Cargo loading method and system for vehicle-mounted container

Abstract

The present invention discloses a method and system for loading cargo in a vehicle-mounted container, the method comprising: first obtaining the regional information of the parking position of the target vehicle; then stacking the target cargo of corresponding size in the automatic loading platform based on the size of the vehicle-mounted container of the target vehicle; finally, according to the real-time visual positioning system and the regional information, the target cargo is loaded into the vehicle-mounted container of the target vehicle by using the automatic loading platform. It realizes fully automatic container loading by designing a visual guidance system for a whole vehicle loading platform in the form of a vehicle-mounted container, greatly reducing manual dependence and improving the efficiency, accuracy and safety of loading.

Description

Technical Field

[0001] The invention belongs to the technical field of cargo loading, and in particular to a method and system for loading cargo into a vehicle-mounted container. Background Art

[0002] At present, due to the closed nature of containers, in manual loading scenarios, it is necessary to manually park the vehicle at the loading port, place steel plates at the loading port and the rear of the carriage for forklifts to drive, and then manually drive the forklift to load the container one by one. In this process, a large number of people are required to align the vehicle and the goods, and manually driving the forklift to place the goods one by one consumes a lot of manpower and time. In a semi-automated scenario, it is necessary to manually park the vehicle at the docking port of the loading platform, then manually measure the internal dimensions of the container, record the information and set the loading platform cargo stacking method, then manually operate the loading platform to move to complete the docking of the loading platform and the container, and then manually start the cargo placement program. This process is highly dependent on manual experience and has a high risk of misoperation. This has become a technical problem that needs to be solved urgently. Summary of the invention

[0003] The purpose of the present invention is to provide a method and system for loading cargo in a vehicle-mounted container to address the deficiencies in the prior art. It designs a visual guidance system for a vehicle loading platform in the form of a vehicle-mounted container to achieve fully automatic container loading, greatly reduce manual dependence, and improve loading efficiency, accuracy and safety.

[0004] An embodiment of the present application provides a method for loading cargo in a vehicle-mounted container, which is applied to an automatic loading platform, and the method includes:

[0005] Obtaining the area information of the target vehicle parking location;

[0006] Based on the size of the onboard container of the target vehicle, stacking target goods of corresponding size in the automatic loading platform;

[0007] According to the real-time visual positioning system and the area information, the target cargo is loaded into the on-board container of the target vehicle by utilizing the automatic loading platform.

[0008] Optionally, the automatic loading platform has translation function in three axes XYZ and rotation function in two axes YZ.

[0009] Optionally, the front and rear sides of the automatic loading platform both include a three-axis moving mechanism; the three-axis moving mechanism is used to translate along the XYZ axes within a preset range to achieve alignment of the automatic loading platform and the vehicle-mounted container.

[0010] Optionally, the real-time visual positioning system includes at least two 3D cameras, and the two 3D cameras are respectively installed on both sides of the same end of the automatic loading platform, and the pin holes at the rear of the vehicle-mounted container are respectively within the field of view of the two 3D cameras.

[0011] Optionally, the 3D camera of the real-time visual positioning system is used to detect and locate the pin hole at the rear of the vehicle-mounted container, and calculate the three-dimensional coordinates of the pin hole relative to the 3D camera.

[0012] Optionally, the detecting and locating the pin hole at the rear of the vehicle-mounted container includes:

[0013] Use the preset YOLO algorithm to perform target detection on the pin hole and obtain a rectangular frame containing the pin hole;

[0014] According to the rectangular frame, crop the YOLO area corresponding to the pin hole;

[0015] Using the template matching algorithm, template matching is performed in the YOLO area to obtain a positioning frame, so as to detect and locate the pin hole at the tail of the vehicle-mounted container.

[0016] Optionally, after detecting and locating the pin hole at the rear of the vehicle-mounted container, the method further includes:

[0017] The angle, height and offset of the automatic loading platform and the vehicle container are aligned using a preset algorithm.

[0018] Another embodiment of the present application provides a cargo loading system for a vehicle-mounted container, which is applied to an automatic loading platform, and the system includes:

[0019] An acquisition module, used to obtain the area information of the target vehicle parking location;

[0020] A stacking module, used for stacking target goods of corresponding size in the automatic loading platform based on the size of the onboard container of the target vehicle;

[0021] The implementation module is used to load the target cargo into the on-board container of the target vehicle by using the automatic loading platform according to the real-time visual positioning system and the area information.

