Cargo volume measurement method and system

Abstract

The invention relates to the technical field of cargo transmission, in particular to a cargo volume measurement method and system. According to the method, for each laser radar, the area of a sub-region scanned by the laser radar in each time slice can be determined according to surface point cloud data of a cargo region corresponding to the laser radar extracted each time between a starting moment and an ending moment; according to the sum of the areas of the sub-regions scanned by the N laser radars under each time slice in each time slice, the duration of the time slice, the preset running speed of the goods conveying line and the total duration between the starting moment and the ending moment, the size of the goods is determined, the time needed to be consumed is little, the goods transportation efficiency is improved, and the goods transportation efficiency is improved. Moreover, the method for determining the area of the goods can be universally used for the goods with regular or irregular shapes, and is wide in application range.

Description

Technical Field

[0001] The present application relates to the technical field of cargo transportation, and in particular to a cargo volume measurement method and system. Background Art

[0002] In the fields of airport logistics or warehouse logistics, before multiple goods are packed and transported, the volume of each cargo needs to be measured so that the packing layout strategy can be scientifically planned later to maximize the volume utilization of the vehicles used for packing and transportation.

[0003] At present, one way to measure the volume of goods in logistics transportation is: when the goods are detected, the transportation of the goods is controlled to stop, and at least two 3D cameras are used to take pictures of the stationary goods in different directions, and 3D image data of the goods at at least two different angles are obtained respectively, and then the 3D image data of at least two different angles are synthesized into one 3D image data. Based on the 3D image data, the volume of the goods is identified, and then the transportation of the goods is resumed.

[0004] However, in the process of identifying the volume of the goods, a large amount of data needs to be processed, which takes a lot of time. Since a large amount of time is spent, the transportation of the goods needs to be temporarily stopped, which affects the transportation efficiency of the goods. Summary of the invention

[0005] The present application provides a cargo volume measurement method and system, which are used to solve the problem in the prior art that a large amount of data needs to be processed during the process of a user identifying the volume of cargo, thus taking a lot of time.

[0006] In a first aspect, the present application provides a cargo volume measurement method, which is applied to a cargo volume measurement system. The cargo volume measurement system includes a main controller, N laser radars with different scanning directions, and a cargo transmission line, where N is an integer greater than or equal to 2, and each laser radar is directly opposite to the cargo transmission line. The method includes:

[0007] The main controller receives N laser point cloud data transmitted by N laser radars in different scanning directions;

[0008] When it is determined that there are goods on the goods transmission line, the scanning start time is recorded, and the surface point cloud data of the sub-area in the goods area corresponding to each laser radar is extracted at every preset time slice thereafter;

[0009] When it is determined that the goods leave the scanning range of N laser radars, the scanning end time is recorded;

[0010] For each laser radar, the area of ​​the sub-area scanned by the laser radar in each time slice is determined based on the surface point cloud data of the cargo area corresponding to the laser radar extracted each time between the start time and the end time;

[0011] The volume of the cargo is determined based on the sum of the areas of the sub-areas scanned by N laser radars in each time slice, the duration of the time slice, the running speed of the preset cargo transmission line, and the total duration between the start time and the end time.

[0012] In a possible implementation, the volume of the cargo is determined according to the sum of the areas of the sub-areas scanned by N laser radars in each time slice, the duration of the time slice, the running speed of the preset cargo transmission line, and the total duration between the start time and the end time, including:

[0013] According to the formula V = ∫T*S Δt Δt*v dΔt, determine the volume of the goods, where T is the total time between the start time and the end time, S Δt is the sum of the areas of the sub-areas scanned by N lidars in each time slice, Δt is the duration of the time slice, v is the running speed of the cargo transmission line, and V is the volume of the cargo.

[0014] In a possible implementation, N laser radars with different scanning directions include a first laser radar disposed on a first side of the transmission direction of the cargo transmission line. For each laser radar, based on surface point cloud data of the cargo area corresponding to the laser radar extracted each time between the start time and the end time, the area of ​​the sub-area scanned by the laser radar in each time slice is determined, including:

[0015] For the first laser radar, according to the surface point cloud data of the cargo area corresponding to the first laser radar extracted each time between the start time and the end time, the angle between the line connecting the i-th point cloud data in the first laser radar coordinate system to the coordinate origin of the first laser radar coordinate system and the X-axis of the first laser radar coordinate system, the distance between the i-th point cloud data and the coordinate origin of the first laser radar coordinate system, the angle between the line connecting the i+1-th point cloud data and the coordinate origin of the first laser radar coordinate system and the X-axis of the first laser radar coordinate system, and the distance between the i+1-th point cloud data and the coordinate origin of the first laser radar coordinate system , and the edge point of the cargo area corresponding to the first laser radar in the Y-axis direction that is farthest from the origin of the first laser radar coordinate system, and the distance from the origin of the first laser radar coordinate system in the Y-axis direction, determine the area of ​​the sub-area scanned by the first laser radar in the corresponding time slice, where 1≤i≤n-1, n is the number of point cloud data in the surface point cloud data of the cargo area corresponding to the first laser radar, and the first laser radar coordinate system is a coordinate system with the first laser radar as the origin, the straight line perpendicular to the plane where the cargo transmission line is located as the X-axis, and the straight line parallel to the transportation direction of the cargo transmission line as the Y-axis.

