Method and device for detecting alignment state, processor and storage medium
By acquiring and identifying image information in the mixing station, determining the identification frame margins of the inlet and unloading ports, the problem of low accuracy in judging the alignment state in the prior art is solved, and fast and accurate alignment state detection is achieved.
Patent Information
- Application Number
- CN202411668171.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-21
- Publication Date
- 2025-04-25
AI Technical Summary
In the prior art, there is a problem that the judgment result is low accuracy in the method of judging whether the discharge port of the concrete door of the mixing station is aligned with the feed port of the mixing truck.
By acquiring image information, the identification frames of the feed port and the discharge port in the image information are identified, and the alignment states of the feed port and the discharge port are determined according to the relative distances of each edge of the identification frame.
Improve the accuracy of the detection results, fast detection speed, and can quickly determine the alignment status of the feed port and the discharge port.
Smart Images
Figure CN119888160A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of intelligent monitoring of mixing stations, and in particular to a method, device, processor and storage medium for detecting an alignment state. Background Art
[0002] At present, when a concrete mixing station discharges concrete, whether the discharge port and the feed port of the mixer truck are aligned is mainly judged by the naked eye of the operator, relying on the operator in the control room of the mixing station to manually judge whether they are aligned based on the monitoring image of the concrete discharge port. However, the operators have different levels of experience, and the accuracy of the results cannot be guaranteed by human eye judgment, which is prone to errors. Therefore, the method used in the prior art to judge whether the feed port and the discharge port are aligned has the problem of low accuracy of the judgment result. Summary of the invention
[0003] The purpose of the embodiments of the present application is to provide a method, device, processor and storage medium for detecting the alignment status, so as to solve the problem of low accuracy of the judgment result of the method used in the prior art to determine whether the feed port and the discharge port are aligned.
[0004] In order to achieve the above-mentioned purpose, a first aspect of an embodiment of the present application provides a method for detecting an alignment state, which is used to detect the alignment state of a discharge port of a concrete outlet door in a mixing station and a feed port of a mixer truck, and the method comprises:
[0005] Acquiring image information, the image information including images of a feed port and a discharge port;
[0006] Identify a first identification frame of an area where the feeding port is located and a second identification frame of an area where the discharging port is located in the image information;
[0007] The alignment state of the feed port and the discharge port is determined according to the relative distances between the edges of the first identification frame and the second identification frame.
[0008] In the embodiment of the present application, the discharge port is located at the center in the image information.
[0009] In an embodiment of the present application, the alignment state of the feed port and the discharge port is determined according to the relative distance between the edges of the first identification frame and the second identification frame, including: determining a first distance, a second distance and a third distance according to the first identification frame and the second identification frame, the first distance being the distance between the first side of the first identification frame and the first side of the second identification frame, the second distance being the distance between the second side of the first identification frame and the second side of the second identification frame, and the third distance being the distance between the bottom of the first identification frame and the bottom of the second identification frame; determining the absolute value of the difference between the first distance and the second distance as the lateral distance difference; comparing the lateral distance difference with the first distance threshold, and comparing the third distance with the second distance threshold, wherein the first distance threshold is determined according to the lateral length difference between the first identification frame and the second identification frame, and the second distance threshold is determined according to the longitudinal length of the first identification frame; when the lateral distance difference is less than or equal to the first distance threshold, and the third distance is less than or equal to the second distance threshold, determining the alignment state of the feed port and the discharge port as aligned.
[0010] In an embodiment of the present application, the method also includes: when the lateral distance difference is greater than a first distance threshold, determining that the alignment state of the feed port and the discharge port is misaligned, and comparing the first distance with the second distance; when the first distance is greater than the second distance, prompting the mixer truck to adjust toward the first side; when the first distance is less than the second distance, prompting the mixer truck to adjust toward the first side.
[0011] In an embodiment of the present application, the method also includes: when the third distance is greater than the second distance threshold, determining the fourth distance between the top edge of the first identification box and the top edge of the second identification box; comparing the third distance and the fourth distance; when the third distance is greater than the fourth distance, prompting the mixer truck to adjust toward the bottom edge; when the third distance is less than the fourth distance, prompting the mixer truck to adjust toward the top edge.