[0022] Yet another embodiment of the present application provides a storage medium, wherein the storage medium stores a computer program, wherein the computer program is configured to implement any of the above methods when executed.

[0023] Another embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to implement any of the above methods.

[0024] Compared with the prior art, the present invention first obtains the regional information of the target vehicle's parking position; then, based on the size of the target vehicle's onboard container, the target cargo of corresponding size is stacked in the automatic loading platform; finally, according to the real-time visual positioning system and the regional information, the target cargo is loaded into the target vehicle's onboard container using the automatic loading platform. It realizes fully automatic container loading by designing a visual guidance system for a whole vehicle loading platform in the form of a vehicle-mounted container, greatly reducing manual dependence and improving loading efficiency, accuracy and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A hardware structure block diagram of a computer terminal for a method for loading cargo into a vehicle-mounted container provided by an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of a flow chart of a method for loading cargo into a vehicle-mounted container provided by an embodiment of the present invention;

[0027] Figure 3 A schematic diagram of the overall structure of a device for loading cargo in a vehicle-mounted container provided by an embodiment of the present invention;

[0028] Figure 4 A schematic diagram of a pin hole positioning method provided by an embodiment of the present invention;

[0029] Figure 5 A schematic diagram of an analysis of a pin hole positioning frame provided by an embodiment of the present invention;

[0030] Figure 6 A schematic diagram of a mirror pixel pairing method provided by an embodiment of the present invention;

[0031] Figure 7 A schematic diagram of an angle alignment method between an automatic loading platform and a vehicle-mounted container provided by an embodiment of the present invention;

[0032] Figure 8 A schematic diagram of the overall workflow of cargo loading in a vehicle-mounted container provided by an embodiment of the present invention;

[0033] Fig. 9 A schematic structural diagram of a cargo loading system for a vehicle-mounted container provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, but should not be construed as limiting the present invention.

[0035] The embodiment of the present invention firstly provides a method for loading cargo in a vehicle-mounted container. The method can be applied to electronic devices, such as computer terminals, specifically ordinary computers, industrial computers, etc.

[0036] The following describes it in detail by taking running on a computer terminal as an example. Figure 1 The hardware structure block diagram of a computer terminal of a method for loading cargo in a vehicle-mounted container provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the computer terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data. Optionally, the computer terminal may also include a transmission device 106 for communication functions and an input and output device 108. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above-mentioned computer terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0037] The memory 104 can be used to store software programs and modules of application software, such as program instructions / modules corresponding to a method for loading cargo in a vehicle-mounted container in an embodiment of the present application. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, implementing the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to a computer terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0038] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of a computer terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0039] Truck-mounted containers are a common mode of freight transportation. Due to their closed transportation form and standard box structure, they are widely used in the transportation of goods in the food, medicine, chemical, mining and other industries. Since the container only opens the rear hatch, new requirements are put forward for the automatic loading platform and loading area measurement. The fully automatic loading platform of the truck-mounted container can stack the goods of corresponding sizes on the loading platform according to the size information of the container, and realize the docking of the loading platform and the container through the visual guidance system, and finally place the goods in the container at one time, which can greatly improve the efficiency of cargo loading and unloading.

[0040] See also Figure 2 , Figure 2 A flow chart of a method for loading cargo into a vehicle-mounted container provided in an embodiment of the present invention, which is applied to an automatic loading platform, may include the following steps:

[0041] S201: Obtaining area information of the target vehicle parking location.

[0042] Specifically, the target vehicle is parked in a designated area, and the size of the area can vary with the mobility of the automatic loading platform.

[0043] It should be noted that the area information of the target vehicle's parking position refers to the driver parking the target vehicle in the loading and unloading area. In order to ensure that the target vehicle's parking position does not change with the driver, and to ensure that each time the target vehicle is parked, the pin hole at the rear of the container is within the 3D camera field of view of the real-time visual guidance system, it is possible to draw a guide item in the loading and unloading area or fix a guide railing on the ground. As long as the driver parks the target vehicle in the designated area, the real-time visual guidance system can work normally. However, if the mobility of the automatic loading platform is limited and the target vehicle is parked too far, the automatic loading platform cannot align with the on-board container, so if the mobility of the loading platform is limited, the designated area can be reduced accordingly.

[0044] S202: Based on the size of the onboard container of the target vehicle, stacking target goods of corresponding size on the automatic loading platform.

[0045] S203: Based on the real-time visual positioning system and the area information, the target cargo is loaded into a container on a target vehicle by using the automatic loading platform.