[0016] In a possible implementation, for each laser radar, according to the surface point cloud data of the cargo area corresponding to the laser radar extracted each time between the start time and the end time, the area of ​​the sub-area scanned by the laser radar in each time slice is determined, including:

[0017] According to the formula Determine the area of ​​the sub-region scanned by the first laser radar in the corresponding time slice, where D i is the distance from the i-th point cloud data to the coordinate origin of the first laser radar coordinate system, θ i is the angle between the line from the i-th point cloud data in the first laser radar coordinate system to the coordinate origin of the first laser radar coordinate system and the X-axis of the first laser radar coordinate system, D i+1 is the distance from the i-th point cloud data to the coordinate origin of the first laser radar coordinate system, θ i+1 H is the angle between the line from the i-th point cloud data in the first laser radar coordinate system to the coordinate origin of the first laser radar coordinate system and the X-axis of the first laser radar coordinate system. 1 is the distance between the edge point of the cargo area corresponding to the first laser radar and the origin of the first laser radar coordinate system in the Y-axis direction and the origin of the first laser radar coordinate system in the Y-axis direction, S Δt1 is the area of ​​the sub-region scanned by the first lidar in the corresponding time slice.

[0018] In a possible implementation, N laser radars with different scanning directions include a second laser radar disposed above the transmission direction of the cargo transmission line. For each laser radar, based on the surface point cloud data of the cargo area corresponding to the laser radar extracted each time between the start time and the end time, the area of ​​the sub-area scanned by the laser radar in each time slice is determined, including:

[0019] For the second laser radar, the area of ​​the sub-area scanned by the second laser radar in the corresponding time slice is determined according to the angle between the line connecting the i-th point cloud data of the surface point cloud data of the cargo area corresponding to the first laser radar extracted each time in the second laser radar coordinate system and the coordinate origin of the second laser radar coordinate system, the distance between the i-th point cloud data and the coordinate origin of the second laser radar coordinate system, the angle between the line connecting the i+1-th point cloud data and the coordinate origin of the second laser radar coordinate system and the X-axis of the second laser radar coordinate system, the distance between the i+1-th point cloud data and the coordinate origin of the second laser radar coordinate system, and the distance between the cargo transmission line and the origin of the second laser radar coordinate system in the Y-axis direction, wherein 1≤i≤m-1, m is the number of point cloud data in the surface point cloud data of the cargo area corresponding to the second laser radar, and the second laser radar coordinate system is a coordinate system with the second laser radar as the origin, the straight line parallel to the plane where the cargo transmission line is located as the X-axis, and the straight line perpendicular to the transportation direction of the cargo transmission line as the Y-axis.

[0020] In a possible implementation, based on the surface point cloud data of the cargo area corresponding to the laser radar extracted each time between the start time and the end time, determining the area of ​​the sub-area scanned by the laser radar in each time slice includes:

[0021] According to the formula Determine the area of ​​the sub-region scanned by the second laser radar in each time slice, where D i is the distance from the i-th point cloud data to the coordinate origin of the second laser radar coordinate system, θ i is the angle between the line from the i-th point cloud data in the second laser radar coordinate system to the coordinate origin of the second laser radar coordinate system and the X-axis of the second laser radar coordinate system, D i+1 is the distance from the i-th point cloud data to the coordinate origin of the second laser radar coordinate system, θ i+1 H is the angle between the line from the i-th point cloud data in the second laser radar coordinate system to the coordinate origin of the second laser radar coordinate system and the X-axis of the second laser radar coordinate system. 2 is the distance between the cargo transmission line and the origin of the second laser radar coordinate system in the Y-axis direction, S Δt2 is the area of ​​the sub-region scanned by the second lidar in the corresponding time slice.

[0022] In a possible implementation, N laser radars with different scanning directions include a third laser radar disposed on the second side of the transmission direction of the cargo transmission line. For each laser radar, based on the surface point cloud data of the cargo area corresponding to the laser radar extracted each time between the start time and the end time, the area of ​​the sub-area scanned by the laser radar in each time slice is determined, including:

[0023] For the third laser radar, between the start time and the end time, the line connecting the i-th point cloud data of the surface point cloud data of the cargo area corresponding to the third laser radar extracted each time in the third laser radar coordinate system to the coordinate origin of the third laser radar coordinate system, the angle between the line connecting the i-th point cloud data and the coordinate origin of the third laser radar coordinate system and the X-axis of the third laser radar coordinate system, the distance from the i-th point cloud data to the coordinate origin of the third laser radar coordinate system, the angle between the line connecting the i+1-th point cloud data and the coordinate origin of the third laser radar coordinate system and the X-axis of the third laser radar coordinate system, and the distance from the i+1-th point cloud data to the coordinate origin of the third laser radar coordinate system , and the edge point of the cargo area corresponding to the third laser radar in the Y-axis direction that is farthest from the origin of the third laser radar coordinate system, and the distance from the origin of the third laser radar coordinate system in the Y-axis direction, determine the area of ​​the sub-area scanned by the third laser radar in the corresponding time slice, where 1≤i≤p-1, p is the number of point cloud data in the surface point cloud data of the cargo area corresponding to the third laser radar, and the third laser radar coordinate system is a coordinate system with the third laser radar as the origin, the straight line perpendicular to the plane where the cargo transmission line is located as the X-axis, and the straight line parallel to the transportation direction of the cargo transmission line as the Y-axis.

