the second cargo actual contour corresponding to the second cargo actual image.

[0109] The cargo dispatching cloud platform determines the length of the second image according to the second rectangular frame and the second image height , where the second image length is the horizontal dimension of the second rectangular frame on the actual image of the second product, and the height of the second image is is the size of the second rectangular outer frame along the vertical direction on the actual image of the second cargo.

[0110] The cargo dispatching cloud platform uses formula 2 and calculates the length of the second image. and the second image height Determine the second actual length and the second actual height , Formula 2 is:

[0111] in, is the second distance, is the focal length of the second angle vision sensor, is the pixel size corresponding to the actual image of the second product.

[0112] The cargo dispatch cloud platform is based on the first actual length , first actual height , the second actual length and the second actual height Generate actual size information of goods.

[0113] In addition, since the height of the goods determined from different angles may have deviations, for example, for goods with a thin plate erected on the top, the height of the goods determined by the image obtained from the front of the thin plate must include the height of the thin plate, but the height of the goods determined by the image obtained from the side of the thin plate is prone to misjudgment during the image processing process due to the narrow side width of the thin plate. Therefore, it is easy to cause the determined height of the goods to not include the height of the thin plate. If the image processing accuracy is improved, the processing speed will be reduced. Therefore, for the above-mentioned cargo allocation cloud platform based on the first actual length , first actual height , the second actual length and the second actual height The specific implementation method of generating the actual size information of the goods can be that the cargo allocation cloud platform and the second actual height Determine the reference height .

[0114] Then, the cargo dispatching cloud platform calculates the actual length of the cargo dispatching cloud platform according to the first actual length. , the second actual length And the reference height Generate actual size information of goods.

[0115] For the cargo dispatching cloud platform, according to the first actual length , the second actual length And the reference height The specific implementation method of generating the actual size information of the goods can be:

[0116] The cargo dispatching cloud platform uses formula 3 and calculates the actual height of the first and the second actual height Determine the actual altitude deviation rate , Formula 3 is:

[0117] The cargo dispatch cloud platform determines the actual height deviation rate Greater than the preset actual altitude deviation rate threshold.

[0118] The cargo dispatching cloud platform uses formula 4 and calculates the actual length of the first and the second actual length Determine the first reference length and the second reference length , Formula 4 is:

[0119] The cargo dispatch cloud platform is based on the first reference length , Second reference length And the reference height Generate actual size information of goods.

[0120] It is worth noting that the above first actual height and the second actual height Determine the actual altitude deviation rate , then, using the actual height deviation rate For the first actual length and the second actual length The correction method can not only ensure that the determined target transportation vehicle can definitely load the goods, but also avoid the system processing speed being too slow due to excessive image processing.

[0121] Figure 3 FIG. 1 is a structural diagram of a cargo distribution management system according to an exemplary embodiment of the present application. Figure 3As shown, the cargo allocation management system 300 provided in this embodiment includes: a cargo allocation cloud platform 310 and a cargo measurement module cluster 320 that is communicatively connected to the cargo allocation cloud platform 310, each cargo measurement module in the cargo measurement module cluster 320 is respectively arranged at each storage position in the cargo storage area, and each cargo measurement module in the cargo measurement module cluster 320 includes a weight sensor, a visual sensor and a cargo sensor;

[0122] Acquire cargo information of the cargo to be allocated through the first cargo sensor in the first cargo measurement module, wherein the cargo information includes cargo identification;

[0123] Acquire the actual weight information of the goods to be allocated through the first weight sensor in the first goods measuring module, and acquire the actual image information of the goods to be allocated through the first visual sensor in the first goods measuring module;

[0124] The first cargo measurement module generates cargo measurement information according to the cargo information, the actual cargo weight information, the actual cargo image information and the first position, and sends the cargo measurement information to the cargo allocation cloud platform 310, wherein the first position is the position information of the storage position corresponding to the first cargo measurement module;

[0125] The cargo allocation cloud platform 310 determines a target transportation tool from a set of candidate transportation tools according to the cargo measurement information and a preset cargo allocation model.

[0126] Figure 4 is a schematic diagram of the structure of an electronic device according to an exemplary embodiment of the present application. Figure 4 As shown, an electronic device 400 provided in this embodiment includes: a processor 401 and a memory 402; wherein:

[0127] The memory 402 is used to store computer programs, and the memory may also be a flash memory.