[0046] Specifically, generally speaking, vehicle-mounted containers are of fixed size, and the goods can be stacked on the automatic loading platform according to the established size of the vehicle-mounted containers. When the target vehicle stops, the pin hole at the rear of the container will appear in the field of view of the real-time visual positioning system.

[0047] For details, see Figure 3 , Figure 3 A schematic diagram of the overall structure of a device for loading cargo in a vehicle-mounted container provided in an embodiment of the present invention includes a vehicle-mounted container, a pin hole at the rear of the vehicle-mounted container, and an automatic loading platform.

[0048] In an optional implementation, in order to complete the docking function between the automatic loading platform and the vehicle-mounted container, the present application is only applied to the automatic loading platform that can have certain translation and rotation capabilities in the three axes of XYZ, and its main work flow includes:

[0049] First, the target vehicle is parked in the designated area and its corresponding area information is obtained; then the automatic loading platform is pre-moved according to the area information of the on-board container to ensure that the rear of the on-board container appears in the field of view of the 3D camera of the real-time visual positioning system; then the real-time visual positioning system calculates the moving direction of the loading platform according to the real-time three-dimensional coordinates of the pin hole at the rear of the on-board container, and guides the automatic loading platform to align with the container; finally, after the automatic loading platform is aligned with the on-board container, all the target goods are placed in the on-board container at one time.

[0050] The automatic loading platform has translation function in the three axes XYZ and rotation function in the two axes YZ. The front and rear sides of the automatic loading platform both include three-axis moving mechanisms; the three-axis moving mechanisms are used to translate along the XYZ axes within a preset range to achieve alignment between the automatic loading platform and the on-board container.

[0051] The real-time visual positioning system includes at least two 3D cameras, and the two 3D cameras are respectively installed on both sides of the same end of the automatic loading platform, and the pin holes at the rear of the vehicle container are respectively within the field of view of the two 3D cameras. The 3D cameras of the real-time visual positioning system are used to detect and locate the pin holes at the rear of the vehicle container, and calculate the three-dimensional coordinates of the pin holes relative to the 3D cameras.

[0052] Specifically, the detecting and locating of the pin hole at the rear of the vehicle-mounted container may include:

[0053] 1. Use the preset YOLO algorithm to perform target detection on the pin hole and obtain a rectangular frame containing the pin hole;

[0054] 2. According to the rectangular frame, cut out the YOLO area corresponding to the pin hole;

[0055] 3. Using the template matching algorithm, perform template matching in the YOLO area to obtain a positioning frame to detect and locate the pin hole at the tail of the vehicle-mounted container.

[0056] Exemplarily, the main components of the real-time visual positioning system include two TOF cameras, which are installed on the left and right sides of the front end of the automatic loading platform, and it is necessary to ensure that the two elliptical pin holes at the lower end of the tail of the container on the vehicle are within the field of view of the two cameras; each TOF camera will detect and locate the pin holes at the tail of the container in the field of view, and calculate the three-dimensional coordinates of the corresponding pin holes relative to the camera. The automatic loading platform needs to have a three-axis moving mechanism on the front and rear sides, and each moving mechanism can be translated within a certain range along the XYZ axis alone, so that no matter how the target vehicle is offset, the automatic loading platform can accurately align the container on the vehicle.

[0057] In an alternative embodiment, see Figure 4 , Figure 4 A schematic diagram of a pin hole positioning method provided by an embodiment of the present invention. The real-time visual positioning system uses the intensity map and depth map in the TOF camera to perform real-time positioning of the pin holes on the bottom of the container. It should be noted that the results that the TOF camera can output are the offset of the target relative to the camera on the YZ axis and the Euclidean distance between the target and the camera on the X axis. The specific implementation method is as follows:

[0058] like Figure 4 As shown in the figure, many objects such as pin holes and container walls will appear in the camera field of view. First, the YOLO algorithm is used to detect the pin holes on the intensity map to obtain a rectangular frame containing the pin holes. Then, the corresponding area is cropped out according to the YOLO rectangular frame in the depth map, and finally, template matching is performed in the YOLO area of ​​the depth map to obtain the positioning frame. Among them, the YOLO algorithm requires the detection model to be trained in advance, and the template matching algorithm requires the template to be made in advance. Since the depth value of each pixel in the depth map is the Euclidean distance from the object to the optical center of the camera, and the depth value of each pixel can be converted into a three-dimensional coordinate as follows, namely:

[0059]

[0060] Where D is the depth value, u' and v' are the differences between the pixel coordinates of the depth image and the pixel coordinates of the optical center, and f u 、f vIt is the pixel distance used by the TOF camera to describe the focal length in the u and v axis directions.