[0024] In a possible implementation, for each laser radar, according to the surface point cloud data of the cargo area corresponding to the laser radar extracted each time between the start time and the end time, the area of ​​the sub-area scanned by the laser radar in each time slice is determined, including:

[0025] According to the formula Determine the area of ​​the sub-region scanned by the third laser radar in the corresponding time slice, where D i is the distance from the i-th point cloud data to the coordinate origin of the third laser radar coordinate system, θ i is the angle between the line from the i-th point cloud data in the third laser radar coordinate system to the coordinate origin of the third laser radar coordinate system and the X-axis of the third laser radar coordinate system, D i+1 is the distance from the i-th point cloud data to the coordinate origin of the third laser radar coordinate system, θ i+1 H is the angle between the line from the i-th point cloud data in the third laser radar coordinate system to the coordinate origin of the third laser radar coordinate system and the X-axis of the third laser radar coordinate system. 3S is the distance between the edge point of the cargo area corresponding to the third laser radar in the Y-axis direction and the origin of the third laser radar coordinate system, and the edge point in the Y-axis direction. Δt3 is the area of ​​the sub-region scanned by the third laser radar in the corresponding time slice.

[0026] In a possible implementation, the cargo volume measurement system further includes a first cargo sensor, the cargo transmission line includes a second sub-transportation line and a first sub-transportation line sequentially arranged along a cargo transmission direction, the first cargo sensor is arranged on one side of the first sub-transportation line, and the first cargo sensor is arranged on one side of a boundary line between the first sub-transportation line and the second sub-transportation line. Before determining that there is cargo on the cargo transmission line, the method further includes:

[0027] The main controller receives a cargo signal from the first cargo sensor;

[0028] When it is determined based on the cargo signal of the first cargo sensor that the first cargo is transferred from the second sub-transportation line to the first sub-transportation line, the second sub-transportation line is controlled to stop operating.

[0029] In the second aspect, the present application also provides a cargo volume measurement system, including a main controller, N laser radars with different scanning directions, and a cargo transmission line, N is an integer greater than or equal to 2, the main controller is electrically connected to each laser radar, each laser radar is directly opposite to the cargo transmission line, and the main controller is used to execute the method provided in the first aspect of the present application.

[0030] In a third aspect, the present application further provides a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed by a main controller, the main controller is prompted to implement the steps of the method provided in the first aspect of the present application.

[0031] In a fourth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a main controller, implements the steps of the method provided in the first aspect of the present application.

[0032] The present application provides a cargo volume measurement method and system. When it is determined that there is cargo on a cargo transmission line, the scanning start time is recorded, and the surface point cloud data of the sub-area in the cargo area corresponding to each laser radar is extracted at each preset time slice thereafter; when it is determined that the cargo leaves the scanning range of N laser radars, the scanning end time is recorded; for each laser radar, the area of ​​the sub-area scanned by the laser radar in each time slice is determined according to the surface point cloud data of the cargo area corresponding to the laser radar extracted each time between the start time and the end time; the volume of the cargo is determined according to the sum of the areas of the sub-areas scanned by the N laser radars in each time slice in each time slice, the duration of the time slice, the preset running speed of the cargo transmission line, and the total duration between the start time and the end time. It can be understood that since the processed data is the surface point cloud data of the sub-area in the cargo area corresponding to each laser radar in each time slice, the amount of data processed is small, and thus the time required is very short, so there is no need to forcibly temporarily control the cargo to stop transportation, which improves the transportation efficiency of the cargo and saves computing resources. Moreover, the method of determining the cargo area is universal for cargo with regular or irregular shapes and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0034] Figure 1 One of the structural schematic diagrams of the cargo volume measurement system provided in an embodiment of the present application;

[0035] Figure 2 A flow chart of a cargo volume measurement method provided in an embodiment of the present application;

[0036] Figure 3 This is one of the structural schematic diagrams of the cargo volume measurement system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0038] Various structural schematic diagrams according to embodiments of the present disclosure are shown in the accompanying drawings. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may further design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0039] In the context of the present disclosure, when a layer / element is referred to as being "on" another layer / element, the layer / element may be directly on the other layer / element or an intervening layer / element may exist therebetween. In addition, if a layer / element is "on" another layer / element in one orientation, the layer / element may be "below" the other layer / element when the orientation is reversed.

[0040] The following is a detailed description of the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0041] The present application embodiment provides a cargo volume measurement method, which is applied to a cargo volume measurement system. Figure 1 As shown, the cargo volume measurement system includes a main controller (not shown in the figure), N laser radars with different scanning directions, and a cargo transmission line 102, N is an integer greater than or equal to 2, and each laser radar is directly opposite to the cargo transmission line 102. Exemplarily, the N laser radars with different scanning directions may include but are not limited to a first laser radar 103 arranged on the first side (such as the left side) of the cargo transmission line 102, a second laser radar 104 arranged above the cargo transmission line 102, and a third laser radar 105 arranged on the second side (such as the right side) of the cargo transmission line 102. Since the first laser radar 103, the second laser radar 104 and the third laser radar 105 are arranged in various directions of the cargo transmission line 102, the area scanned by the cargo 101 can be more complete and comprehensive. It should be noted that the scanning range of each laser radar can be pre-set, and different scanning ranges correspond to different cargo areas. As Figure 2 As shown, the method provided in the embodiment of the present application includes:

[0042] S201: The main controller receives N channels of laser point cloud data respectively transmitted by N laser radars in different scanning directions.

