Sludge weighing method, device, electronic equipment and computer readable medium

Abstract

Embodiments of the present disclosure disclose a sludge weighing method, device, electronic device and computer readable medium. A specific embodiment of the method comprises: in response to detecting that a sludge transport vehicle enters an automatic weighing range, controlling an information acquisition device to acquire vehicle information of the sludge transport vehicle; performing license plate and model recognition on the sludge transport vehicle to generate vehicle model information; performing volume recognition on sludge loaded by the sludge transport vehicle to generate loaded sludge volume data; controlling a sampling mechanical arm to collect a sludge sample from the loaded sludge, and controlling a measuring device to measure the sludge sample to generate a sludge sample volume value and a sludge sample weight value; determining a sludge sample density value corresponding to the sludge sample volume value and the sludge sample weight value; and determining whole-vehicle sludge weight data according to the loaded sludge volume data and the sludge sample density value. The embodiment reduces waste of resources such as fuel, manpower and time.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the field of computer technology, and in particular, to a sludge weighing method and device, an electronic device and a computer readable medium. BACKGROUND

[0002] When transporting and processing sludge generated by a sewage treatment plant, it is necessary to first weigh the sludge loaded on the transport vehicle. At present, when weighing the sludge, the commonly used method is to weigh the vehicle loaded with sludge by a weighbridge, and subtract the weight of the empty vehicle to obtain the weight of the sludge.

[0003] However, when weighing the sludge by the above method, the following technical problems often exist:

[0004] The weighbridge has a high requirement for the site area, and requires a site large enough for the truck to turn around. Moreover, the weighbridge has a high cost, is prone to failure, and needs professional personnel to manage and maintain. These factors together result in a high resource and cost required by the weighbridge. In addition, transporting the transport vehicle loaded with sludge to a special weighbridge site may cause waste of resources such as fuel, manpower and time.

[0005] The above information disclosed in this BACKGROUND section is only for the purpose of enhancing the understanding of the background of the present inventive concepts, and therefore, it can contain information that does not form the prior art known to those of ordinary skill in the art in the country. SUMMARY

[0006] The summary section of the present disclosure is used to introduce the concepts in a brief manner, which will be described in detail in the specific embodiments section. The summary section of the present disclosure is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to be used to limit the scope of the claimed technical solutions.

[0007] Some embodiments of the present disclosure propose a sludge weighing method, device, electronic device and computer readable medium to solve one or more of the technical problems mentioned in the background section.

[0008] In a first aspect, some embodiments of the present disclosure provide a sludge weighing method, which comprises: in response to detecting that a sludge transport vehicle enters an automatic weighing range, a control calculation module controls an information acquisition device to acquire vehicle information of the sludge transport vehicle, wherein the vehicle information includes license plate picture information and carriage picture information; the control calculation module identifies the license plate and the model of the sludge transport vehicle according to the vehicle information to generate vehicle model information, wherein the vehicle model information includes license plate number, vehicle model information, vehicle load information and carriage size information; the control calculation module identifies the volume of sludge loaded in the sludge transport vehicle according to the vehicle information and the vehicle model information to generate loaded sludge volume data; the control calculation module controls a sampling mechanical arm to collect a sludge sample from the loaded sludge, and controls a measuring device to measure the sludge sample to generate a sludge sample volume value and a sludge sample weight value; the control calculation module determines a sludge sample density value corresponding to the sludge sample volume value and the sludge sample weight value; and the control calculation module determines whole-vehicle sludge weight data of the sludge transport vehicle according to the loaded sludge volume data and the sludge sample density value.

[0009] In a second aspect, some embodiments of the present disclosure provide a sludge weighing device, which comprises: a first control unit configured to, in response to detecting that a sludge transport vehicle enters an automatic weighing range, a control calculation module controls an information acquisition device to acquire vehicle information of the sludge transport vehicle, wherein the vehicle information includes license plate picture information and carriage picture information; a license plate and model identification unit configured to the control calculation module identifies the license plate and the model of the sludge transport vehicle according to the vehicle information to generate vehicle model information, wherein the vehicle model information includes license plate number, vehicle model information, vehicle load information and carriage size information; a volume identification unit configured to the control calculation module identifies the volume of sludge loaded in the sludge transport vehicle according to the vehicle information and the vehicle model information to generate loaded sludge volume data; a second control unit configured to the control calculation module controls a sampling mechanical arm to collect a sludge sample from the loaded sludge, and controls a measuring device to measure the sludge sample to generate a sludge sample volume value and a sludge sample weight value; a first determination unit configured to the control calculation module determines a sludge sample density value corresponding to the sludge sample volume value and the sludge sample weight value; and a second determination unit configured to the control calculation module determines whole-vehicle sludge weight data of the sludge transport vehicle according to the loaded sludge volume data and the sludge sample density value.

[0010] In a third aspect, some embodiments of the present disclosure provide an electronic device, comprising: one or more processors; a storage device having stored thereon one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the method described in any implementation manner of the first aspect.

[0011] In a fourth aspect, some embodiments of the present disclosure provide a computer-readable medium having stored thereon a computer program, wherein the program, when executed by a processor, implements the method described in any implementation manner of the first aspect.

[0012] The above various embodiments of the present disclosure have the following beneficial effects: by the sludge weighing method of some embodiments of the present disclosure, the waste of resources such as fuel, manpower and time can be reduced. Specifically, the reason for the waste of resources such as fuel, manpower and time in the sludge weighing process is that the weighbridge has a high requirement for the site area, needs enough site for the truck to turn around, and has a high cost, is prone to failure, and needs professional personnel to manage and maintain, which together leads to a high resource and cost required by the weighbridge. At the same time, the transfer of the sludge-loaded transport vehicle to a dedicated weighbridge site may cause the consumption of resources such as fuel, manpower and time. Based on this, the sludge weighing method of some embodiments of the present disclosure first, in response to detecting that the sludge transport vehicle enters the automatic weighing range, the control calculation module controls the information acquisition device to acquire the vehicle information of the sludge transport vehicle. The vehicle information includes license plate picture information and vehicle compartment picture information. By automatically acquiring the vehicle information of the sludge transport vehicle through the information acquisition device, the labor cost can be reduced. Then, the control calculation module identifies the license plate and model of the sludge transport vehicle according to the vehicle information to generate vehicle model information. The vehicle model information includes license plate number, vehicle model information, vehicle load information and vehicle compartment size information. Thus, the resource consumption caused by manual recording of the license plate number and querying of the vehicle model information can be reduced. Subsequently, the control calculation module identifies the volume of the sludge loaded in the sludge transport vehicle according to the vehicle information and the vehicle model information to generate the loaded sludge volume data. By volume identification instead of weighbridge weighing, the demand for weighbridge equipment can be reduced, and the site and equipment costs can be reduced. Second, the control calculation module controls the sampling mechanical arm to collect a sludge sample from the loaded sludge, and controls the measuring device to measure the sludge sample to generate a sludge sample volume value and a sludge sample weight value. Then, the control calculation module determines a sludge sample density value corresponding to the sludge sample volume value and the sludge sample weight value. Finally, the control calculation module determines the whole-vehicle sludge weight data of the sludge transport vehicle according to the loaded sludge volume data and the sludge sample density value. By determining the sludge weight loaded in the sludge transport vehicle through volume and density, the transfer of the transport vehicle is avoided, the transport vehicle operation efficiency is improved, and the waste of resources such as fuel, manpower and time is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0013] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent upon reading the following detailed description in conjunction with the accompanying drawings, in which like references refer to like elements. It is to be understood that the drawings are schematic, and elements and features are not necessarily to scale.