[0061] It should be noted that, since there are no pixels at the pin hole or the pixels are objects behind the pin hole that are photographed through the pin hole, the three-dimensional coordinates of the pin hole cannot be calculated from the pixels inside the pin hole.

[0062] See also Figure 5 , Figure 5 A schematic diagram of the analysis of a pin hole positioning frame provided by an embodiment of the present invention includes a pin hole, a YOLO positioning frame, a template matching positioning frame, and an auxiliary positioning area, wherein, in addition to the 10 pixels on the left and right of the template matching positioning frame, four auxiliary positioning areas R1-R4 are taken with a fixed width of 20 pixels and a height N of half the template matching positioning frame. If the height of the template matching positioning frame is an odd number, N is taken downwards to an even number. These four auxiliary positioning areas are planes next to the pin hole, which can stabilize the imaging, so most of the pixels in the area are valid and the length and width are N*20 pixels.

[0063] See also Figure 6 , Figure 6 A schematic diagram of a mirror pixel pairing method provided by an embodiment of the present invention is shown in FIG. Figure 6 As shown, when calculating the Y-axis center of the pin hole, R1 and R3 can be selected as one group, and R2 and R4 can be selected as another group, with a total of two groups of areas. To avoid abnormal pixels, it is necessary to traverse each pixel in the R1 and R3 areas from left to right and from top to bottom. If a pixel in the R1 and R3 areas and the corresponding horizontal mirrored pixel in the R2 and R4 areas are both valid data, the Y-axis values ​​corresponding to this pair of horizontal pixels are accumulated separately, and then the average value is calculated.

[0064] It should be noted that the above four auxiliary positioning areas are symmetrical along the Y and Z axes. If two pixels are located at the same Z-axis pixel height (the same row of pixels) and are at the same pixel distance from the Z-axis mirror axis, then the two pixels are horizontally mirror-symmetrical. Similarly, two pixels in a column of pixels that are at the same pixel distance from the Y mirror axis are vertically mirror-symmetrical. Two mirror-symmetrical pixels are each other's mirror pixels.

[0065] In the depth map of the TOF camera, each pixel stores the actual distance between the object where the pixel is located and the camera origin. However, due to the characteristics of the object or the environment, sometimes there is no reliable imaging in some pixels. Then the value in this pixel is 0 or is significantly different from the values ​​of the surrounding pixels. At this time, the data in the pixel is invalid data, otherwise it is valid data.

[0066] For example, the above average value y avg The method can be as follows:

[0067]

[0068] Where n is the number of pixel pairs, i is the index value and i∈[1,n], is the Y-axis coordinate value of the object corresponding to the i-th valid pixel in the R1 and R3 regions, y avg It is the Y-axis coordinate of the center of the pin hole.

[0069] When calculating the Z-axis center of the pin hole, select R1 and R2 as one group and R3 and R4 as another group. Similarly, traverse each pixel in the R1 and R2 areas from left to right and from top to bottom. If a pixel in the R1 and R2 areas and the corresponding longitudinal mirrored pixel in the R3 and R4 areas are both valid data, then add up the Z-axis values ​​corresponding to this pair of longitudinal pixels respectively, and then calculate the average value z avg :

[0070]

[0071] Where n is the number of pixel pairs, i is the index value and i∈[1,n], is the Z-axis coordinate value of the object corresponding to the i-th valid pixel in the R1 and R2 regions, z avg It is the Z-axis coordinate of the center of the pin hole. This value is the Z-axis value of the center point of the pin hole.

[0072] Finally, calculate the X-axis mean of all valid pixels of R1+R2+R3+R4, which is the X-axis value x of the center point of the pin hole. avg :

[0073]

[0074] Where m is the number of valid pixels in the four auxiliary positioning areas. is the i-th valid pixel among the m valid pixels in the four auxiliary positioning areas and i∈[1,m]. So far, the three-axis coordinates of the pin hole relative to the camera can be obtained.

[0075] For example, the goods are stacked on the loading platform according to the predetermined size of the vehicle-mounted container. When the target vehicle stops, the pin hole at the rear of the container will appear in the field of view of the TOF camera, and the distance between the container pin hole and the camera X-axis is about 50 cm; then the real-time vision guidance system is started. The two TOF cameras of the real-time vision guidance system can detect the three-dimensional coordinates of the two pin holes respectively. According to these two three-dimensional coordinates, the position and posture of the loading platform can be adjusted until the two are accurately aligned, and finally the goods are placed.