[0043] S202: When it is determined that there is cargo 101 on cargo transmission line 102, the scanning start time is recorded, and surface point cloud data of a sub-area in the cargo area corresponding to each laser radar is extracted at every preset time slice thereafter.

[0044] The preset time slice may be 1ms, 2ms or 5ms, etc., which is not limited here. It can be understood that the scanning data corresponding to the preset time slice is the surface point cloud data of the sub-area in the cargo area.

[0045] For example, Figure 3 As shown, the first laser radar 103 may correspond to area 1 in the cargo area, the second laser radar 104 may correspond to area 2 in the cargo area, and the third laser radar 105 may correspond to area 3 in the cargo area. Among them, area 1, area 2 and area 3 are all sub-areas in the cargo area.

[0046] Exemplarily, the manner of determining that the cargo 101 exists on the cargo transmission line 102 may include but is not limited to the following two:

[0047] The first type: in the second laser radar coordinate system, before the cargo 101 is scanned by the second laser radar 104, the second laser radar 104 scans the cargo transmission line 102, and after the cargo 101 is scanned by the second laser radar 104, the second laser radar 104 scans the cargo 101. Since the distance of the cargo 101 relative to the origin of the second laser radar coordinate system is smaller than the distance of the cargo transmission line 102 relative to the origin of the second laser radar coordinate system, when the coordinates of some of the point cloud data on the Y axis in the second laser radar coordinate system of each point cloud data scanned by the second laser radar 104 jump and decrease, it is determined that the cargo 101 exists on the cargo transmission line 102. The second laser radar coordinate system is a coordinate system with the second laser radar 104 as the origin, the straight line parallel to the plane where the cargo transmission line 102 is located as the X axis, and the straight line perpendicular to the transportation direction of the cargo transmission line 102 as the Y axis.

[0048] The second method: a second cargo sensor (such as a photoelectric switch) can be installed on one side of the starting position of the cargo transmission line 102 in the transmission direction. When the second cargo sensor detects the cargo 101, the main controller can receive the cargo signal from the second cargo sensor, and then it can be determined that the cargo 101 exists on the cargo transmission line 102.

[0049] In addition, Figure 1As shown, the cargo volume measurement system provided by the embodiment of the present application further includes a first cargo sensor, the cargo transmission line 102 includes a second sub-transport line 108 and a first sub-transport line 107 which are sequentially arranged along the cargo transmission direction, the first cargo sensor is arranged on one side of the first sub-transport line 107, and the first cargo sensor is arranged on one side of the boundary line between the first sub-transport line 107 and the second sub-transport line 108. Before determining that there is cargo 101 on the cargo transmission line 102, the main controller can also receive a cargo signal from the first cargo sensor; based on the cargo signal of the first cargo sensor, when it is determined that the first cargo 101 is transferred from the second sub-transport line 108 to the first sub-transport line 107, the second sub-transport line 108 is controlled to stop operating. In this way, the cargo 101 behind the above-mentioned cargo 101 can stay on the second sub-transport line 108, avoiding that the cargo 101 behind the cargo 101 enters the first sub-transport line 107 immediately after the cargo 101 in front and is scanned by N laser radars, resulting in errors in the data based on which the volume of the cargo 101 is subsequently determined.

[0050] S203: When it is determined that the cargo 101 leaves the scanning range of the N laser radars, the scanning end time is recorded.

[0051] For example, the manner of determining whether the cargo 101 leaves the scanning range of N laser radars may include but is not limited to the following two:

[0052] The first type: in the second laser radar coordinate system, after the cargo 101 is scanned by the second laser radar 104, the second laser radar 104 scans the cargo 101, and after the cargo 101 leaves the scanning range of the N laser radars, the second laser radar 104 scans the cargo transmission line 102. Since the distance of the cargo 101 relative to the origin of the second laser radar coordinate system is smaller than the distance of the cargo transmission line 102 relative to the origin of the second laser radar coordinate system, when the coordinates of some of the point cloud data on the Y axis in the second laser radar coordinate system jump and increase, it is determined that the cargo 101 leaves the scanning range of the N laser radars. The second laser radar coordinate system is a coordinate system with the second laser radar 104 as the origin, the straight line parallel to the plane where the cargo transmission line 102 is located as the X axis, and the straight line perpendicular to the transportation direction of the cargo transmission line 102 as the Y axis.

[0053] The second method is to install a third cargo sensor (such as a photoelectric switch) on one side of the end position of the cargo transmission line 102 in the transmission direction. When the third cargo sensor detects the cargo 101, the main controller can receive a cargo signal from the third cargo sensor, and then determine that the cargo 101 leaves the scanning range of the N laser radars.

[0054] S204: For each laser radar, the area of ​​the sub-area scanned by the laser radar in each time slice is determined based on the surface point cloud data of the cargo area corresponding to the laser radar extracted each time between the start time and the end time.