[0128] The processor 401 is used to execute the execution instructions stored in the memory to implement each step in the above method. For details, please refer to the relevant description in the above method embodiment.

[0129] Optionally, the memory 402 may be independent or integrated with the processor 401 .

[0130] When the memory 402 is a device independent of the processor 401, the electronic device 400 may further include:

[0131] The bus 403 is used to connect the memory 402 and the processor 401 .

[0132] This embodiment further provides a readable storage medium, in which a computer program is stored. When at least one processor of an electronic device executes the computer program, the electronic device executes the methods provided in the above-mentioned various implementation modes.

[0133] This embodiment also provides a program product, which includes a computer program stored in a readable storage medium. At least one processor of the electronic device can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the electronic device implements the methods provided in the above various embodiments.

[0134] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the claims.

[0135] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A multi-dimensional cargo measurement information processing method, characterized in that: Applied to a cargo distribution management system, the cargo distribution management system includes a cargo distribution cloud platform and a cargo measurement module cluster that is communicatively connected to the cargo distribution cloud platform, each cargo measurement module in the cargo measurement module cluster is respectively arranged at each storage position in a cargo storage area, each cargo measurement module in the cargo measurement module cluster includes a weight sensor, a visual sensor and a cargo sensor; the method includes: Acquiring cargo information of the cargo to be allocated through the first cargo sensor in the first cargo measurement module, wherein the cargo information includes cargo identification, the cargo to be allocated is a steel coil, and the steel coil has a hollow position; Acquire the actual weight information of the goods to be allocated through the first weight sensor in the first goods measuring module, and acquire the actual image information of the goods to be allocated through the first visual sensor in the first goods measuring module; The first cargo measurement module generates cargo measurement information according to the cargo information, the actual cargo weight information, the actual cargo image information and the first position, and sends the cargo measurement information to the cargo allocation cloud platform, wherein the first position is the position information of the storage position corresponding to the first cargo measurement module; The cargo allocation cloud platform determines a target transportation tool from a set of candidate transportation tools according to the cargo measurement information and a preset cargo allocation model; The first visual sensor includes a first angle visual sensor, a first laser ranging sensor, a second angle visual sensor and a second laser ranging sensor, wherein a first shooting axial direction of the first angle visual sensor is orthogonal to a second shooting axial direction of the second angle visual sensor, a first laser emission direction of the first laser ranging sensor is parallel to the first shooting axial direction, and a second laser emission direction of the second laser ranging sensor is parallel to the second shooting axial direction; correspondingly, obtaining actual image information of the goods to be allocated through the first visual sensor in the first goods measurement module includes: The first laser is emitted by the first laser ranging sensor, and a first measurement distance is determined, so as to determine a first distance according to the first measurement distance and a first calibration distance, wherein the first calibration distance is a calibration distance between the first angle vision sensor and the first laser ranging sensor in the emission direction of the first laser; Acquire the actual image of the first cargo to be allocated through the first angle vision sensor; The second laser is emitted by the second laser ranging sensor, and a second measured distance is determined, so as to determine a second distance according to the second measured distance and a second calibrated distance, wherein the second calibrated distance is a calibrated distance between the second angle vision sensor and the second laser ranging sensor in the second laser emitting direction; Acquire a second actual image of the goods to be allocated through the second angle vision sensor; generating the cargo actual image information according to the first distance, the first cargo actual image, the second distance and the second cargo actual image, wherein the cargo actual image information is used to determine the cargo actual size information; Before the cargo allocation cloud platform determines the target transportation tool from the set of candidate transportation tools according to the cargo