[0076] In an optional implementation, after detecting and locating the pin hole at the rear of the vehicle-mounted container, the method may further include:

[0077] The angle, height and offset of the automatic loading platform and the vehicle container are aligned using a preset algorithm.

[0078] See also Figure 7 , Figure 7 A schematic diagram of a method for aligning the angles of an automatic loading platform and a container on a vehicle provided by an embodiment of the present invention is shown in FIG. Figure 7 As shown in the figure, when the target vehicle is parked in place, there will always be a certain angle deviation between the onboard container and the automatic loading platform. In order to ensure that the automatic loading platform can penetrate into the onboard container, it is necessary to ensure that the YZ plane of the rear of the onboard container is parallel to the YZ plane of the loading platform. At this time, the camera can be used to locate the pin hole. For example, the distance d between the pin hole and the camera is obtained. 1 and d 2 , the automatic loading platform is based on the distance deviation value d f The positive and negative and size of the loading platform angle θ are adjusted. f When ≈0, θ≈0, and the automatic loading platform and the container on the vehicle are aligned at an angle. At this time, the tail of the container on the vehicle is parallel to the head of the target vehicle loader, satisfying: d f =d 1 -d 2 .

[0079] After the automatic loading platform is aligned with the container on the vehicle, only the linear offset of the YZ axis remains. According to the positioning results of the two pin holes, the loading platform is translated until the Y avg With z avg It is sufficient that the Y and Z axis deviations are approximately equal to 0. When the Y and Z axis, the angles of the automatic loading platform and the container on the vehicle are aligned, the automatic loading platform can be linearly moved forward along the positive direction of the X axis to achieve precise docking of the two.

[0080] See also Figure 8 , Figure 8 A schematic diagram of the overall workflow of loading cargo in a vehicle-mounted container provided by an embodiment of the present invention is shown in FIG. Figure 8 As shown, the target vehicle needs to be parked in a designated area, and the size of the area can vary with the mobility of the loading platform. Generally speaking, containers are of fixed size, and the goods can be stacked on the loading platform according to this established size. When the target vehicle is parked, the real-time visual positioning system is started. At this time, the pin hole at the rear of the on-board container will appear in the field of view of the TOF camera. The two TOF cameras of the real-time visual positioning system can detect the positioning coordinates of the two pin holes respectively, and according to the output positioning coordinates, the automatic loading platform moves according to the coordinates and accurately aligns in response to the pin holes, and finally places the goods in the on-board container to realize automatic loading of goods.

[0081] Compared with the prior art, the present invention first obtains the regional information of the target vehicle's parking position; then, based on the size of the target vehicle's onboard container, the target cargo of corresponding size is stacked in the automatic loading platform; finally, according to the real-time visual positioning system and the regional information, the target cargo is loaded into the target vehicle's onboard container using the automatic loading platform. It realizes fully automatic container loading by designing a visual guidance system for a whole vehicle loading platform in the form of a vehicle-mounted container, greatly reducing manual dependence and improving loading efficiency, accuracy and safety.

[0082] Another embodiment of the present application provides a cargo loading system for a vehicle-mounted container, such as Fig. 9 The structural schematic diagram of a cargo loading system of a vehicle-mounted container is shown, and the device comprises:

[0083] An acquisition module 901 is used to obtain the area information of the target vehicle parking location;

[0084] A stacking module 902 is used to stack target goods of corresponding size in the automatic loading platform based on the size of the onboard container of the target vehicle;

[0085] The implementation module 903 is used to realize loading the target cargo into the on-board container of the target vehicle by using the automatic loading platform according to the real-time visual positioning system and the area information.

[0086] Compared with the prior art, the present invention first obtains the regional information of the target vehicle's parking position; then, based on the size of the target vehicle's onboard container, the target cargo of corresponding size is stacked in the automatic loading platform; finally, according to the real-time visual positioning system and the regional information, the target cargo is loaded into the target vehicle's onboard container using the automatic loading platform. It realizes fully automatic container loading by designing a visual guidance system for a whole vehicle loading platform in the form of a vehicle-mounted container, greatly reducing manual dependence and improving loading efficiency, accuracy and safety.

[0087] An embodiment of the present invention further provides a storage medium, in which a computer program is stored, wherein the computer program is configured to implement the steps in the above method embodiment when running.