[0055] Specifically, S204 may include: N laser radars with different scanning directions, including a first laser radar 103 arranged on the first side of the transmission direction of the cargo transmission line 102, a second laser radar 104 arranged above the transmission direction of the cargo transmission line 102, and a third laser radar 105 arranged on the second side of the transmission direction of the cargo transmission line 102.

[0056] For the first laser radar 103, the area of ​​the sub-area scanned by the first laser radar 103 in the corresponding time slice is determined based on the line connecting the i-th point cloud data of the surface point cloud data of the cargo area corresponding to the first laser radar 103 extracted each time in the first laser radar 103 coordinate system to the coordinate origin of the first laser radar coordinate system, the angle between the i-th point cloud data and the coordinate origin of the first laser radar coordinate system, the distance between the i+1-th point cloud data and the coordinate origin of the first laser radar coordinate system, and the angle between the i+1-th point cloud data and the coordinate origin of the first laser radar coordinate system, and the edge point of the cargo area corresponding to the first laser radar 103 in the Y-axis direction that is farthest from the origin of the first laser radar 103 coordinate system, and the distance between the edge point in the Y-axis direction and the origin of the first laser radar 103 coordinate system. Among them, 1≤i≤n-1, n is the number of point cloud data in the surface point cloud data of the cargo area corresponding to the first laser radar 103, and the first laser radar coordinate system is a coordinate system with the first laser radar 103 as the origin, the straight line perpendicular to the plane where the cargo transmission line 102 is located as the X-axis, and the straight line parallel to the transportation direction of the cargo transmission line 102 as the Y-axis.

[0057] For example, according to the formula Determine the area of ​​the sub-region scanned by the first laser radar 103 in the corresponding time slice. i is the distance from the i-th point cloud data to the coordinate origin of the first laser radar coordinate system, θ i is the angle between the line from the i-th point cloud data in the first laser radar 103 coordinate system to the coordinate origin of the first laser radar coordinate system and the X-axis of the first laser radar coordinate system, D i+1 is the distance from the i-th point cloud data to the coordinate origin of the first laser radar coordinate system, θ i+1H is the angle between the line from the i-th point cloud data in the first laser radar 103 coordinate system to the coordinate origin of the first laser radar coordinate system and the X-axis of the first laser radar coordinate system, 1 S is the distance between the edge point of the cargo area corresponding to the first laser radar 103 in the Y-axis direction and the origin of the coordinate system of the first laser radar 103, and the edge point in the Y-axis direction. Δt1 is the area of ​​the sub-region scanned by the first laser radar 103 in the corresponding time slice. i *cosθ i can be the ordinate of the i-th point cloud data on the Y axis, D i *cosθ i+1 It can be the vertical coordinate of the i+1th point cloud data on the Y axis.

[0058] For the second laser radar 104, the area of ​​the sub-area scanned by the second laser radar 104 in the corresponding time slice is determined based on the line connecting the i-th point cloud data of the surface point cloud data of the cargo area corresponding to the first laser radar 103 extracted each time in the second laser radar 104 coordinate system to the coordinate origin of the second laser radar coordinate system, the angle between the i-th point cloud data and the coordinate origin of the second laser radar coordinate system, the distance between the i+1-th point cloud data and the coordinate origin of the second laser radar coordinate system, and the distance between the cargo transmission line 102 and the origin of the second laser radar 104 coordinate system in the Y-axis direction. Among them, 1≤i≤m-1, m is the number of point cloud data in the surface point cloud data of the cargo area corresponding to the second laser radar 104, and the second laser radar coordinate system is a coordinate system with the second laser radar 104 as the origin, a straight line parallel to the plane where the cargo transmission line 102 is located as the X-axis, and a straight line perpendicular to the transportation direction of the cargo transmission line 102 as the Y-axis.

[0059] Specifically, according to the formula Determine the area of ​​the sub-region scanned by the second laser radar 104 in each time slice. i is the distance from the i-th point cloud data to the coordinate origin of the second laser radar coordinate system, θ i is the angle between the line from the i-th point cloud data in the second laser radar 104 coordinate system to the coordinate origin of the second laser radar coordinate system and the X-axis of the second laser radar coordinate system, D i+1 is the distance from the i-th point cloud data to the coordinate origin of the second laser radar coordinate system, θ i+1H is the angle between the line from the i-th point cloud data in the second laser radar 104 coordinate system to the coordinate origin of the second laser radar coordinate system and the X-axis of the second laser radar coordinate system, 2 is the distance between the cargo transmission line 102 and the origin of the coordinate system of the second laser radar 104 in the Y-axis direction, S Δt2 is the area of ​​the sub-region scanned by the second laser radar 104 in the corresponding time slice. i *cosθ i It can be understood as the ordinate of the i-th point cloud data on the Y axis, D i *cosθ i+1 It can be the vertical coordinate of the i+1th point cloud data on the Y axis.