[0012] In an embodiment of the present application, identifying a first identification box of an area where a feed port is located and a second identification box of an area where a discharge port is located in the image information includes: identifying the first identification box and the second identification box in the image information based on a prebuilt semantic segmentation model and a prebuilt target detection model.
[0013] In an embodiment of the present application, before identifying a first identification frame of the area where the feed port is located and a second identification frame of the area where the discharge port is located in the image information, the method also includes: preprocessing the image information, and the preprocessing includes image filtering and / or image noise reduction.
[0014] A second aspect of an embodiment of the present application provides a processor configured to execute the above-mentioned method for detecting an alignment state.
[0015] A third aspect of the embodiment of the present application provides a device for detecting an alignment state, which is used to detect the alignment state of a discharge port of a concrete outlet door in a mixing station and a feed port of a mixing truck, and the device includes:
[0016] An acquisition module, used to acquire image information, the image information including images of a feed port and a discharge port;
[0017] A recognition module, used to recognize a first recognition frame of the area where the feeding port is located and a second recognition frame of the area where the discharging port is located in the image information;
[0018] A determination module is used to determine the alignment state of the feed port and the discharge port according to the relative distance between the edges of the first identification frame and the second identification frame.
[0019] A fourth aspect of an embodiment of the present application provides a machine-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the above-mentioned method for detecting an alignment state is implemented.
[0020] The above technical solution, in order to detect the alignment state of the discharge port of the concrete outlet door in the mixing station and the feed port of the mixer truck, obtains image information, the image information includes images of the feed port and the discharge port, and then identifies the first identification frame of the area where the feed port is located and the second identification frame of the area where the discharge port is located in the image information, and finally determines the alignment state of the feed port and the discharge port according to the relative distance of each edge of the first identification frame and the second identification frame. The present application can quickly determine the alignment state of the feed port and the discharge port by determining the relative distance of each edge of the identification frame of the feed port and the discharge port in the identified image information, with a fast detection speed and improved accuracy of the detection result.
[0021] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:
[0023] Figure 1 A flowchart of a method for detecting an alignment state provided in an embodiment of the present application;
[0024] Figure 2 A structural block diagram of a device for detecting an alignment state provided in an embodiment of the present application. DETAILED DESCRIPTION
[0025] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.
[0026] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.
[0027] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.
[0028] At present, before the mixing station discharges the material, it is necessary to determine whether the discharge port of the concrete discharge door of the mixing station is aligned with the feed port of the mixer truck. Only after the two are aligned can the discharge command be activated to start the discharge. In this process, the alignment state of the feed port and the discharge port is usually determined by manual visual judgment. The operator judges based on past experience through monitoring images. However, the judgment result is highly subjective, the accuracy cannot be guaranteed, and the efficiency is low. In this regard, in order to improve the intelligence and automation level of mixer truck loading, the embodiment of the present application provides a method for detecting the alignment state.
[0029] Figure 1 A flowchart of a method for detecting an alignment state provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, an embodiment of the present application provides a method for detecting an alignment state, which is used to detect the alignment state of a discharge port of a concrete outlet door in a mixing station and a feed port of a mixer truck. The method is described by applying it to a processor as an example. The method may include the following steps.
[0030] Step S101, acquiring image information, the image information including images of a feed port and a discharge port;
[0031] Specifically, the image information refers to any frame of image in the video data collected by the image acquisition device used to monitor the feeding and unloading in the mixing station. Preferably, the image information in the embodiment of the present application refers to a pin image in the video data that contains both the feed port and the discharge port. In one example, the processor can trigger the alignment state detection process after recognizing that the feed port and the discharge port exist in the video picture at the same time. Among them, whether the video picture contains images of the feed port and the discharge port can be identified based on a pre-built semantic segmentation model, and the semantic segmentation model can be built through model training based on sample data of the feed port and the discharge port collected in advance.