[0014] Figure 1is a schematic diagram of one application scenario of a sludge weighing method of some embodiments of the present disclosure;

[0015] Figure 2 is a flow chart of some embodiments of a sludge weighing method according to the present disclosure;

[0016] Figure 3 is a structural schematic diagram of some embodiments of a sludge weighing device according to the present disclosure;

[0017] Figure 4 is a structural schematic diagram of an electronic device suitable for implementing some embodiments of the present disclosure. DETAILED DESCRIPTION

[0018] Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms, and should not be interpreted as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes, and are not intended to limit the scope of protection of the present disclosure.

[0019] In addition, it should be noted that only the parts related to the present application are shown in the drawings for ease of description. The embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0020] It should be noted that the concepts of "first", "second", etc. mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not intended to limit the order or interdependence of the functions performed by these devices, modules or units.

[0021] It should be noted that the adjectives "one" and "multiple" mentioned in the present disclosure are illustrative and not limiting, and those skilled in the art should understand that, unless otherwise explicitly indicated in the context, it should be understood as "one or more".

[0022] The names of the messages or information exchanged between the devices in the embodiments of the present disclosure are only for illustrative purposes, and are not intended to limit the scope of these messages or information.

[0023] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0024] Figure 1 is a schematic diagram of one application scenario of a sludge weighing method of some embodiments of the present disclosure. The sludge weighing method is applied to a sludge weighing device, wherein the above-mentioned sludge weighing device comprises an information acquisition device, a sampling mechanical arm, a measuring device, a control calculation module, a transmission module, a power supply component and a support protection component.

[0025] In Figure 1 application scenarios, first, the control computing module 101 can be hardware or software. When the control computing module is hardware, it can be implemented as a distributed cluster composed of multiple servers or terminal devices, or as a single server or single terminal device. When the control computing module is software, it can be installed in the hardware devices listed above. It can be implemented as multiple software or software modules for providing distributed services, or as a single software or software module. Here, the control computing module can be used to overall control other modules, or to process data from various modules. The transmission module 102 is a module for transmitting information, which can transmit data through wired or wireless means. The measuring device 103 can be placed separately or mounted on the end of the sampling mechanical arm to weigh the sludge sample. Second, the information acquisition device 104 can include a camera, a projector, a binocular camera, a laser radar, and a pulse transmitting antenna. Here, the information acquisition device 104 is used to acquire vehicle information of the sludge transport vehicle. The sampling mechanical arm 105 can be composed of multiple joints and a sampling shovel at the end, which is used to take a sludge sample from the sludge transport vehicle. The power supply assembly 106 can supply power to the entire sludge weighing device through a power grid, or can be configured with a solar power supply device to supply power to the entire device in a dual power supply mode. The support and protection assembly 107 includes various support and protection subassemblies, mainly using materials such as stainless steel, steel structure, and polyvinyl chloride plastic to provide fixation, support, and protection for various parts of the sludge weighing device.

[0026] Further reference Figure 2 is made to flowchart 200 illustrating some embodiments of a sludge weighing method according to the present disclosure. The sludge weighing method comprises the following steps:

[0027] Step 201, in response to detecting that the sludge transport vehicle enters the automatic weighing range, the control computing module controls the information acquisition device to acquire the vehicle information of the sludge transport vehicle.

[0028] In some embodiments, the executing subject (e.g., the control computing module) can control the information acquisition device to acquire the vehicle information of the sludge transport vehicle in response to detecting that the sludge transport vehicle enters the automatic weighing range. Wherein, an infrared sensor can be configured to detect whether there is a sludge transport vehicle in the preset automatic weighing range. Then, if it is detected that the sludge transport vehicle enters the automatic weighing range, the control computing module controls the information acquisition device to acquire the vehicle information of the sludge transport vehicle. Wherein, the automatic weighing range can be the area directly below the information acquisition device.

[0029] In step 202, the control computing module identifies the license plate and model of the sludge transport vehicle according to the vehicle information to generate vehicle model information.

[0030] In some embodiments, the above-mentioned execution subject can identify the license plate and model of the sludge transport vehicle according to the vehicle information to generate vehicle model information. First, the license plate number picture information is identified by a preset license plate number recognition algorithm to obtain license plate number data. Then, the license plate number data is searched to find the model information of the transport vehicle from the transport vehicle database to obtain the vehicle model information. Here, the transport vehicle database is a preset database that records the vehicle model information of the sludge transport vehicle. The vehicle model information includes license plate number, vehicle model information, vehicle load information, and vehicle compartment size information.

[0031] As an example, the license plate number recognition algorithm includes but is not limited to at least one of the following: License-Plate-Recognition (license plate recognition algorithm), OCR (Optical Character Recognition) based license plate recognition algorithm, etc.

[0032] In step 203, the control computing module identifies the volume of the sludge loaded on the sludge transport vehicle according to the vehicle information and the vehicle model information to generate loaded sludge volume data.

[0033] In some embodiments, the above-mentioned execution subject can identify the volume of the sludge loaded on the sludge transport vehicle according to the vehicle information and the vehicle model information to generate loaded sludge volume data.

[0034] In some optional implementations of some embodiments, the above-mentioned execution subject can identify the volume of the sludge loaded on the sludge transport vehicle according to the vehicle information and the vehicle model information to generate loaded sludge volume data, which can include the following steps:

[0035] First, sparse depth features are extracted from the vehicle compartment picture information in the vehicle information to obtain sparse depth features. First, the vehicle compartment picture information is preprocessed, which can be done by adjusting the image size, denoising, and enhancing the contrast, etc. to obtain preprocessed vehicle compartment picture information. Then, the preprocessed vehicle compartment picture information is extracted by a preset depth feature extraction algorithm to obtain sparse depth features. The sparse depth features are a sparse form of depth features. Second, the depth features represent the distance between each pixel point in the vehicle compartment picture information and the real scene.

[0036] As an example, the above-mentioned deep feature extraction algorithm includes but is not limited to at least one of the following: Scale Invariant Feature Transform (SIFT) matching algorithm, Speeded-Up Robust Features (SURF) algorithm, etc.

[0037] Secondly, residual depth features are extracted from the above-mentioned carriage picture information. The residual depth features are extracted from the carriage picture information by a pre-set improved residual network. In the improved residual network, the full connection layer and the pooling layer at the end of the residual network (ResNet) are deleted. The residual depth features are the deep features extracted by the residual network.

[0038] In practice, the skip connection in the residual network can effectively avoid the problems of gradient dispersion and precision decline in deep convolutional neural networks, and can avoid the disappearance of key information such as three-dimensional structure and edge information in the carriage picture information in deep network propagation, thereby avoiding the reduction of depth prediction quality. At the same time, the improved residual network can balance the precision and speed of feature extraction.