[0060] For the third laser radar 105, according to the surface point cloud data of the cargo area corresponding to the third laser radar 105 extracted each time between the start time and the end time, the line connecting the i-th point cloud data in the third laser radar 105 coordinate system to the coordinate origin of the third laser radar coordinate system, the angle between the i-th point cloud data and the coordinate origin of the third laser radar coordinate system, the distance between the i+1-th point cloud data and the coordinate origin of the third laser radar coordinate system, and the angle between the i+1-th point cloud data and the coordinate origin of the third laser radar coordinate system, and the third laser The edge point of the cargo area corresponding to the laser radar 105 in the Y-axis direction which is farthest from the origin of the coordinate system of the third laser radar 105, and the distance in the Y-axis direction from the origin of the coordinate system of the third laser radar 105, determine the area of ​​the sub-area scanned by the third laser radar 105 in the corresponding time slice, where 1≤i≤p-1, p is the number of point cloud data in the surface point cloud data of the cargo area corresponding to the third laser radar 105, and the third laser radar coordinate system is a coordinate system with the third laser radar 105 as the origin, the straight line perpendicular to the plane where the cargo transmission line 102 is located as the X-axis, and the straight line parallel to the transportation direction of the cargo transmission line 102 as the Y-axis.

[0061] In some embodiments, according to the formula Determine the area of ​​the sub-region scanned by the third laser radar 105 in the corresponding time slice. i is the distance from the i-th point cloud data to the coordinate origin of the third laser radar coordinate system, θ i is the angle between the line from the ith point cloud data in the third laser radar 105 coordinate system to the coordinate origin of the third laser radar coordinate system and the X-axis of the third laser radar coordinate system, D i+1 is the distance from the i-th point cloud data to the coordinate origin of the third laser radar coordinate system, θ i+1H is the angle between the line from the ith point cloud data in the third laser radar 105 coordinate system to the coordinate origin of the third laser radar coordinate system and the X-axis of the third laser radar coordinate system, 3 S is the distance in the Y-axis direction between the edge point of the cargo area corresponding to the third laser radar 105 and the origin of the coordinate system of the third laser radar 105, and the edge point farthest from the origin of the coordinate system of the third laser radar 105 in the Y-axis direction. Δt3 is the area of ​​the sub-region scanned by the third laser radar 105 in the corresponding time slice. i *cosθ i It can be understood as the ordinate of the i-th point cloud data on the Y axis, D i *cosθ i+1 It can be the vertical coordinate of the i+1th point cloud data on the Y axis.

[0062] S205: Determine the volume of the cargo 101 according to the sum of the areas of the sub-areas scanned by the N laser radars in each time slice, the duration of the time slice, the preset running speed of the cargo transmission line 102, and the total duration between the start time and the end time.

[0063] For example, the formula V = ∫T*S Δt Δt*v dΔt, determine the volume of cargo 101, where T is the total time between the start time and the end time, S Δt is the sum of the areas of the sub-areas scanned by the N laser radars in each time slice, Δt is the duration of the time slice, v is the running speed of the cargo transmission line 102, and V is the volume of the cargo 101. Based on the above S204, S Δt =S Δt1 +S Δt2 +S Δt3 .

[0064] In addition, if Figure 1 As shown, an embodiment of the present application also provides a cargo volume measurement system, including a main controller, N laser radars with different scanning directions, and a cargo transmission line 102, N is an integer greater than or equal to 2, the main controller is electrically connected to each laser radar, each laser radar is directly opposite to the cargo transmission line 102, and the main controller is used to execute the method provided in the above embodiment of the present application.

[0065] In summary, the cargo volume measurement method and system provided in the embodiment of the present application records the scanning start time when it is determined that cargo 101 exists on the cargo transmission line 102, and extracts the surface point cloud data of the sub-area in the cargo area corresponding to each laser radar at each preset time slice thereafter; records the scanning end time when it is determined that the cargo 101 leaves the scanning range of N laser radars; for each laser radar, determines the area of ​​the sub-area scanned by the laser radar in each time slice based on the surface point cloud data of the cargo area corresponding to the laser radar extracted each time between the start time and the end time; determines the volume of the cargo 101 based on the sum of the areas of the sub-areas scanned by the N laser radars in each time slice, the duration of the time slice, the preset running speed of the cargo transmission line 102, and the total duration between the start time and the end time. It can be understood that since the data processed is the surface point cloud data of the sub-area in the cargo area corresponding to each lidar in each time slice, the amount of data processed is small, and thus very little time is required. In this way, there is no need to forcibly temporarily control the transportation of cargo 101 to stop, thereby improving the transportation efficiency of cargo 101 and saving computing resources. Moreover, the method of determining the area of ​​cargo 101 is applicable to cargo 101 with regular or irregular shapes and has a wide range of applications.

[0066] In addition, an embodiment of the present application further provides a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed by a main controller, the main controller is prompted to implement the steps of the method provided in the above embodiment of the present application.

[0067] In addition, an embodiment of the present application further provides a computer program product, including a computer program, which, when executed by a main controller, implements the steps of the method of the above embodiment of the present application.

[0068] In the above description, the technical details such as the patterning of each layer are not described in detail. However, those skilled in the art should understand that various technical means can be used to form layers, regions, etc. of desired shapes. In addition, in order to form the same structure, those skilled in the art can also design methods that are not completely the same as the methods described above. In addition, although the various embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage.