[0088] Specifically, in this embodiment, the above storage medium may be configured to store a computer program for performing the following steps:

[0089] S201: Obtaining area information of the target vehicle parking location;

[0090] S202: Based on the size of the onboard container of the target vehicle, stacking target goods of corresponding size on the automatic loading platform;

[0091] S203: Based on the real-time visual positioning system and the area information, the target cargo is loaded into a container on a target vehicle by using the automatic loading platform.

[0092] Specifically, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0093] Compared with the prior art, the present invention first obtains the regional information of the target vehicle's parking position; then, based on the size of the target vehicle's onboard container, the target cargo of corresponding size is stacked in the automatic loading platform; finally, according to the real-time visual positioning system and the regional information, the target cargo is loaded into the target vehicle's onboard container using the automatic loading platform. It realizes fully automatic container loading by designing a visual guidance system for a whole vehicle loading platform in the form of a vehicle-mounted container, greatly reducing manual dependence and improving loading efficiency, accuracy and safety.

[0094] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in the above method embodiment.

[0095] Specifically, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0096] Specifically, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0097] S201: Obtaining area information of the target vehicle parking location;

[0098] S202: Based on the size of the onboard container of the target vehicle, stacking target goods of corresponding size on the automatic loading platform;

[0099] S203: Based on the real-time visual positioning system and the area information, the target cargo is loaded into a container on a target vehicle by using the automatic loading platform.

[0100] Compared with the prior art, the present invention first obtains the regional information of the target vehicle's parking position; then, based on the size of the target vehicle's onboard container, the target cargo of corresponding size is stacked in the automatic loading platform; finally, according to the real-time visual positioning system and the regional information, the target cargo is loaded into the target vehicle's onboard container using the automatic loading platform. It realizes fully automatic container loading by designing a visual guidance system for a whole vehicle loading platform in the form of a vehicle-mounted container, greatly reducing manual dependence and improving loading efficiency, accuracy and safety.

[0101] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0102] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0103] In the several embodiments provided by the present invention, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0104] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0105] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0106] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present invention. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0107] The embodiments of the present invention are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for loading cargo in a vehicle-mounted container, applied to an automatic loading platform, characterized in that: The method comprises: Obtaining the area information of the target vehicle parking location; Based on the size of the onboard container of the target vehicle, stacking target goods of corresponding size in the automatic loading platform; According to the real-time visual positioning system and the area information, the target cargo is loaded into the on-board container of the target vehicle by utilizing the automatic loading platform.

2. The method according to claim 1, characterized in that The automatic loading platform has translation function in three axes XYZ and rotation function in two axes YZ.

3. The method according to claim 2, characterized in that The front and rear sides of the automatic loading platform both include a three-axis moving mechanism; the three-axis moving mechanism is used to translate along the XYZ axes within a preset range to achieve alignment between the automatic loading platform and the vehicle-mounted container.

4. The method according to claim 3, characterized in that: The real-time visual positioning system includes at least two 3D cameras, and the two 3D cameras are respectively installed on both sides of the same end of the automatic loading platform, and the pin holes at the rear of the vehicle-mounted container are respectively within the field of view of the two 3D cameras.

5. The method according to claim 4, characterized in that The 3D camera of the real-time visual positioning system is used to detect and locate the pin hole at the rear of the vehicle-mounted container, and calculate the three-dimensional coordinates of the pin hole relative to the 3D camera.

6. The method according to claim 5, characterized in that The detecting and positioning of the pin hole at the rear of the vehicle-mounted container includes: Use the preset YOLO algorithm to perform target detection on the pin hole and obtain a rectangular frame containing the pin hole; According to the rectangular frame, crop the YOLO area corresponding to the pin hole; Using the template matching algorithm, template matching is performed in the YOLO area to obtain a positioning frame, so as to detect and locate the pin hole at the tail of the vehicle-mounted container.

7. The method according to claim 6, characterized in that After detecting and locating the pin hole at the rear of the vehicle-mounted container, the method further includes: The angle, height and offset of the automatic loading platform and the vehicle container are aligned using a preset algorithm.

8. A cargo loading system for a vehicle-mounted container, applied to an automatic loading platform, characterized in that: The system comprises: An acquisition module, used to obtain the area information of the target vehicle parking location; A stacking module, used for stacking target goods of corresponding size in the automatic loading platform based on the size of the onboard container of the target vehicle; The implementation module is used to load the target cargo into the on-board container of the target vehicle by using the automatic loading platform according to the real-time visual positioning system and the area information.

9. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to implement the method according to any one of claims 1 to 7 when executed.

10. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the computer program to implement the method according to any one of claims 1 to 7.

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