measurement information and the preset cargo allocation model, the method further includes: The cargo allocation cloud platform determines a first cargo loading outline according to the first cargo actual image, where the first cargo loading outline is a first rectangular outer frame for accommodating the first cargo actual outline corresponding to the first cargo actual image; The cargo allocation cloud platform determines the length of the first image according to the first rectangular frame and the first image height , wherein the first image length is the horizontal dimension of the first rectangular frame on the first actual image of the goods, and the height of the first image is is the size of the first rectangular outer frame along the vertical direction on the actual image of the first cargo; The cargo dispatching cloud platform uses formula 1 and according to the length of the first image and the first image height Determine the first actual length and the first actual height , the formula 1 is: in, is the first distance, is the focal length of the first angle vision sensor, is the pixel size corresponding to the actual image of the first cargo; The cargo allocation cloud platform determines a second cargo loading contour according to the second cargo actual image, where the second cargo loading contour is a second rectangular outer frame for accommodating the second cargo actual contour corresponding to the second cargo actual image; The cargo allocation cloud platform determines the length of the second image according to the second rectangular outer frame and the second image height , wherein the second image length is the horizontal dimension of the second rectangular frame on the second actual image of the goods, and the height of the second image is is the size of the second rectangular outer frame along the vertical direction on the actual image of the second cargo; The cargo dispatching cloud platform uses formula 2 and according to the length of the second image and the second image height Determine the second actual length and the second actual height , the formula 2 is: in, is the second distance, is the focal length of the second angle vision sensor, is the pixel size corresponding to the actual image of the second cargo; The cargo dispatching cloud platform determines the first actual length , first actual height , the second actual length and the second actual height Generating actual size information of the goods; The cargo dispatching cloud platform determines the first actual length , first actual height , the second actual length and the second actual height Generate actual size information of goods, including: The cargo dispatching cloud platform determines the first actual height And the second actual height Determine the reference height ; The cargo dispatching cloud platform determines the first actual length The second actual length And the reference height Generating actual size information of the goods; The cargo dispatching cloud platform determines the first actual length The second actual length And the reference height Generate the actual size information of the goods, including: The cargo dispatching cloud platform uses formula 3 and calculates the actual height of the cargo dispatching cloud platform according to the first actual height. And the second actual height Determine the actual altitude deviation rate , the formula 3 is: The cargo dispatching cloud platform determines the actual height deviation rate Greater than the preset actual altitude deviation rate threshold; The cargo dispatching cloud platform uses Formula 4 and calculates the first actual length And the second actual length Determine the first reference length and the second reference length , the formula 4 is: The cargo dispatching cloud platform determines the first reference length The second reference length And the reference height Generating actual size information of the goods; Before the cargo allocation cloud platform determines the target transportation tool from the set of candidate transportation tools according to the cargo measurement information and the preset cargo allocation model, the method further includes: The cargo allocation cloud platform determines that there is a first light spot in the actual image of the first cargo and a second light spot in the actual image of the second cargo, wherein the first light spot is a light spot formed by the first laser on the cargo to be allocated, and the second light spot is a light spot formed by the second laser on the cargo to be allocated; If the cargo allocation cloud platform determines that there is no laser spot in the actual image of the cargo, a prompt message is sent to the monitoring terminal to prompt the monitoring terminal to perform manual data collection on the cargo to be allocated; or, If the cargo allocation cloud platform determines that there is no laser spot in the actual image of the cargo, a height adjustment instruction is sent to the height adjustment device through the cargo allocation cloud platform to adjust the height of a module composed of a laser ranging sensor and a camera, and the module is arranged on the height adjustment device.