[0039] Thirdly, sparse convolution is performed on the above-mentioned sparse depth features to obtain convolution depth features. The sparse convolution network can be used to perform sparse convolution on the sparse depth features to obtain the convolution depth features. The convolution depth features are the deep features extracted by the sparse convolution network.

[0040] Fourthly, the residual depth features and the convolution depth features are spliced in the channel dimension to obtain fusion depth features. Firstly, the residual depth features and the convolution depth features are dimensionally aligned to obtain standard residual depth features and standard convolution depth features with the same resolution size. Then, the standard residual depth features and the standard convolution depth features are spliced in the channel dimension to obtain the fusion depth features. The dimensional alignment refers to the alignment of the lengths of the feature vectors. The length of the feature vector can be increased to a specified length by zero padding, or the length of the feature vector can be reduced to a specified length by pooling.

[0041] In the fifth step, the attention feature extraction is performed on the fused depth feature to obtain an attention depth feature. First, the channel attention feature extraction is performed on the fused depth feature by a channel attention module (CAM) to obtain a channel attention depth feature. Then, the spatial attention feature extraction is performed on the channel attention depth feature by a spatial attention module (SAM) to obtain a multi-dimensional attention depth feature. After that, the multi-dimensional attention depth feature is input into a global average pooling (GAP) layer to obtain a global pooling depth feature. Second, the global pooling depth feature is input into a fully connected layer and an activation function to obtain an attention weight matrix. Finally, the element-wise product between the attention weight matrix and the multi-dimensional attention depth feature is determined as the attention depth feature. Here, the channel attention depth feature represents the attention depth feature in the channel dimension. Meanwhile, the multi-dimensional attention depth feature represents the channel attention depth feature in the spatial dimension. Second, the attention depth feature is the fused depth feature weighted by the attention mechanism, which can enhance the important information of the fused depth feature.

[0042] In the sixth step, the up-sampling decoding is performed on the attention depth feature to obtain a loaded sludge surface depth information set. The up-sampling decoding is performed on the attention depth feature by a preset up-sampling decoding module to obtain the loaded sludge surface depth information set. Here, the up-sampling decoding module can include two up-sampling modules, which are an up-sampling convolution layer and a bicubic interpolation-based up-sampling layer. The convolution kernel of the convolution layer can be 3x3. Second, the loaded sludge surface depth information set includes the distance values from the real scene points corresponding to each pixel point in the carriage picture information to the camera.

[0043] In the seventh step, the numerical integration is performed on the loaded sludge surface depth information set according to the vehicle model information to obtain loaded sludge volume data. The numerical integration is performed on the loaded sludge surface depth information set according to the carriage size information in the vehicle model information by a preset numerical integration method to obtain the loaded sludge volume data.

[0044] In practice, the coordinates of the spatial coordinate points corresponding to each point in the upper plane of the loaded sludge in the carriage can be determined according to the loaded sludge surface depth information in the loaded sludge surface depth information set and in combination with the carriage size information in the vehicle model information. After that, the volume of the loaded sludge in the carriage is determined according to the coordinates of the spatial coordinate points by the numerical integration method.

[0045] As an example, numerical integration methods include, but are not limited to, at least one of the following: trapezoidal rule, Simpson's method, Gaussian integration method, etc.

[0046] Optionally, the aforementioned implementing entity may further include the following steps to identify the volume of sludge loaded on the sludge transport vehicle based on vehicle information and vehicle model information, in order to generate sludge volume data:

[0047] The first step involves controlling the projector to project structured light information onto the upper part of the sludge transport vehicle's cargo compartment, and controlling the camera to acquire a set of images containing the structured light. The projector and camera are components of the information acquisition device and can be installed in... Figure 1 The information acquisition device 104 is used to: First, control the projector to project structured light information onto the upper part of the sludge transport vehicle's cargo compartment. Simultaneously, based on a preset number of times, control the camera to acquire images of the sludge transport vehicle containing the structured light projection, obtaining a structured light image set. Here, the structured light information includes line-scan structured light and area-array structured light. Second, the structured light information can contain stripe patterns of different frequencies. Correspondingly, the structured light image set contains structured light images of different frequencies corresponding to stripe patterns of different frequencies.

[0048] In practice, acquiring multiple images containing structured light can improve data redundancy and enhance the robustness of 3D reconstruction. Secondly, structured light information is typically generated using digital projection technology. Structured light information is generated using a pre-defined encoding algorithm via a digital light source built into the projector. However, using random structured light for 3D reconstruction is inefficient. To improve the real-time performance and accuracy of 3D reconstruction of sludge-loaded materials, mathematically encoded structured light information, such as temporally encoded and spatially encoded structured light information, can be used.

[0049] The second step involves preprocessing each structured light image in the aforementioned set of structured light images to obtain a preprocessed structured light image set. First, a pre-defined denoising algorithm is used to denoise each structured light image in the set, resulting in a denoised structured light image set. Second, a pre-defined contrast enhancement algorithm is used to enhance the contrast of each denoised structured light image in the set, resulting in the preprocessed structured light image set.

[0050] As examples, denoising algorithms include, but are not limited to, at least one of the following: median filtering, Gaussian low-pass filtering, and deep learning-based denoising methods. Contrast enhancement algorithms include, but are not limited to, at least one of the following: adaptive histogram equalization, contrast stretching, and nonlinear mapping.

[0051] In the third step, the pre-processed structured light picture set is reconstructed into a three-dimensional model of the sludge in the vehicle compartment according to the camera and projector parameter matrix, the camera photometric parameter matrix, and the vehicle model information. First, the phase principal value of each pixel point in each pre-processed structured light picture of different frequencies in the pre-processed structured light picture set is calculated by the phase shift method to obtain a phase principal value set. The phase shift method includes a three-step phase shift method and a four-step phase shift method. Each phase principal value in the phase principal value set corresponds to a pre-processed structured light picture of different frequencies. Then, the phase principal value set is phase-unfolded by a phase-unfolding algorithm to obtain an absolute phase value set. The phase-unfolding algorithm includes time phase unfolding and space phase unfolding. Then, the depth of each absolute phase value in the absolute phase value set is estimated by a preset depth information solving algorithm according to the camera and projector parameter matrix and the camera photometric parameter matrix to obtain a vehicle compartment sludge depth information set. The vehicle compartment sludge depth information is the depth distance value of each point on the sludge loading surface to the camera. The depth information solving algorithm includes a depth information solving method based on phase measurement profilometry (PMP). Finally, the three-dimensional coordinate value of each point on the sludge loading surface is determined according to the depth distance value of each point on the sludge loading surface to the camera in the vehicle compartment sludge depth information set, and a three-dimensional model of the sludge in the vehicle compartment is generated in combination with the vehicle height and the vehicle width in the vehicle compartment size information included in the vehicle model information.

[0052] In practice, the pre-processed structured light picture set can also be reconstructed into a three-dimensional model of the sludge in the vehicle compartment by a stereo matching algorithm according to the camera and projector parameter matrix, the camera photometric parameter matrix, and the vehicle model information. The camera is a binocular camera. The pre-processed structured light picture set includes a left pre-processed structured light picture subset and a right pre-processed structured light picture subset.