[0032] Step S102, identifying a first identification frame of the area where the feeding port is located and a second identification frame of the area where the discharging port is located in the image information;
[0033] It can be understood that the first identification frame refers to the two-dimensional bounding box of the feed port in the image information, and the second identification frame refers to the two-dimensional bounding box of the discharge port in the image information. It can be understood that the two-dimensional bounding box is a rectangle. After triggering the alignment status detection process, the processor can obtain the image information in the mixing station in real time and detect the alignment status based on the image information. Specifically, the processor can identify the first identification frame and the second identification frame in the image information based on the two-dimensional target frame detection algorithm, providing a data basis for subsequent judgment.
[0034] Step S103, determining the alignment state of the feed port and the discharge port according to the relative distance between the edges of the first identification frame and the second identification frame.
[0035] Specifically, according to the coordinate information of each point on the first identification frame and the second identification frame, the relative distance of each side of the first identification frame and the second identification frame can be determined, wherein the first identification frame and the second identification frame both include a first side, a second side, a bottom and a top, the first side and the second side are two sides parallel to the longitudinal axis of the image coordinate system in the image information, the bottom and the top are two sides parallel to the transverse axis of the image coordinate system, wherein the top is located above the bottom. Further, based on the relative distance, the relative positional relationship between the feed port and the discharge port in reality can be determined, and then the alignment state of the feed port and the discharge port can be determined, wherein the alignment state includes aligned and misaligned.
[0036] The above technical solution, in order to detect the alignment state of the discharge port of the concrete outlet door in the mixing station and the feed port of the mixer truck, obtains image information, the image information includes images of the feed port and the discharge port, and then identifies the first identification frame of the area where the feed port is located and the second identification frame of the area where the discharge port is located in the image information, and finally determines the alignment state of the feed port and the discharge port according to the relative distance of each edge of the first identification frame and the second identification frame. The present application can quickly determine the alignment state of the feed port and the discharge port by determining the relative distance of each edge of the identification frame of the feed port and the discharge port in the identified image information, with a fast detection speed and improved accuracy of the detection result.
[0037] In the embodiment of the present application, the discharge port is located at the center in the image information.
[0038] Specifically, the image information can be collected by the image acquisition device installed in the mixing station. Since the position of the discharge port of the concrete door in the mixing station remains unchanged, the position of the discharge port in the image can be changed by adjusting the installation position of the image acquisition device. For the convenience of calculation, the discharge port can be placed in the center of the image, that is, the central axis of the discharge port coincides with the longitudinal central axis of the image. In this way, the relative position information of the feed port and the discharge port in the image can be quickly determined based on the identification frames of the feed port and the discharge port in the image data.
[0039] In an embodiment of the present application, the alignment state of the feed port and the discharge port is determined according to the relative distance between the edges of the first identification frame and the second identification frame, including: determining a first distance, a second distance and a third distance according to the first identification frame and the second identification frame, the first distance being the distance between the first side of the first identification frame and the first side of the second identification frame, the second distance being the distance between the second side of the first identification frame and the second side of the second identification frame, and the third distance being the distance between the bottom of the first identification frame and the bottom of the second identification frame; determining the absolute value of the difference between the first distance and the second distance as the lateral distance difference; comparing the lateral distance difference with the first distance threshold, and comparing the third distance with the second distance threshold, wherein the first distance threshold is determined according to the lateral length difference between the first identification frame and the second identification frame, and the second distance threshold is determined according to the longitudinal length of the first identification frame; when the lateral distance difference is less than or equal to the first distance threshold, and the third distance is less than or equal to the second distance threshold, determining the alignment state of the feed port and the discharge port as aligned.
[0040] It can be understood that the first distance, the second distance and the third distance can be calculated based on the coordinate data of the first identification frame and the second identification frame in the image information. The first side and the second side can be the left and right sides of the identification frame respectively, and the horizontal distance difference is the difference in width between the left and right sides of the first identification frame and the second identification frame. The first distance threshold is determined according to the horizontal length difference between the first identification frame and the second identification frame. For example, the first distance threshold can be one-third of the horizontal length difference, and the value can be set according to actual conditions. The third distance is the distance between the bottom edges of the first identification frame and the second identification frame, that is, the height difference between the two. The second distance threshold is determined according to the longitudinal length of the first identification frame, and the second distance threshold can be determined by the geometric longitudinal length considering the actual scene, for example, it can be one-quarter of the longitudinal length.
