Method for determining material stacking position of truck

Abstract

The invention discloses a truck material stacking position determining method. The truck material stacking position determining method comprises the steps that a truck plate scanning point cloud set, the material size and the maximum clamp size of a truck plate are obtained; calculating the position coordinate of each point cloud in the plurality of vehicle plate scanning point clouds, and determining the contour vertex coordinate of the vehicle plate; coordinate calculation is carried out according to the contour vertex coordinates to obtain the sweeping board length and the length central axis of the sweeping board; and calculating according to the length of the vehicle plate, the maximum size of the clamp, the size of the material and the length central axis, and determining the material stacking coordinates of the material placed on the length central axis. Based on this, through the vehicle plate scanning point cloud set and contour vertex coordinate calculation, the three-dimensional contour data of the vehicle plate is accurately obtained, and the accuracy of subsequent calculation is ensured. The whole process is automatic, manual intervention is reduced, planning time is shortened, and the method is particularly suitable for high-frequency and large-batch logistics scenes. The material stacking coordinates are determined through accurate calculation, the material placing accuracy is improved, rework and resource waste are reduced, and the operation cost is comprehensively reduced.

Description

Technical Field

[0001] This application belongs to the technical field of material handling, and particularly relates to a method for determining the stacking position of goods on a truck. Background Art

[0002] With the continuous development of industrial technology, factories have higher and higher requirements for intelligence, cost reduction and efficiency improvement. During the process of loading and unloading goods on a truck, manual forklift handling is usually required, which has low efficiency and high labor costs; while using an overhead crane for lifting has high efficiency, but its loading and unloading accuracy cannot be guaranteed.

[0003] Therefore, for the handling of materials, on the basis of using an overhead crane for handling, a laser scanner is further used to scan the point cloud for auxiliary positioning, thereby improving the handling accuracy. For example, in the patent with the publication number CN117237616 A, a material handling scanning and recognition system and method for a steel plate yard are disclosed, including: a first laser scanner, a second laser scanner, a third laser scanner, a high-definition industrial camera, an inclinometer, an absolute encoder, and an industrial computer; the industrial computer includes an image recognition module, a first 3D point cloud recognition module, and a second 3D point cloud recognition module. The image recognition module is provided with data by the high-definition industrial camera to recognize the steel plate area and the key point area; the first 3D point cloud recognition module is provided with data by the first laser scanner and the absolute encoder to recognize the grasping of the steel plate when it is put into the warehouse; the second 3D point cloud recognition module is provided with data by the second laser scanner, the third laser scanner, and the inclinometer to recognize the placement of the steel plate when it is put into the warehouse, and the steel plate is successfully put into the warehouse.

[0004] Although this method discloses the use of a laser scanner to assist in the handling of steel plates, this comparative document only puts the steel plates into the warehouse for storage, and the warehouse location is a fixed position. Therefore, the handling and positioning of steel plates are relatively simple, so its loading and unloading accuracy will be relatively high. However, the attitude and position of a truck are randomly uncertain, and there are various types of truck beds (such as high and low beds, etc.). If the method described in the comparative document is adopted, there will still be problems with the inability to guarantee the loading and unloading accuracy during the material loading and unloading process for trucks with different types of truck beds. Summary of the Invention

[0005] The embodiment of this application provides a method for determining the stacking position of goods on a truck, which improves the accuracy of blade profile scanning.

[0006] According to the first aspect of this application, the embodiment of this application provides a method for determining the stacking position of goods on a truck, which may include:

[0007] Obtain the truck bed scanning point cloud set, the material size, and the maximum fixture size of the truck bed. The scanning point cloud set includes multiple truck bed scanning point clouds;

[0008] Calculate the position coordinates of each point cloud in multiple vehicle board scan point clouds to determine the contour vertex coordinates of the vehicle board. The vehicle board scan point cloud includes the position coordinates of the point cloud;

[0009] Perform coordinate calculations based on the contour vertex coordinates to obtain the vehicle board length and the length central axis of the vehicle board;

[0010] Perform calculations based on the vehicle board length, the maximum fixture size, the material size, and the length central axis to determine the material stacking coordinates of the material placed on the length central axis.