[0053] In the fourth step, the three-dimensional model of the sludge in the vehicle compartment is volume segmented to generate sludge volume data. The irregular three-dimensional model of the sludge in the vehicle compartment is segmented into regular tetrahedrons by a volume segmentation method. The volume of each tetrahedron is determined as the sludge volume data.

[0054] Specifically, before the above control of the projector to project structured light information onto the upper part of the vehicle compartment of the sludge transport vehicle and the control of the camera to collect the structured light picture set, the method further includes:

[0055] Sub-step one, geometric calibration is performed on the camera and the projector to obtain a camera and projector parameter matrix. First, a calibration object of a preset shape and size is projected by the projector. Second, the projected calibration object is photographed by the camera to obtain a calibration object picture. Finally, the calibration object picture is calibrated by a preset geometric calibration method to obtain the camera and projector parameter matrix. The calibration object can include a checkerboard picture, a circular dot array picture, etc. The camera and projector parameter matrix includes a camera intrinsic parameter matrix, a projector intrinsic parameter matrix, and a camera and projector extrinsic parameter matrix.

[0056] As an example, the geometric calibration method includes but is not limited to at least one of the following: Zhang Zhengyou calibration method, Tsai two-step method, etc.

[0057] Sub-step two, photometric calibration is performed on the camera and the projector. First, calibration images under different exposure times and light conditions can be photographed to obtain a calibration image set. Then, a camera photometric parameter matrix can be determined according to the calibration image set by a preset photometric calibration method. The photometric parameters can include exposure time, inverse function of sensor response function, optical vignetting correction parameters, etc.

[0058] As an example, the photometric calibration method includes but is not limited to at least one of the following: DSO (Direct Sparse Odometry) photometric calibration method, Direct Method, etc.

[0059] In practice, when using a camera as a key component of an information collection device to collect information about the sludge loaded on the sludge transport vehicle, the following technical problems may be encountered:

[0060] The imaging effect of the camera is easily affected by light. In the case of poor light such as night, rainy day, etc., it is difficult to collect clear sludge vehicle picture information or structure light picture, which affects the robustness and accuracy of volume recognition of the loaded sludge, so that the camera-based volume recognition scheme is difficult to generate effective loaded sludge volume data, thereby reducing the robustness and accuracy of the sludge weighing method and device for weighing sludge. Combined with the advantage that the laser radar is not easily affected by light, the following solution can be determined.

[0061] Optionally, the execution subject can further include the following steps according to the vehicle information and the vehicle model information to perform volume recognition on the sludge loaded on the sludge transport vehicle to generate loaded sludge volume data:

[0062] First, the laser radar is controlled to collect point cloud information of the sludge loading vehicle to obtain sludge vehicle point cloud information. The laser radar is a component in the information collection device and can be arranged on the sludge transport vehicle. Figure 1The information acquisition device 104 can be a laser radar. The laser radar can be a normal-temperature scanning imaging radar. The laser radar can obtain point cloud information of each point on the surface of the sludge transport vehicle and the sludge in the vehicle compartment, i.e., sludge vehicle point cloud information.

[0063] In the second step, the sludge vehicle point cloud information is preprocessed according to the vehicle model information to obtain preprocessed loaded sludge point cloud information. The sludge vehicle point cloud information can be preprocessed by a point cloud preprocessing algorithm to obtain preprocessed sludge vehicle point cloud information. Then, the point cloud information representing the front of the sludge transport vehicle in the preprocessed sludge vehicle point cloud information can be deleted according to the vehicle length information to obtain point cloud information representing the vehicle compartment and the loaded sludge. Then, the distance between the laser radar and the bottom of the vehicle compartment can be determined according to the vehicle height information and the distance between the laser radar and the upper surface of the vehicle compartment to obtain the lower surface of the loaded sludge. The vehicle length information and the vehicle height information can be obtained from the vehicle size information included in the vehicle model information. The distance between the laser radar and the upper surface of the vehicle compartment can be determined from the point cloud information with the highest height in the point cloud information representing the vehicle compartment and the loaded sludge. The lower surface of the loaded sludge is a plane in three-dimensional space. Then, the point cloud information with the highest height in the point cloud information representing the vehicle compartment and the loaded sludge can be deleted to obtain loaded sludge point cloud information. Finally, the loaded sludge point cloud information can be vertically mapped onto the lower surface of the loaded sludge to obtain sludge lower surface point cloud information. The loaded sludge point cloud information can be supplemented with lower surface point cloud information to obtain preprocessed loaded sludge point cloud information.

[0064] As an example, the point cloud preprocessing algorithm includes at least one of the following: point cloud sliding least squares sampling method, radius filter-based filtering algorithm, and outlier filtering algorithm.

[0065] In the third step, the preprocessed loaded sludge point cloud information is divided into a grid based on a preset grid to obtain a loaded sludge point cloud column set. The preprocessed loaded sludge point cloud information can be point cloud columnized based on the preset grid to obtain a loaded sludge point cloud column set. The point cloud columnization is a special form of point cloud voxelization, which is a process of converting three-dimensional point cloud data into a columnar structure. The loaded sludge point cloud column usually has a fixed bottom surface and height, forming a three-dimensional columnar region. The bottom surface can be a square grid.

[0066] Fourthly, the volume value of each of the sludge loading point cloud columns in the sludge loading point cloud column set is determined, and a sludge loading volume data is generated according to the volume values. Firstly, the distance value between the point cloud of the highest point and the point cloud of the lowest point in each of the sludge loading point cloud columns in the sludge loading point cloud column set is determined to obtain the column height value of each of the sludge loading point cloud columns. Then, the product of the area of the preset grid and the column height value of each of the sludge loading point cloud columns is determined as the column volume value of each of the sludge loading point cloud columns. Finally, the sum of the column volume values is determined as the sludge loading volume data. The sludge loading volume data represents the sludge loading volume obtained based on the column.

[0067] Fifthly, the preprocessed sludge loading point cloud information is reconstructed in three dimensions to obtain a sludge loading three-dimensional model. The preprocessed sludge loading point cloud information can be reconstructed in three dimensions by using a preset point cloud three-dimensional reconstruction algorithm to obtain the sludge loading three-dimensional model.

[0068] As an example, the point cloud three-dimensional reconstruction algorithm includes but is not limited to at least one of the following: SparseFusion, Poisson reconstruction algorithm, etc. Figure Three

[0069] Sixthly, the sludge loading three-dimensional model is subjected to volume identification to generate three-dimensional reconstruction sludge loading volume data. The sludge loading three-dimensional model can be subjected to volume identification by using the numerical integration and volume segmentation method introduced in step 203 to generate the three-dimensional reconstruction sludge loading volume data. Details are not repeated here. The three-dimensional reconstruction sludge loading volume data represents the sludge loading volume obtained based on the three-dimensional reconstruction.