[0041] It can be understood that according to the actual unloading scene and by manually adjusting the installation position of the image acquisition device, it can be ensured that the area of the region where the feed port is located in the image information is larger than the area of the region where the discharge port is located, that is, the first identification frame is larger than the second identification frame. Therefore, according to the relative distance between the sides of the two identification frames, the relative position of the feed port and the discharge port can be determined to determine whether the two are aligned. Specifically, when the lateral distance difference is less than or equal to the first distance threshold, and the third distance is less than or equal to the second distance threshold, the alignment state of the feed port and the discharge port is determined to be aligned.
[0042] In an embodiment of the present application, the method also includes: when the lateral distance difference is greater than a first distance threshold, determining that the alignment state of the feed port and the discharge port is misaligned, and comparing the first distance with the second distance; when the first distance is greater than the second distance, prompting the mixer truck to adjust toward the first side; when the first distance is less than the second distance, prompting the mixer truck to adjust toward the first side.
[0043] Specifically, when the lateral distance difference is greater than the first distance threshold, it means that the feed port of the mixer truck and the discharge port of the concrete outlet are not aligned. At this time, the mixer truck driver can be prompted to adjust the position of the mixer truck according to the size relationship between the first distance and the second distance. For example, if the first side is the left side and the second side is the right side, then when the first distance is greater than the second distance, it means that the mixer truck is too biased to the right at this time, and the processor can output a prompt message to prompt the driver to control the mixer truck to adjust to the left; when the first distance is less than the second distance, it means that the mixer truck is too biased to the left at this time, and the processor can output a prompt message to prompt the driver to control the mixer truck to adjust to the right. In this way, the driver can quickly grasp the offset of the mixer truck, and then quickly adjust the position of the vehicle to align the feed port and the discharge port.
[0044] In an embodiment of the present application, the method also includes: when the third distance is greater than the second distance threshold, determining the fourth distance between the top edge of the first identification box and the top edge of the second identification box; comparing the third distance and the fourth distance; when the third distance is greater than the fourth distance, prompting the mixer truck to adjust toward the bottom edge; when the third distance is less than the fourth distance, prompting the mixer truck to adjust toward the top edge.
[0045] Specifically, when the third distance is greater than the second distance threshold, it means that the feed port of the mixer truck and the discharge port of the concrete outlet are not aligned. At this time, the mixer truck driver can be prompted to adjust the position of the mixer truck according to the size relationship between the third distance and the fourth distance. For example, the top edge direction is the front direction of the mixer truck, and the bottom edge direction is the rear direction of the mixer truck. If the third distance is greater than the fourth distance, it means that the mixer truck is too far forward at this time, and the processor can output a prompt message to prompt the driver to control the mixer truck to reverse and adjust backward; if the third distance is less than the fourth distance, it means that the mixer truck is too far back at this time, and the processor can output a prompt message to prompt the driver to control the mixer truck to adjust forward. In this way, the driver can quickly grasp the offset of the mixer truck, and then quickly adjust the position of the vehicle to align the feed port and the discharge port.
[0046] In an embodiment of the present application, identifying a first identification box of an area where a feed port is located and a second identification box of an area where a discharge port is located in the image information includes: identifying the first identification box and the second identification box in the image information based on a prebuilt semantic segmentation model and a prebuilt target detection model.
[0047] Specifically, both the semantic segmentation model and the target detection model can be constructed based on a large amount of sample data collected in advance and based on deep learning neural network technology, wherein the sample data includes images of the entrance of the mixer truck and images of the discharge port of the concrete exit door, and each image is provided with an image label. Specifically, according to the semantic segmentation model, the pixel information of the feed port and the discharge port in the image information can be segmented, and further, based on the pixel information, according to the target detection model, the first identification frame of the area where the feed port is located and the second identification frame of the area where the discharge port is located in the image information can be identified. In this way, the data of the feed port and the discharge port in the image information can be identified at one time, which is conducive to improving the data processing efficiency.