[0069] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0070] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for measuring cargo volume, characterized in that: Applied to a cargo volume measurement system, the cargo volume measurement system includes a main controller, N laser radars with different scanning directions, and a cargo transmission line, N is an integer greater than or equal to 2, each of the laser radars is directly opposite to the cargo transmission line, and the method includes: The main controller receives N channels of laser point cloud data respectively transmitted by the N laser radars in different scanning directions; When it is determined that there are goods on the goods transmission line, the scanning start time is recorded, and the surface point cloud data of the sub-area in the goods area corresponding to each laser radar is extracted at every preset time slice thereafter; When it is determined that the cargo leaves the scanning range of the N laser radars, recording the scanning end time; For each of the laser radars, according to the surface point cloud data of the cargo area corresponding to the laser radar extracted each time between the start time and the end time, determine the area of ​​the sub-area scanned by the laser radar in each of the time slices; The volume of the cargo is determined based on the sum of the areas of the N sub-areas scanned by the laser radars in each of the time slices, the duration of the time slice, the running speed of the preset cargo transmission line, and the total duration between the start time and the end time.

2. The method according to claim 1, characterized in that The determining the volume of the cargo according to the sum of the areas of the N sub-areas scanned by the laser radars in each of the time slices, the duration of the time slice, the running speed of the preset cargo transmission line, and the total duration between the start time and the end time includes: According to the formula V = ∫T*S Δt Δt*v dΔt, determine the volume of the cargo, where T is the total time between the start time and the end time, S Δt is the sum of the areas of the N sub-areas scanned by the laser radars in each time slice, Δt is the duration of the time slice, v is the running speed of the cargo transmission line, and V is the volume of the cargo.

3. The method according to claim 1, characterized in that The N laser radars with different scanning directions include a first laser radar disposed on a first side of the transmission direction of the cargo transmission line, and for each of the laser radars, according to the surface point cloud data of the cargo area corresponding to the laser radar extracted each time between the start time and the end time, determining the area of ​​the sub-area scanned by the laser radar in each of the time slices, including: For the first laser radar, according to the surface point cloud data of the cargo area corresponding to the first laser radar extracted each time between the starting time and the ending time, the line connecting the i-th point cloud data in the first laser radar coordinate system to the coordinate origin of the first laser radar coordinate system, the angle between the line connecting the i-th point cloud data and the coordinate origin of the first laser radar coordinate system and the X-axis of the first laser radar coordinate system, the distance from the i-th point cloud data to the coordinate origin of the first laser radar coordinate system, the angle between the line connecting the i+1-th point cloud data and the coordinate origin of the first laser radar coordinate system and the X-axis of the first laser radar coordinate system, the distance from the i+1-th point cloud data to the coordinate origin of the first laser radar coordinate system , and the edge point of the cargo area corresponding to the first laser radar in the Y-axis direction that is farthest from the origin of the first laser radar coordinate system, and the distance from the origin of the first laser radar coordinate system in the Y-axis direction, determine the area of ​​the sub-area scanned by the first laser radar in the corresponding time slice, wherein 1≤i≤n-1, n is the number of point cloud data in the surface point cloud data of the cargo area corresponding to the first laser radar, and the first laser radar coordinate system is a coordinate system with the first laser radar as the origin, the straight line perpendicular to the plane where the cargo transmission line is located as the X-axis, and the straight line parallel to the transportation direction of the cargo transmission line as the Y-axis.

4. The method according to claim 3, characterized in that: For each of the laser radars, according to the surface point cloud data of the cargo area corresponding to the laser radar extracted each time between the start time and the end time, determining the area of ​​the sub-area scanned by the laser radar in each of the time slices, including: According to the formula Determine the area of ​​the sub-region scanned by the first laser radar in the corresponding time slice, where D i is the distance from the i-th point cloud data to the origin of the first laser radar coordinate system, θ i is the angle between the line from the ith point cloud data in the first laser radar coordinate system to the coordinate origin of the first laser radar coordinate system and the X-axis of the first laser radar coordinate system, D i+1 is the distance from the i-th point cloud data to the origin of the first laser radar coordinate system, θ i+1 is the angle between the line connecting the i-th point cloud data in the first laser radar coordinate system to the coordinate origin of the first laser radar coordinate system and the X-axis of the first laser radar coordinate system, H1 is the distance between the edge point of the cargo area corresponding to the first laser radar in the Y-axis direction farthest from the origin of the first laser radar coordinate system and the origin of the first laser radar coordinate system in the Y-axis direction, S Δt1 is the area of ​​the sub-area scanned by the first laser radar in the corresponding time slice.

5. The method according to claim 1, characterized in that The N laser radars with different scanning directions include a second laser radar disposed above the transmission direction of the cargo transmission line, and for each of the laser radars, according to the surface point cloud data of the cargo area corresponding to the laser radar extracted each time between the start time and the end time, determining the area of ​​the sub-area scanned by the laser radar in each of the time slices, including: For the second laser radar, according to the surface point cloud data of the cargo area corresponding to the first laser radar extracted each time between the starting time and the ending time, the angle between the line connecting the i-th point cloud data in the second laser radar coordinate system to the coordinate origin of the second laser radar coordinate system and the X-axis of the second laser radar coordinate system, the distance between the i-th point cloud data and the coordinate origin of the second laser radar coordinate system, the angle between the line connecting the i+1-th point cloud data to the coordinate origin of the second laser radar coordinate system and the X-axis of the second laser radar coordinate system, and the i+1-th point cloud data The distance to the coordinate origin of the second laser radar coordinate system and the distance between the cargo transmission line and the origin of the second laser radar coordinate system in the Y-axis direction are used to determine the area of ​​the sub-area scanned by the second laser radar in the corresponding time slice, wherein 1≤i≤m-1, m is the number of point cloud data in the surface point cloud data of the cargo area corresponding to the second laser radar, and the second laser radar coordinate system is a coordinate system with the second laser radar as the origin, a straight line parallel to the plane where the cargo transmission line is located as the X-axis, and a straight line perpendicular to the transportation direction of the cargo transmission line as the Y-axis.