[0070] Seventhly, the sludge loading volume data is determined according to the sludge loading volume data of the column and the three-dimensional reconstruction sludge loading volume data. If the difference between the sludge loading volume data of the column and the three-dimensional reconstruction sludge loading volume data is greater than a preset threshold, the volume identification step is performed again. Secondly, if the difference between the sludge loading volume data of the column and the three-dimensional reconstruction sludge loading volume data is less than or equal to the preset threshold, the average value between the sludge loading volume data of the column and the three-dimensional reconstruction sludge loading volume data is determined as the sludge loading volume data. Here, the preset threshold can be 0.5 cubic meters.

[0071] ​The first step to the seventh step and its related content as one of the invention points of the embodiment of the present disclosure solves the technical problem that the camera-based volume recognition scheme is difficult to generate effective sludge loading volume data in poor lighting conditions, thereby reducing the robustness and accuracy of the sludge weighing method and device for sludge weighing. The factors that lead to the above technical problems are often as follows: the imaging effect of the camera is easily affected by light, and it is difficult to collect clear sludge vehicle picture information or structure light picture in poor lighting conditions such as night, rainy day, etc., affecting the robustness and accuracy of the volume recognition of the loaded sludge. If the above factors are solved, the robustness and accuracy of the volume recognition of the loaded sludge can be improved, thereby improving the robustness and accuracy of the sludge weighing method and device for sludge weighing. In order to achieve this effect, the laser radar can be used to recognize the volume of the sludge loaded by the sludge transport vehicle. First, the point cloud data is collected by the laser radar, which is not easily affected by light, which can improve the robustness of the volume recognition of the sludge. Then, through point cloud preprocessing, the original point cloud data is cleaned and optimized, which can eliminate noise and outliers, and improve the accuracy and reliability of subsequent volume recognition. Then, the volume of the loaded sludge is determined by the scheme based on the body column and the scheme based on three-dimensional reconstruction, respectively, to avoid inaccurate volume data caused by a single scheme. Thus, the accuracy of the volume recognition of the loaded sludge can be improved.

[0072] In step 204, the control calculation module controls the sampling mechanical arm to collect a sludge sample from the loaded sludge, and controls the measurement device to measure the sludge sample to generate a sludge sample volume value and a sludge sample weight value.

[0073] In some embodiments, the above execution subject can control the sampling mechanical arm to collect a sludge sample from the loaded sludge, and control the measurement device to measure the sludge sample to generate a sludge sample volume value and a sludge sample weight value.

[0074] In some optional implementations of some embodiments, the above execution subject controls the sampling mechanical arm to collect a sludge sample from the loaded sludge, and controls the measurement device to measure the sludge sample to generate a sludge sample volume value and a sludge sample weight value, which can include the following steps:

[0075] First, determine the respective preset position coordinates of the upper surface of the loaded sludge corresponding to the preset sampling point positions to obtain a preset position coordinate set. Wherein, the preset sampling point positions are uniformly distributed in the carriage. Secondly, the coordinates of the preset sampling point positions can be determined through the extrinsic matrix of the sampling mechanical arm and the information collection device to obtain the preset position coordinate set. Here, the extrinsic matrix of the sampling mechanical arm and the information collection device can be obtained through hand-eye calibration.

[0076] Secondly, the sampling mechanical arm is controlled to collect sludge samples from each preset position coordinate in the set of preset position coordinates to obtain a set of sludge samples.

[0077] Thirdly, the sampling mechanical arm is controlled to divide each sludge sample in the set of sludge samples into a standard volume sludge sample to obtain a set of standard volume sludge samples. Each standard volume sludge sample in the set of standard volume sludge samples has a preset standard volume value. Here, the set of standard volume sludge samples can be obtained by pouring each sludge sample into a container with a volume of the preset standard volume value. In addition, one sludge sample corresponds to one standard volume sludge sample.

[0078] Fourthly, the sampling mechanical arm is controlled to transport each standard volume sludge sample to a measuring device to generate a set of standard sludge sample weight values. Each standard volume sludge sample is weighed by the measuring device to generate the set of standard sludge sample weight values.

[0079] Fifthly, the preset standard volume value is determined as the sludge sample volume value, and the average of each standard sludge sample weight value in the set of standard sludge sample weight values is determined as the sludge sample weight value. Each standard sludge sample weight value can be transmitted to the control calculation module by the transmission module. Then, the average of each standard sludge sample weight value is determined by the control calculation module. Finally, the average is determined as the sludge sample weight value.

[0080] Sixthly, in response to the completion of the measurement by the measuring device, the sampling mechanical arm is controlled to transport each standard volume sludge sample in the set of standard volume sludge samples to the sludge transport vehicle. The completion of the measurement by the measuring device can be that the control calculation module receives the set of standard sludge sample weight values from the measuring device. Then, if the measuring device completes the measurement, the sampling mechanical arm is controlled to transport each standard volume sludge sample in the set of standard volume sludge samples to the sludge transport vehicle.

[0081] Optionally, the execution subject controlling the sampling mechanical arm to collect sludge samples from the loaded sludge and controlling the measuring device to measure the sludge samples to generate the sludge sample volume value and the sludge sample weight value can further include the following steps:

[0082] Firstly, each preset position coordinate corresponding to a preset sampling point on the upper surface of the loaded sludge is determined to obtain a set of preset position coordinates. The set of preset position coordinates can be obtained by the preset position coordinate determination method in step 204, which will not be described here.

[0083] Secondly, for each preset position coordinate in the preset position coordinate set, the following steps are performed:

[0084] Sub-step one, control the sampling mechanical arm to collect a sludge sample from the preset position coordinate, and perform sample segmentation on the sludge sample to obtain a standard volume sludge sample. The sampling mechanical arm can be controlled to collect a sludge sample from the preset position coordinate to obtain a sludge sample. Then, the sampling shovel is controlled to perform sample segmentation on the sludge sample to obtain a standard volume sludge sample. Here, one sludge sample corresponds to one standard volume sludge sample.

[0085] Sub-step two, control the measuring device to weigh the standard volume sludge sample to obtain a single sludge sample weight value. The measuring device is mounted at the end of the sampling mechanical arm.

[0086] Sub-step three, in response to the measuring device completing the measurement, control the sampling mechanical arm to return the standard volume sludge sample to the sludge transport vehicle. The indication that the measuring device has completed the measurement is that the control calculation module receives a single sludge sample weight value from the measuring device.

[0087] Thirdly, determine the preset standard volume value as the sludge sample volume value, and determine the average of the single sludge sample weight values as the sludge sample weight value. The control calculation module determines the average of the single sludge sample weight values as the sludge sample weight value.

[0088] Step 205, the control calculation module determines the sludge sample density value corresponding to the sludge sample volume value and the sludge sample weight value.

[0089] In some embodiments, the execution subject can determine the sludge sample density value corresponding to the sludge sample volume value and the sludge sample weight value. The quotient of the sludge sample weight value and the sludge sample volume value can be determined as the sludge sample density value.

[0090] Step 206, the control calculation module determines the whole vehicle sludge weight data of the sludge transport vehicle according to the loaded sludge volume data and the sludge sample density value.

[0091] In some embodiments, the execution subject can determine the whole vehicle sludge weight data of the sludge transport vehicle according to the loaded sludge volume data and the sludge sample density value. The product of the loaded sludge volume data and the sludge sample density value can be determined as the whole vehicle sludge weight data.