[0048] In an embodiment of the present application, before identifying a first identification frame of the area where the feed port is located and a second identification frame of the area where the discharge port is located in the image information, the method also includes: preprocessing the image information, and the preprocessing includes image filtering and / or image noise reduction.
[0049] It can be understood that in order to reduce noise and the recognition of the two-dimensional recognition frames at the edges of the discharge port and the feed port by other equipment areas in the mixing station, the image before recognition needs to be pre-processed by filtering, denoising, etc. This can improve the image quality, which is beneficial to improving the accuracy of the recognition process.
[0050] The embodiment of the present application also provides a processor configured to execute the method for detecting the alignment state in the above-mentioned implementation.
[0051] Figure 2 The present invention also provides a device 200 for detecting the alignment state, which is used to detect the alignment state of the discharge port of the concrete discharge door in the mixing station and the feed port of the mixer truck. The device 200 includes:
[0052] The acquisition module 210 is used to acquire image information, and the image information includes images of the feed port and the discharge port.
[0053] The recognition module 220 is used to recognize a first recognition frame of the area where the feeding port is located and a second recognition frame of the area where the discharging port is located in the image information.
[0054] The determination module 230 is used to determine the alignment state of the feed port and the discharge port according to the relative distance between the edges of the first identification frame and the second identification frame.
[0055] The above-mentioned device 200 for detecting the alignment state, in order to detect the alignment state of the discharge port of the concrete outlet door in the mixing station and the feed port of the mixer truck, obtains image information, the image information includes images of the feed port and the discharge port, and then identifies the first identification frame of the area where the feed port is located and the second identification frame of the area where the discharge port is located in the image information, and finally determines the alignment state of the feed port and the discharge port according to the relative distance of each edge of the first identification frame and the second identification frame. The present application can quickly determine the alignment state of the feed port and the discharge port by determining the relative distance of each edge of the identification frame of the feed port and the discharge port in the identified image information, with a fast detection speed and improved accuracy of the detection result.
[0056] In one embodiment, the discharge port is located at a central position in the image information.
[0057] In one embodiment, the determination module 230 is also used to: determine a first distance, a second distance and a third distance according to the first identification frame and the second identification frame, the first distance being the distance between the first side of the first identification frame and the first side of the second identification frame, the second distance being the distance between the second side of the first identification frame and the second side of the second identification frame, and the third distance being the distance between the bottom of the first identification frame and the bottom of the second identification frame; determine the absolute value of the difference between the first distance and the second distance as the lateral distance difference; compare the lateral distance difference with the first distance threshold, and compare the third distance with the second distance threshold, wherein the first distance threshold is determined according to the lateral length difference between the first identification frame and the second identification frame, and the second distance threshold is determined according to the longitudinal length of the first identification frame; when the lateral distance difference is less than or equal to the first distance threshold, and the third distance is less than or equal to the second distance threshold, determine that the alignment state of the feed port and the discharge port is aligned.
[0058] In one embodiment, the determination module 230 is also used to: when the lateral distance difference is greater than a first distance threshold, determine that the alignment state of the feed port and the discharge port is misaligned, and compare the first distance with the second distance; when the first distance is greater than the second distance, prompt the mixer truck to adjust toward the first side; when the first distance is less than the second distance, prompt the mixer truck to adjust toward the first side.
[0059] In one embodiment, the determination module 230 is also used to: determine the fourth distance between the top edge of the first identification box and the top edge of the second identification box when the third distance is greater than the second distance threshold; compare the third distance and the fourth distance; when the third distance is greater than the fourth distance, prompt the mixer truck to adjust toward the bottom edge; when the third distance is less than the fourth distance, prompt the mixer truck to adjust toward the top edge.
[0060] In one embodiment, the recognition module 220 is further used to: recognize the first recognition box and the second recognition box in the image information based on a pre-built semantic segmentation model and a pre-built object detection model.
[0061] In one embodiment, before identifying a first identification frame of the area where the feed port is located and a second identification frame of the area where the discharge port is located in the image information, the device 200 further includes: preprocessing the image information, and the preprocessing includes image filtering and / or image noise reduction.