[0011] Optionally, calculating the position coordinates of each point cloud in multiple vehicle board scan point clouds to determine the contour vertex coordinates of the vehicle board includes:

[0012] According to the abscissa and ordinate of each point cloud position coordinate, calculate the sum of the abscissa and ordinate to obtain the coordinate sum, and calculate the difference between the abscissa and ordinate to obtain the coordinate difference;

[0013] Select the maximum coordinate sum, the minimum coordinate sum, the maximum coordinate difference, and the minimum coordinate difference from multiple coordinate sums and multiple coordinate differences;

[0014] Respectively determine that the point cloud position coordinates corresponding to the maximum coordinate sum, the minimum coordinate sum, the maximum coordinate difference, and the minimum coordinate difference are the contour vertex coordinates.

[0015] Optionally, calculating the material stacking coordinates of the material placed on the length central axis according to the vehicle board length, the maximum fixture size, the material size, and the length central axis includes:

[0016] Perform calculations based on the vehicle board length, the material size, and the maximum fixture size to determine the maximum stacking quantity of the material;

[0017] Determine the stacking coordinates of each stack of materials on the length central axis according to the maximum stacking quantity and the length central axis.

[0018] Optionally, calculating the maximum stacking quantity of the material according to the vehicle board length, the material size, and the maximum fixture size includes:

[0019] Perform calculations through the following formula to obtain the maximum stacking quantity;

[0020] n = (L - a) ÷ ((a + b) ÷ 2)

[0021] Where: n is the maximum stacking quantity, which is the integer obtained by removing the decimal part after taking the calculation result; L is the vehicle board length; a is the maximum fixture size; b is the material size.

[0022] Optionally, before calculating the material stacking coordinates of the material placed on the length central axis according to the vehicle board length, the maximum fixture size, the material size, and the length central axis, the method further includes:

[0023] Select a first sampling area and a second sampling area in sequence from the car body area in the first direction along the length central axis. The car body area is enclosed by the contour vertex coordinates. The first sampling area and the second sampling area are respectively located at both ends of the car body;

[0024] Determine the car body type of the car body according to the difference in the point cloud position coordinates of each car body scanning point cloud in the first sampling area and the point cloud position coordinates of each car body scanning point cloud in the second sampling area;

[0025] Calculate according to the car body length, the maximum fixture size, the material size and the length central axis to determine the material stacking coordinates of the material placed on the length central axis, including:

[0026] Calculate according to the car body type, the car body length, the maximum fixture size, the material size and the length central axis to determine the material stacking coordinates of the material placed on the length central axis.

[0027] Optionally, determine the car body type of the car body according to the difference in the point cloud position coordinates of each car body scanning point cloud in the first sampling area and the point cloud position coordinates of each car body scanning point cloud in the second sampling area, including:

[0028] Calculate the first height median of the first sampling area and the second height median of the second sampling area respectively according to the point cloud position coordinates of each car body scanning point cloud in each first sampling area and the point cloud position coordinates of each car body scanning point cloud in each second sampling area;

[0029] Determine the car body type of the car body according to the sampling difference between the first height median and the second height median.

[0030] Optionally, determining the car body type according to the sampling difference between the first height median and the second height median includes:

[0031] When the sampling difference is greater than the height threshold, determine that the car body type is a high-low board;

[0032] When the sampling difference is less than or equal to the height threshold, determine that the car body type is a flat board.

[0033] Optionally, calculate according to the car body type, the car body length, the maximum fixture size, the material size and the length central axis to determine the material stacking coordinates of the material placed on the length central axis, including:

[0034] When the car body type is a high-low board, divide the car body area according to the point cloud position coordinates of the car body scanning point cloud to obtain a high board area and a low board area;

[0035] Determine the material stacking coordinates of the material on the length central axis in the high-board area according to the high-board length, the maximum fixture size, the material size, and the length central axis;

[0036] Determine the material stacking coordinates of the material on the length central axis in the low-board area according to the low-board length, the maximum fixture size, the material size, and the length central axis.