[0092] Optionally, after the step 206, the following steps are further included:

[0093] In a first step, the vehicle model information, the loaded sludge volume data, the sludge sample density value and the whole vehicle sludge weight data are determined as the sludge transportation information.

[0094] In a second step, the control calculation module controls the transmission module to send the sludge transportation information to a local terminal or a remote platform for display.

[0095] The above-mentioned various embodiments of the present disclosure have the following beneficial effects: through the sludge weighing method of some embodiments of the present disclosure, the waste of resources such as fuel, manpower and time can be reduced. Specifically, the reason for the waste of resources such as fuel, manpower and time in the sludge weighing process is that the ground scale has a higher requirement for the site area, needs enough site for the truck to turn around, and has a high cost of ground scale, is prone to failure, and needs professional personnel to manage and maintain, which together causes the ground scale to have a high demand for resources and cost. At the same time, the transportation vehicle loaded with sludge may be transported to a special ground scale site, which may cause the consumption of resources such as fuel, manpower and time. Based on this, the sludge weighing method of some embodiments of the present disclosure first, in response to detecting that the sludge transportation vehicle enters the automatic weighing range, the control calculation module controls the information acquisition device to acquire the vehicle information of the sludge transportation vehicle. The vehicle information includes license plate picture information and vehicle compartment picture information. Through the automatic acquisition of the vehicle information of the sludge transportation vehicle by the information acquisition device, the labor cost can be reduced. Then, the control calculation module identifies the license plate and model of the sludge transportation vehicle according to the vehicle information to generate vehicle model information. The vehicle model information includes license plate number, vehicle model information, vehicle load information and vehicle compartment size information. Thus, the resource consumption caused by manual recording of the license plate number and querying of the vehicle model information can be reduced. Then, the control calculation module identifies the volume of the sludge loaded in the sludge transportation vehicle according to the vehicle information and the vehicle model information to generate the loaded sludge volume data. By replacing the ground scale weighing with volume identification, the demand for ground scale equipment can be reduced, and the site and equipment costs can be reduced. Second, the control calculation module controls the sampling mechanical arm to collect a sludge sample from the loaded sludge, and controls the measuring device to measure the sludge sample to generate a sludge sample volume value and a sludge sample weight value. Then, the control calculation module determines a sludge sample density value corresponding to the sludge sample volume value and the sludge sample weight value. Finally, the control calculation module determines the whole vehicle sludge weight data of the sludge transportation vehicle according to the loaded sludge volume data and the sludge sample density value. By determining the sludge weight loaded in the sludge transportation vehicle through volume and density, the transportation of the transportation vehicle is avoided, the transportation operation efficiency is improved, and the waste of resources such as fuel, manpower and time is reduced.

[0096] Further reference is made to Figure 3As an implementation of the methods shown in the above figures, the present disclosure provides some embodiments of a sludge weighing device, which device embodiments correspond to those method embodiments, and the device can be particularly applied in various electronic devices. Figure 2

[0097] As shown in Figure 3 , the sludge weighing device 300 of some embodiments includes a first control unit 301, a license plate and model identification unit 302, a volume identification unit 303, a second control unit 304, a first determination unit 305, and a second determination unit 306. The first control unit 301 is configured to, in response to detecting that a sludge transport vehicle enters an automatic weighing range, control a control calculation module to control an information acquisition device to acquire vehicle information of the sludge transport vehicle, wherein the vehicle information includes license plate picture information and vehicle compartment picture information. The license plate and model identification unit 302 is configured to control the control calculation module to perform license plate and model identification on the sludge transport vehicle according to the vehicle information, to generate vehicle model information, wherein the vehicle model information includes license plate number, vehicle model information, vehicle load information, and vehicle compartment size information. The volume identification unit 303 is configured to control the control calculation module to perform volume identification on sludge loaded in the sludge transport vehicle according to the vehicle information and the vehicle model information, to generate loaded sludge volume data. The second control unit 304 is configured to control the control calculation module to control a sampling mechanical arm to collect a sludge sample from the loaded sludge, and to control a measurement device to measure the sludge sample, to generate a sludge sample volume value and a sludge sample weight value. The first determination unit 305 is configured to control the control calculation module to determine a sludge sample density value corresponding to the sludge sample volume value and the sludge sample weight value. The second determination unit 306 is configured to control the control calculation module to determine whole-vehicle sludge weight data of the sludge transport vehicle according to the loaded sludge volume data and the sludge sample density value.

[0098] It can be understood that the units described in the device 300 correspond to the respective steps in the method described with reference to Figure 2 . Thus, the operations, features, and beneficial effects described above for the method also apply to the device 300 and the units contained therein, which will not be described again here.

[0099] The following refers to Figure 4 , which shows a structural schematic diagram of an electronic device (such as a computing device 101 as shown in Figure 1 ) 400 suitable for implementing some embodiments of the present disclosure. Figure 4 The electronic device shown is merely an example and should not impose any limitation on the functions and use range of embodiments of the present disclosure.

[0100] As​Figure 4 As shown, the electronic device 400 can include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 401 that can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 402 or loaded into a random access memory (RAM) 403 from a storage device 408. Various programs and data required for the operation of the electronic device 400 are also stored in the RAM 403. The processing device 401, the ROM 402, and the RAM 403 are connected to each other through a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0101] Generally, the following devices can be connected to the I / O interface 405: input devices 406 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 407 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 408 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 409. The communication devices 409 can allow the electronic device 400 to communicate with other devices wirelessly or wired to exchange data. Although Figure 4 The electronic device 400 is shown with various devices, but it should be understood that all of the illustrated devices are not required, and more or fewer devices can alternatively be implemented. Figure 4 Each block shown in the flowcharts can represent a device, or multiple devices, as needed.

[0102] In particular, processes described above with reference to the flowcharts can be implemented as a computer software program according to some embodiments of the present disclosure. For example, some embodiments of the present disclosure include a computer program product including a computer program carried on a computer readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In some such embodiments, the computer program can be downloaded and installed from a network through the communication devices 409, or installed from the storage devices 408, or installed from the ROM 402. When the computer program is executed by the processing device 401, the above-described functions defined in the methods of some embodiments of the present disclosure are performed.

[0103] Note that the computer readable medium in some embodiments of the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination thereof. The computer readable storage medium can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any suitable combination of the foregoing. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the present disclosure, the computer readable storage medium can be any tangible medium that contains or stores a program used by an instruction execution system, apparatus or device, or that can be used by or in connection with an instruction execution system, apparatus or device. In some embodiments of the present disclosure, the computer readable signal medium can include a computer readable program code that is carried in a baseband or as a part of a carrier wave, in which the computer readable program code can be loaded into a computer readable storage medium. Such a propagated computer readable signal medium can take many forms, including but not limited to, an electromagnetic signal, an optical pulse, or any suitable combination of the foregoing. The computer readable signal medium can also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate or transport program code for use by or in connection with an instruction execution system, apparatus or device. Program code embodied on a computer readable medium can be transmitted using any suitable medium, including but not limited to, wire, cable, RF (radio frequency), etc., or any suitable combination of the foregoing.