6. The method according to claim 5, characterized in that The step of determining the area of ​​the sub-area scanned by the laser radar in each time slice according to the surface point cloud data of the cargo area corresponding to the laser radar extracted each time between the start time and the end time includes: According to the formula Determine the area of ​​the sub-region scanned by the second laser radar in each of the time slices, where D i is the distance from the i-th point cloud data to the coordinate origin of the second laser radar coordinate system, θ i is the angle between the line from the ith point cloud data in the second laser radar coordinate system to the coordinate origin of the second laser radar coordinate system and the X-axis of the second laser radar coordinate system, D i+1 is the distance from the i-th point cloud data to the coordinate origin of the second laser radar coordinate system, θ i+1 is the angle between the line from the i-th point cloud data in the second laser radar coordinate system to the coordinate origin of the second laser radar coordinate system and the X-axis of the second laser radar coordinate system, H2 is the distance between the cargo transmission line and the origin of the second laser radar coordinate system in the Y-axis direction, S Δt2 is the area of ​​the sub-region scanned by the second laser radar in the corresponding time slice.

7. The method according to claim 1, characterized in that The N laser radars with different scanning directions include a third laser radar disposed on the second side of the transmission direction of the cargo transmission line, and for each of the laser radars, according to the surface point cloud data of the cargo area corresponding to the laser radar extracted each time between the start time and the end time, determining the area of ​​the sub-area scanned by the laser radar in each of the time slices, including: For the third laser radar, between the starting time and the ending time, the line connecting the i-th point cloud data of the surface point cloud data of the cargo area corresponding to the third laser radar extracted each time in the third laser radar coordinate system to the coordinate origin of the third laser radar coordinate system, the angle between the line connecting the i-th point cloud data and the coordinate origin of the third laser radar coordinate system and the X-axis of the third laser radar coordinate system, the distance from the i-th point cloud data to the coordinate origin of the third laser radar coordinate system, the angle between the line connecting the i+1-th point cloud data and the coordinate origin of the third laser radar coordinate system and the X-axis of the third laser radar coordinate system, the distance from the i+1-th point cloud data to the coordinate origin of the third laser radar coordinate system , and the edge point of the cargo area corresponding to the third laser radar in the Y-axis direction that is farthest from the origin of the third laser radar coordinate system, and the distance from the origin of the third laser radar coordinate system in the Y-axis direction, determine the area of ​​the sub-area scanned by the third laser radar in the corresponding time slice, wherein 1≤i≤p-1, p is the number of point cloud data in the surface point cloud data of the cargo area corresponding to the third laser radar, and the third laser radar coordinate system is a coordinate system with the third laser radar as the origin, the straight line perpendicular to the plane where the cargo transmission line is located as the X-axis, and the straight line parallel to the transportation direction of the cargo transmission line as the Y-axis.

8. The method according to claim 7, characterized in that For each of the laser radars, according to the surface point cloud data of the cargo area corresponding to the laser radar extracted each time between the start time and the end time, determining the area of ​​the sub-area scanned by the laser radar in each of the time slices, including: According to the formula Determine the area of ​​the sub-region scanned by the third laser radar in the corresponding time slice, where D i is the distance from the i-th point cloud data to the coordinate origin of the third laser radar coordinate system, θ i is the angle between the line from the ith point cloud data in the third laser radar coordinate system to the coordinate origin of the third laser radar coordinate system and the X-axis of the third laser radar coordinate system, D i+1 is the distance from the i-th point cloud data to the coordinate origin of the third laser radar coordinate system, θ i+1 is the angle between the line connecting the i-th point cloud data in the third laser radar coordinate system to the coordinate origin of the third laser radar coordinate system and the X-axis of the third laser radar coordinate system, H3 is the distance between the edge point of the cargo area corresponding to the third laser radar in the Y-axis direction and the origin of the third laser radar coordinate system in the Y-axis direction, S Δt3 is the area of ​​the sub-area scanned by the third laser radar in the corresponding time slice.

9. The method according to claim 1, characterized in that: The cargo volume measurement system further includes a first cargo sensor, the cargo transmission line includes a second sub-transport line and a first sub-transport line sequentially arranged along a cargo transmission direction, the first cargo sensor is arranged on one side of the first sub-transport line, and the first cargo sensor is arranged on one side of a boundary line between the first sub-transport line and the second sub-transport line. Before determining that cargo exists on the cargo transmission line, the method further includes: the main controller receiving a cargo signal from the first cargo sensor; When it is determined based on the cargo signal of the first cargo sensor that the first cargo is transferred from the second sub-transportation line to the first sub-transportation line, the second sub-transportation line is controlled to stop operating.

10. A cargo volume measurement system, characterized in that: It includes a main controller, N laser radars with different scanning directions, and a cargo transmission line, N is an integer greater than or equal to 2, the main controller is electrically connected to each of the laser radars, each of the laser radars is directly opposite to the cargo transmission line, and the main controller is used to execute any method described in claims 1-9.

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