[0037] Optionally, when the vehicle board type is a high-low board, divide the vehicle board area according to the point cloud position coordinates of the vehicle board scan point cloud to obtain a high-board area and a low-board area, including:

[0038] Divide the vehicle board area into multiple areas to be measured in sequence along the first direction;

[0039] Compare the measured height median value of the vehicle board scan point cloud in each area to be measured with the first height median value in sequence to obtain a height difference;

[0040] When the height difference is greater than the height threshold, determine the vehicle board scan point cloud corresponding to the measured height median value as the high-low board critical point;

[0041] Divide the vehicle board area and the vehicle board length according to the high-low board critical point to obtain a high-board area, a low-board area, a high-board length, and a low-board length.

[0042] Optionally, before obtaining the vehicle board scan point cloud set, the material size, and the maximum fixture size of the vehicle board, the method further includes:

[0043] Obtain a scan point cloud set, where the scan point cloud set includes multiple scan point clouds;

[0044] Perform a denoising operation on the multiple scan point clouds to obtain multiple vehicle board scan point clouds.

[0045] The technical solutions provided by the embodiments of the present application at least bring the following beneficial effects:

[0046] An embodiment of the present application provides a method for determining the stacking position of goods on a freight truck. After obtaining the point cloud of the truck bed, the size of the goods, and the maximum size of the fixture for gripping the goods through scanning, the contour of the truck bed is determined by calculating based on the point cloud position coordinates of the scanned point cloud of the truck bed. Thus, the length and the length central axis of the truck bed can be determined according to the contour of the truck bed. Therefore, after knowing the length of the truck bed, the maximum size of the fixture, and the size of the goods, the number of goods that can be placed under the current length of the truck bed can be calculated and placed along the length central axis. Thus, the stacking coordinates of the goods are determined, and the length and the central axis of the truck bed are automatically generated, avoiding the deviation of manual calibration and providing a reliable reference for the placement of goods. Based on this, after obtaining the set of scanned point clouds of the truck bed, the size of the goods, and the maximum size of the fixture, the vertex coordinates of the contour of the truck bed can be calculated according to the scanned point cloud of the truck bed. Then, the length and the length central axis of the freight truck bed are calculated according to the vertex coordinates of the contour. When calculating the stacking coordinates of the goods according to the length of the truck bed and the length central axis, the obtained stacking coordinates of the goods are all the stacking coordinates of the goods stacked on this truck bed. Thus, regardless of the type of the truck bed, the goods can be stacked on the truck bed more accurately, improving the accuracy of the stacking of goods of different truck bed types on the freight truck, and thus being applicable to freight trucks of various different truck bed types.

[0047] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application and used together with the specification to explain the principles of the present application, and do not constitute an improper limitation to the present application.

[0049] Figure 1 is a flowchart of a method for determining the stacking position of goods on a freight truck shown according to an exemplary embodiment;

[0050] Figure 2 is a schematic structural diagram of a device for determining the stacking position of goods on a freight truck shown according to an exemplary embodiment;

[0051] Figure 3 is a block diagram of the structure of a device for determining the stacking position of goods on a freight truck shown according to an exemplary embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0052] In order to more clearly understand the above objects, features, and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments may be combined with each other.

[0053] In the following description, many specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present disclosure, rather than all of the embodiments.

[0054] As described in the background art, during the loading and unloading process of a freight truck, manual forklift handling is usually required, which has low efficiency and high labor costs; while using an overhead crane has high efficiency, but its loading and unloading accuracy cannot be guaranteed.

[0055] Based on this, the present application provides a method for determining the stacking position of freight truck materials. First, the method for determining the stacking position of freight truck materials provided by the embodiments of the present application will be introduced below.

[0056] As Figure 1 - Figure 3 shown;

[0057] Embodiment 1;

[0058] It may include the following steps:

[0059] S101, obtain the vehicle board scan point cloud set, material size, and maximum fixture size of the vehicle board, and the scan point cloud set includes multiple vehicle board scan point clouds;

[0060] S102, calculate the position coordinates of each point cloud in the multiple vehicle board scan point clouds to determine the contour vertex coordinates of the vehicle board. The vehicle board scan point cloud includes point cloud position coordinates;

[0061] S103, perform coordinate calculation according to the contour vertex coordinates to obtain the vehicle board length and length central axis of the vehicle board;

[0062] S104, perform calculation according to the vehicle board length, maximum fixture size, material size, and length central axis to determine the material stacking coordinates of the materials placed on the length central axis.