[0104] In some embodiments, the client, server, or both can communicate using any current known or future developed network protocol, such as HTTP (HyperText Transfer Protocol), and can be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include local area networks ("LAN"), wide area networks ("WAN"), the Internet, and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any current known or future developed networks.

[0105] The computer readable medium can be included in the electronic device, or can exist separately from the electronic device. The computer readable medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: in response to detecting that the sludge transport vehicle enters an automatic weighing range, the control calculation module controls the information acquisition device to acquire vehicle information of the sludge transport vehicle, wherein the vehicle information includes license plate picture information and carriage picture information; the control calculation module identifies the license plate and the model of the sludge transport vehicle according to the vehicle information, to generate vehicle model information, wherein the vehicle model information includes license plate number, vehicle model information, vehicle load information, and carriage size information; the control calculation module identifies the volume of sludge loaded by the sludge transport vehicle according to the vehicle information and the vehicle model information, to generate loaded sludge volume data; the control calculation module controls a sampling mechanical arm to collect a sludge sample from the loaded sludge, and controls a measuring device to measure the sludge sample, to generate a sludge sample volume value and a sludge sample weight value; the control calculation module determines a sludge sample density value corresponding to the sludge sample volume value and the sludge sample weight value; and the control calculation module determines whole-vehicle sludge weight data of the sludge transport vehicle according to the loaded sludge volume data and the sludge sample density value.

[0106] Computer program code for carrying out operations of some embodiments of the present disclosure can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0107] The computer program product of the first aspect can include a computer readable storage medium. The computer readable storage medium can include instructions. The instructions can include one or both of: instructions for causing a computer to implement a method as described above; and instructions for causing a computer to operate based on a system as described above. The computer readable storage medium can include one or more types of computer readable storage media. For example, the computer readable storage medium can include at least one of the following: a hard disk; a CD-ROM; a DVD; a memory card; a floppy disk; a cache; a register; and a register file. The computer readable storage medium can include one or more types of computer readable storage media.

[0108] The units described in some embodiments of the present disclosure can be implemented by means of software, or can be implemented by hardware. The described units can also be provided in a processor, for example, can be described as: a processor comprising a first control unit, a license plate and model recognition unit, a volume recognition unit, a second control unit, a first determination unit, and a second determination unit. In some cases, the names of these units do not constitute a limitation on the units themselves, for example, the first control unit can also be described as a unit for controlling the information collection device to collect information.

[0109] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, example types of hardware logic components that can be used include: field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip systems (SOCs), complex programmable logic devices (CPLDs), etc.

[0110] The above description is merely some of the preferred embodiments of the present disclosure and a description of the principles of the technology used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by the specific combinations of the above technical features, and should also cover other technical solutions formed by any combinations of the above technical features or equivalent features without departing from the above inventive concept. For example, the above features can be replaced with technical features disclosed in the embodiments of the present disclosure (but not limited to) having similar functions to form technical solutions.

Claims

1. A sludge weighing method applied to a sludge weighing device, wherein, The sludge weighing device comprises an information acquisition device, a sampling mechanical arm, a measuring device, a control calculation module, a transmission module, a power supply component and a support protection component, and comprises: In response to detecting that the sludge transport vehicle enters the automatic weighing range, the control calculation module controls the information acquisition device to acquire vehicle information of the sludge transport vehicle, wherein the vehicle information contains license plate picture information and carriage picture information; The control calculation module identifies the license plate and the model of the sludge transport vehicle according to the vehicle information to generate vehicle model information, wherein the vehicle model information includes the license plate number, vehicle load information and carriage size information; The control calculation module identifies the volume of the sludge loaded by the sludge transport vehicle according to the vehicle information and the vehicle model information to generate loaded sludge volume data; The control calculation module controls the sampling mechanical arm to collect a sludge sample from the loaded sludge, and controls the measuring device to measure the sludge sample to generate a sludge sample volume value and a sludge sample weight value; The control calculation module determines a sludge sample density value corresponding to the sludge sample volume value and the sludge sample weight value; The control calculation module determines the whole-vehicle sludge weight data of the sludge transport vehicle according to the loaded sludge volume data and the sludge sample density value; The information acquisition device comprises a laser radar; and the control calculation module identifies the volume of the sludge loaded by the sludge transport vehicle according to the vehicle information and the vehicle model information to generate loaded sludge volume data, comprising: The laser radar is controlled to collect point cloud information of the sludge loading vehicle to obtain sludge vehicle point cloud information; The vehicle model information is used to pre-process the sludge vehicle point cloud information to obtain pre-processed loaded sludge point cloud information; Based on a preset grid, the pre-processed loaded sludge point cloud information is divided into a body column grid to obtain a loaded sludge point cloud body column set; The body column volume value of each loaded sludge point cloud body column in the loaded sludge point cloud body column set is determined, and the body column loaded sludge volume data is generated according to the body column volume values; The pre-processed loaded sludge point cloud information is three-dimensionally reconstructed to obtain a loaded sludge three-dimensional model; The volume of the loaded sludge three-dimensional model is identified to generate three-dimensional reconstructed loaded sludge volume data; The loaded sludge volume data is determined according to the body column loaded sludge volume data and the three-dimensional reconstructed loaded sludge volume data; In response to a difference between the body column loaded sludge volume data and the three-dimensional reconstructed loaded sludge volume data being greater than a preset threshold, the volume identification step is performed again; In response to a difference between the body column loaded sludge volume data and the three-dimensional reconstructed loaded sludge volume data being less than or equal to a preset threshold, an average value between the body column loaded sludge volume data and the three-dimensional reconstructed loaded sludge volume data is determined as the loaded sludge volume data; The control calculation module controls the sampling mechanical arm to collect a sludge sample from the loaded sludge, and controls the measurement device to measure the sludge sample to generate a sludge sample volume value and a sludge sample weight value, comprising: determining each preset position coordinate of the upper surface of the loaded sludge corresponding to a preset sampling point, to obtain a preset position coordinate set; for each preset position coordinate in the preset position coordinate set, the following steps are performed: control the sampling mechanical arm to collect a sludge sample from the preset position coordinate, to obtain a sludge sample, and to divide the sludge sample, to obtain a standard volume sludge sample, wherein the volume value of the standard volume sludge sample is a preset standard volume value; control the measurement device to weigh the standard volume sludge sample to obtain a single sludge sample weight value, wherein the measurement device is mounted on the end of the sampling mechanical arm; in response to the measurement device completing the measurement, control the sampling mechanical arm to return the standard volume sludge sample to the sludge transport vehicle; determine the preset standard volume value as the sludge sample volume value, and determine the average value of each single sludge sample weight value as the sludge sample weight value.

2. The method of claim 1, wherein, The method further comprises: The control calculation module determines the vehicle model information, the loaded sludge volume data, the sludge sample density value, and the whole vehicle sludge weight data as sludge transport information; The control calculation module controls the transmission module to send the sludge transport information to a local terminal or a remote platform for display.