[0062] An embodiment of the present application also provides a machine-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the method for detecting the alignment state in the above-mentioned embodiment is implemented.
[0063] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.
[0064] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.
[0065] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.
[0066] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.
[0067] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.
[0068] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.
[0069] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.
[0070] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.
[0071] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.
Claims
1. A method for detecting an alignment state, characterized in that: Used to detect the alignment status of the discharge port of the concrete discharge door in the mixing station and the feed port of the mixing truck, the method includes: Acquiring image information, wherein the image information includes images of the feed port and the discharge port; Identify a first identification frame of the area where the feed port is located and a second identification frame of the area where the discharge port is located in the image information; The alignment state of the feed port and the discharge port is determined according to the relative distance between the edges of the first identification frame and the second identification frame.
2. The method according to claim 1, characterized in that In the image information, the discharge port is located at a central position.
3. The method according to claim 1, characterized in that The step of determining the alignment state of the feed port and the discharge port according to the relative distances between the edges of the first identification frame and the second identification frame comprises: Determine a first distance, a second distance, and a third distance according to the first identification frame and the second identification frame, wherein the first distance is the distance between the first side of the first identification frame and the first side of the second identification frame, the second distance is the distance between the second side of the first identification frame and the second side of the second identification frame, and the third distance is the distance between the bottom edge of the first identification frame and the bottom edge of the second identification frame; determining an absolute value of a difference between the first distance and the second distance as a lateral distance difference; comparing the horizontal distance difference with a first distance threshold, and comparing the third distance with a second distance threshold, wherein the first distance threshold is determined according to a horizontal length difference between the first identification frame and the second identification frame, and the second distance threshold is determined according to a vertical length of the first identification frame; When the lateral distance difference is less than or equal to the first distance threshold, and the third distance is less than or equal to the second distance threshold, it is determined that the alignment state of the feed port and the discharge port is aligned.
4. The method according to claim 3, characterized in that The method further comprises: In the case where the lateral distance difference is greater than the first distance threshold, determining that the alignment state of the feed port and the discharge port is misaligned, and comparing the first distance with the second distance; When the first distance is greater than the second distance, prompting the mixer truck to adjust toward the first side; When the first distance is smaller than the second distance, the mixer truck is prompted to adjust toward the first side.
5. The method according to claim 3, characterized in that: The method further comprises: When the third distance is greater than the second distance threshold, determining a fourth distance between a top edge of the first identification frame and a top edge of the second identification frame; comparing the third distance and the fourth distance; When the third distance is greater than the fourth distance, prompting the mixer truck to adjust toward the bottom edge; When the third distance is smaller than the fourth distance, the mixer truck is prompted to adjust toward the top edge.
6. The method according to claim 1, characterized in that The first identification frame for identifying the area where the feed port is located and the second identification frame for identifying the area where the discharge port is located in the image information include: Based on a pre-built semantic segmentation model and a pre-built object detection model, the first recognition box and the second recognition box in the image information are identified.
7. The method according to claim 1, characterized in that Before identifying a first identification frame of the area where the feed port is located and a second identification frame of the area where the discharge port is located in the image information, the method further includes: The image information is preprocessed, wherein the preprocessing includes image filtering and / or image noise reduction.
8. A processor, characterized in that: The device is configured to perform the method for detecting an alignment state according to any one of claims 1 to 7.
9. A device for detecting an alignment state, characterized in that: Used to detect the alignment status of the discharge port of the concrete discharge door in the mixing station and the feed port of the mixing truck, the device includes: An acquisition module, used for acquiring image information, wherein the image information includes images of the feed port and the discharge port; A recognition module, used to recognize a first recognition frame of the area where the feeding port is located and a second recognition frame of the area where the discharging port is located in the image information; A determination module is used to determine the alignment state of the feed port and the discharge port according to the relative distance between the edges of the first identification frame and the second identification frame.
10. A machine-readable storage medium storing a program or an instruction, characterized in that: When the program or the instruction is executed by a processor, the method for detecting an alignment state according to any one of claims 1 to 7 is implemented.