2. The multi-dimensional cargo measurement information processing method according to claim 1, characterized in that: After the cargo allocation cloud platform determines the target transportation tool from the set of candidate transportation tools according to the cargo measurement information and the preset cargo allocation model, it also includes: The cargo dispatching cloud platform sends the cargo information to the target transportation vehicle, so that the target transportation vehicle displays the cargo information; In response to the cargo confirmation instruction acting on the target transportation vehicle, a navigation route is generated, wherein the navigation route is a vehicle driving route from a current position of the target transportation vehicle to the first position.

3. The multi-dimensional cargo measurement information processing method according to claim 2, characterized in that: The cargo allocation management system further includes a truck scale cluster, each truck scale in the truck scale cluster is in communication connection with the cargo allocation cloud platform; correspondingly, the cargo allocation cloud platform determines a target transportation tool from a set of candidate transportation tools according to the cargo measurement information and a preset cargo allocation model, including: Acquiring the selected transport vehicle information of the selected transport vehicle through the first vehicle sensor on the first vehicle scale in the vehicle scale cluster, the selected transport vehicle information including the selected transport vehicle identification information, the selected transport vehicle load information and the selected transport vehicle cargo size information, the first vehicle scale being arranged at the entrance of the cargo storage area; Obtaining the weight information of the transport tool to be selected through the first weighing sensor on the first truck scale, determining the loadable information of the transport tool to be selected according to the load information of the transport tool to be selected and the weight information of the transport tool to be selected, and sending the loadable information of the transport tool to be selected and the information of the transport tool to the cargo allocation cloud platform; The cargo allocation cloud platform uses Formula 1 and determines the target transport vehicle according to the loadable information of the selected transport vehicle, the cargo size information of the selected transport vehicle, the actual weight information of the cargo, and the actual size information of the cargo, wherein Formula 1 is: in, is a decision function value, the target transport means is a candidate transport means having a minimum decision function value among the plurality of candidate transport means; is the loadable weight in the loadable information of the selected transport means, is the length dimension in the cargo dimension information of the selected transport vehicle, is the width dimension in the cargo dimension information of the selected transport vehicle, is the height dimension in the cargo dimension information of the selected transport vehicle, is the actual weight of the goods in the actual weight information of the goods, is the length in the first direction of the actual size information of the goods, is the length in the second direction of the actual size information of the goods, is the height of the actual size information of the goods, , , , are the first weight value, the second weight value, the third weight value and the fourth weight value respectively, and .

4. The multi-dimensional cargo measurement information processing method according to claim 3, characterized in that: After generating a navigation route in response to the cargo confirmation instruction acting on the target transport vehicle, the method further includes: Acquire target transport vehicle information of the target transport vehicle through a second vehicle sensor of a second truck scale in the truck scale cluster, wherein the target transport vehicle information includes target transport vehicle identification information and target transport vehicle load information, and the second truck scale is the first truck scale arranged on the navigation route; Acquiring the target transportation vehicle weight information through the second weighing sensor on the second truck scale; The second truck scale generates target vehicle to-be-confirmed information according to the target transport vehicle information and the target transport vehicle weight information, and sends the target vehicle to-be-confirmed information to the cargo allocation cloud platform; If the actual weight of the cargo is less than or equal to the difference between the target transport vehicle load in the target transport vehicle load information and the target transport vehicle weight in the target transport vehicle weight information, the cargo allocation cloud platform sends an opening command to the first road gate, and the first road gate is the road gate for continuing the navigation route; If the actual weight of the cargo is greater than the difference between the load capacity of the target transport vehicle and the weight of the target transport vehicle, the cargo allocation cloud platform sends an opening instruction to the second road gate, where the second road gate is the road gate leaving the navigation route.