3. The method of claim 1, wherein, The control calculation module identifies the volume of the sludge loaded in the sludge transport vehicle according to the vehicle information and the vehicle model information to generate loaded sludge volume data, comprising: extracting sparse depth features from the vehicle compartment picture information in the vehicle information to obtain sparse depth features; extracting residual features from the vehicle compartment picture information to obtain residual depth features; performing sparse convolution operation on the sparse depth features to obtain convolution depth features; concatenating the residual depth features and the convolution depth features in the channel dimension to obtain fusion depth features; extracting attention features from the fusion depth features to obtain attention depth features; wherein the extracting attention features from the fusion depth features to obtain attention depth features comprises: extracting channel attention features from the fusion depth features to obtain channel attention depth features; extracting spatial attention features from the channel attention depth features to obtain multi-dimensional attention depth features; inputting the multi-dimensional attention depth features into a global pooling layer to obtain global pooling depth features; inputting the global pooling depth features into a fully connected layer and an activation function to obtain an attention weight matrix; determining the element-wise product between the attention weight matrix and the multi-dimensional attention depth features as the attention depth features; performing up-sampling decoding on the attention depth features to obtain a loaded sludge surface depth information set, wherein the loaded sludge surface depth information set comprises a distance value from a real scene point to a camera corresponding to each pixel point in the vehicle compartment picture information; According to the vehicle model information, the loaded sludge surface depth information set is numerically integrated to obtain sludge volume data.

4. The method of claim 1, wherein, The information acquisition device comprises a projector and a camera; and The control calculation module performs volume identification on the sludge loaded in the sludge transport vehicle according to the vehicle information and the vehicle model information to generate sludge volume data, and further comprises: The control calculation module controls the projector to project structured light information onto the upper part of the vehicle compartment of the sludge transport vehicle, and controls the camera to acquire a set of structured light pictures; Each structured light picture in the set of structured light pictures is preprocessed to obtain a set of preprocessed structured light pictures; According to the camera and projector parameter matrix, the camera photometric parameter matrix and the vehicle model information, the set of preprocessed structured light pictures is three-dimensionally reconstructed to obtain a three-dimensional model of the sludge in the vehicle compartment; The three-dimensional model of the sludge in the vehicle compartment is volume segmented to generate sludge volume data.

5. The method of claim 1, wherein, The control calculation module controls the sampling mechanical arm to collect sludge samples from the loaded sludge, comprising: Determine the coordinates of each preset position corresponding to the preset sampling points on the upper surface of the loaded sludge to obtain a set of preset position coordinates; Control the sampling mechanical arm to collect sludge samples from each preset position coordinate in the set of preset position coordinates to obtain a set of sludge samples; Control the sampling mechanical arm to segment each sludge sample in the set of sludge samples to obtain a set of standard volume sludge samples.

6. The method of claim 5, wherein, The control measurement device measures the sludge samples to generate sludge sample volume values and sludge sample weight values, comprising: Control the sampling mechanical arm to transport each standard volume sludge sample to the measurement device to generate a set of standard sludge sample weight values; Determine the preset standard volume value as the sludge sample volume value, and determine the average of each standard sludge sample weight value in the set of standard sludge sample weight values as the sludge sample weight value; In response to the completion of measurement by the measurement device, control the sampling mechanical arm to transport each standard volume sludge sample in the set of standard volume sludge samples to the sludge transport vehicle.

7. A sludge weighing device, comprising: A first control unit configured to control a calculation module to control an information acquisition device to acquire vehicle information of a sludge transport vehicle in response to detecting that the sludge transport vehicle enters an automatic weighing range, wherein the vehicle information includes license plate picture information and vehicle compartment picture information; A license plate and model identification unit configured to control the calculation module to perform license plate and model identification on the sludge transport vehicle according to the vehicle information to generate vehicle model information, wherein the vehicle model information includes license plate number, vehicle load information and vehicle compartment size information; A volume identification unit configured to control the calculation module to perform volume identification on the sludge loaded in the sludge transport vehicle according to the vehicle information and the vehicle model information to generate sludge volume data; The information collection device includes a laser radar; and the control calculation module identifies the volume of the sludge loaded on the sludge transport vehicle according to the vehicle information and the vehicle model information to generate the loaded sludge volume data, including: controlling the laser radar to collect point cloud information of the sludge loading vehicle to obtain sludge vehicle point cloud information; performing point cloud preprocessing on the sludge vehicle point cloud information according to the vehicle model information to obtain preprocessed loaded sludge point cloud information; performing body column grid division on the preprocessed loaded sludge point cloud information based on a preset grid to obtain a loaded sludge point cloud body column set; determining a body column volume value of each loaded sludge point cloud body column in the loaded sludge point cloud body column set, and generating a body column loaded sludge volume data according to each body column volume value; performing three-dimensional reconstruction on the preprocessed loaded sludge point cloud information to obtain a loaded sludge three-dimensional model; performing volume identification on the loaded sludge three-dimensional model to generate three-dimensional reconstructed loaded sludge volume data; determining loaded sludge volume data according to the body column loaded sludge volume data and the three-dimensional reconstructed loaded sludge volume data; in response to a difference between the body column loaded sludge volume data and the three-dimensional reconstructed loaded sludge volume data being greater than a preset threshold, re-performing the volume identification step; in response to the difference between the body column loaded sludge volume data and the three-dimensional reconstructed loaded sludge volume data being less than or equal to the preset threshold, determining an average value between the body column loaded sludge volume data and the three-dimensional reconstructed loaded sludge volume data as the loaded sludge volume data; a second control unit configured to control the sampling mechanical arm to collect a sludge sample from the loaded sludge, and control the measuring device to measure the sludge sample to generate a sludge sample volume value and a sludge sample weight value; The control calculation module controls the sampling mechanical arm to collect a sludge sample from the loaded sludge, and controls the measuring device to measure the sludge sample to generate a sludge sample volume value and a sludge sample weight value, including: determining each preset position coordinate corresponding to a preset sampling point on the upper surface of the loaded sludge to obtain a preset position coordinate set; for each preset position coordinate in the preset position coordinate set, the following steps are performed: controlling the sampling mechanical arm to collect a sludge sample from the preset position coordinate to obtain a sludge sample, and performing sample segmentation on the sludge sample to obtain a standard volume sludge sample, wherein the volume value of the standard volume sludge sample is a preset standard volume value; controlling the measuring device to weigh the standard volume sludge sample to obtain a single sludge sample weight value, wherein the measuring device is mounted on the end of the sampling mechanical arm; in response to the measuring device completing the measurement, controlling the sampling mechanical arm to return the standard volume sludge sample to the sludge transport vehicle; determining the preset standard volume value as the sludge sample volume value, and determining an average value of each single sludge sample weight value as the sludge sample weight value; A first determining unit is configured to determine, by the control calculation module, a sludge sample density value corresponding to the sludge sample volume value and the sludge sample weight value; A second determining unit is configured to determine, by the control calculation module, whole-vehicle sludge weight data of the sludge transport vehicle according to the loaded sludge volume data and the sludge sample density value. 8.An electronic device, comprising: one or more processors; one or more programs stored on the storage device; when the one or more programs are executed by the one or more processors, the one or more programs cause the one or more processors to carry out the method according to any one of claims 1 to 6.

9. A computer readable medium having stored thereon a computer program, wherein, The program is executed by the processor to implement the method according to any one of claims 1 to 6.

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