5. A cargo distribution management system, characterized in that: include: A cargo dispatching cloud platform and a cargo measuring module cluster in communication with the cargo dispatching cloud platform, wherein each cargo measuring module in the cargo measuring module cluster is respectively arranged at each storage position in the cargo storage area, and each cargo measuring module in the cargo measuring module cluster includes a weight sensor, a visual sensor and a cargo sensor; Acquiring cargo information of the cargo to be allocated through the first cargo sensor in the first cargo measurement module, wherein the cargo information includes cargo identification, the cargo to be allocated is a steel coil, and the steel coil has a hollow position; Acquire the actual weight information of the goods to be allocated through the first weight sensor in the first goods measuring module, and acquire the actual image information of the goods to be allocated through the first visual sensor in the first goods measuring module; The first cargo measurement module generates cargo measurement information according to the cargo information, the actual cargo weight information, the actual cargo image information and the first position, and sends the cargo measurement information to the cargo allocation cloud platform, wherein the first position is the position information of the storage position corresponding to the first cargo measurement module; The cargo allocation cloud platform determines a target transportation tool from a set of candidate transportation tools according to the cargo measurement information and a preset cargo allocation model; The first visual sensor includes a first angle visual sensor, a first laser ranging sensor, a second angle visual sensor and a second laser ranging sensor, wherein a first shooting axial direction of the first angle visual sensor is orthogonal to a second shooting axial direction of the second angle visual sensor, a first laser emission direction of the first laser ranging sensor is parallel to the first shooting axial direction, and a second laser emission direction of the second laser ranging sensor is parallel to the second shooting axial direction; correspondingly, obtaining actual image information of the goods to be allocated through the first visual sensor in the first goods measurement module includes: The first laser is emitted by the first laser ranging sensor, and a first measurement distance is determined, so as to determine a first distance according to the first measurement distance and a first calibration distance, wherein the first calibration distance is a calibration distance between the first angle vision sensor and the first laser ranging sensor in the emission direction of the first laser; Acquire the actual image of the first cargo to be allocated through the first angle vision sensor; The second laser is emitted by the second laser ranging sensor, and a second measured distance is determined, so as to determine a second distance according to the second measured distance and a second calibrated distance, wherein the second calibrated distance is a calibrated distance between the second angle vision sensor and the second laser ranging sensor in the second laser emitting direction; Acquire a second actual image of the goods to be allocated through the second angle vision sensor; generating the cargo actual image information according to the first distance, the first cargo actual image, the second distance and the second cargo actual image, wherein the cargo actual image information is used to determine the cargo actual size information; Before the cargo allocation cloud platform determines the target transportation tool from the set of candidate transportation tools according to the cargo measurement information and the preset cargo allocation model, the method further includes: The cargo allocation cloud platform determines a first cargo loading outline according to the first cargo actual image, where the first cargo loading outline is a first rectangular outer frame for accommodating the first cargo actual outline corresponding to the first cargo actual image; The cargo allocation cloud platform determines the length of the first image according to the first rectangular frame and the first image height , wherein the first image length is the horizontal dimension of the first rectangular frame on the first actual image of the goods, and the height of the first image is is the size of the first rectangular outer frame along the vertical direction on the actual image of the first cargo; The cargo dispatching cloud platform uses formula 1 and according to the length of the first image and the first image height Determine the first actual length and the first actual height , the formula 1 is: in, is the first distance, is the focal length of the first angle vision sensor, is the pixel size corresponding to the actual image of the first cargo; The cargo allocation cloud platform determines a second cargo loading contour according to the second cargo actual image, where the second cargo loading contour is a second rectangular outer frame for accommodating the second cargo actual contour corresponding to the second cargo actual image; The cargo allocation cloud platform determines the length of the second image according to the second rectangular outer frame and the second image height , wherein the second image length is the horizontal dimension of the second rectangular frame on the second actual image of the goods, and the height of the second image is is the size of the second rectangular outer frame along the vertical direction on the actual image of the second cargo; The cargo dispatching cloud platform uses formula 2 and according to the length of the second image and the second image height Determine the second actual length and the second actual height , the formula 2 is: in, is the second distance, is the focal length of the second angle vision sensor, is the pixel size corresponding to the actual image of the second cargo; The cargo dispatching cloud platform determines the first actual length , first actual height , the second actual length and the second actual height Generating actual size information of the goods; The cargo dispatching cloud platform determines the first actual length , first actual height , the second actual length and the second actual height Generate actual size information of goods, including: The cargo dispatching cloud platform determines the first actual height And the second actual height Determine the reference height ; The cargo dispatching cloud platform determines the first actual length The second actual length And the reference height Generating actual size information of the goods; The cargo dispatching cloud platform determines the first actual length The second actual length And the reference height Generate the actual size information of the goods, including: The cargo dispatching cloud platform uses formula 3 and calculates the actual height of the cargo dispatching cloud platform according to the first actual height. And the second actual height Determine the actual altitude deviation rate , the formula 3 is: The cargo dispatching cloud platform determines the actual height deviation rate Greater than the preset actual altitude deviation rate threshold; The cargo dispatching cloud platform uses Formula 4 and calculates the first actual length And the second actual length Determine the first reference length and the second reference length , the formula 4 is: The cargo dispatching cloud platform determines the first reference length The second reference length And the reference height Generating actual size information of the goods; Before the cargo allocation cloud platform determines the target transportation tool from the set of candidate transportation tools according to the cargo measurement information and the preset cargo allocation model, the method further includes: The cargo allocation cloud platform determines that there is a first light spot in the actual image of the first cargo and a second light spot in the actual image of the second cargo, wherein the first light spot is a light spot formed by the first laser on the cargo to be allocated, and the second light spot is a light spot formed by the second laser on the cargo to be allocated; If the cargo allocation cloud platform determines that there is no laser spot in the actual image of the cargo, a prompt message is sent to the monitoring terminal to prompt the monitoring terminal to perform manual data collection on the cargo to be allocated; or, If the cargo allocation cloud platform determines that there is no laser spot in the actual image of the cargo, a height adjustment instruction is sent to the height adjustment device through the cargo allocation cloud platform to adjust the height of a module composed of a laser ranging sensor and a camera, and the module is arranged on the height adjustment device.

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