[0063] Based on the above embodiments, after obtaining the point cloud of the truck bed, the material size, and the maximum size of the fixture for gripping the material by scanning, by calculating according to the point cloud position coordinates of the truck bed scanning point cloud, the contour of the truck bed is determined. Thus, the length and the length central axis of the truck bed can be determined based on the truck bed contour. Therefore, after knowing the truck bed length, the maximum size of the fixture, and the material size, the number of materials that can be placed on the current truck bed length can be calculated and placed along the length central axis. Thus, the material stacking coordinates of the materials are determined, automatically generating the truck bed length and the central axis, avoiding manual calibration deviation, and providing a reliable reference for material placement. Based on this, after obtaining the truck bed scanning point cloud set, the material size, and the maximum size of the fixture, the vertex coordinates of the truck bed contour can be calculated based on the truck bed scanning point cloud. Then, based on the contour vertex coordinates, the truck bed length and the length central axis of the freight truck bed are calculated. When calculating the material stacking coordinates based on the truck bed length and the length central axis, the obtained material stacking coordinates are all the material stacking coordinates for stacking on this truck bed. Thus, regardless of the type of the truck bed, the materials can be stacked more accurately on the truck bed, improving the accuracy of the freight truck for stacking goods of different truck bed types, and thus being applicable to freight trucks of various different truck bed types.

[0064] In the above S101, the truck bed is scanned by a scanner to obtain the truck bed scanning point cloud of the truck bed. All the truck bed scanning point clouds related to the truck bed are combined together to obtain the scanning point cloud set.

[0065] The material size refers to the size of the material that needs to be stacked on the truck bed; the maximum size of the fixture refers to the size of the fixture used for gripping the material and placing the material on the truck bed when in the working state (the size when the fixture is opened).

[0066] Preferably, in order to improve the practicability and reduce the occurrence of extreme situations, both the material size and the maximum size of the fixture in this application are larger than their actual sizes, and a certain margin needs to be left.

[0067] In the above S102, the truck bed scanning point cloud may include the point cloud position coordinates (X, Y, Z), color information, scanning intensity, etc. of the point. By confirming the coordinates according to the point cloud position coordinates of each truck bed scanning point cloud, a region formed by all the truck bed scanning point clouds can be obtained. This region is the region where the truck bed is located, and the contour vertex coordinates are determined according to the contour of this region.

[0068] Specifically, the above S102 may further include:

[0069] S1021; According to the abscissa and ordinate of each point cloud position coordinate, calculate the sum of the abscissa and the ordinate to obtain the coordinate sum, and calculate the difference between the abscissa and the ordinate to obtain the coordinate difference;

[0070] S1022; Select the maximum coordinate sum, minimum coordinate sum, maximum coordinate difference, and minimum coordinate difference from multiple coordinate sums and multiple coordinate differences.

[0071] S1023; Determine that the point cloud position coordinates corresponding to the maximum coordinate sum, minimum coordinate sum, maximum coordinate difference, and minimum coordinate difference are the contour vertex coordinates respectively.

[0072] In the above S1021, given the point cloud position coordinates (X, Y, Z) of each vehicle board scan point cloud, sum and difference the abscissa (X) and ordinate (Y) of each vehicle board scan point cloud respectively to obtain the coordinate sum (X + Y) and coordinate difference (X - Y) of each vehicle board scan point cloud.

[0073] In the above S1022, after obtaining the coordinate sum and coordinate difference of each vehicle board scan point cloud, select the maximum value and minimum value from the coordinate sum and coordinate difference of each vehicle board scan point cloud, and thus the maximum coordinate sum, minimum coordinate sum, maximum coordinate difference, and minimum coordinate difference can be obtained.

[0074] In the above S1023, thus, determine these four points of the maximum coordinate sum, maximum coordinate difference, minimum coordinate sum, and minimum coordinate difference as the contour coordinate vertices.

[0075] Specifically, the contour coordinate vertices can be expressed as max(X + Y), max(X - Y), min(X + Y), min(X - Y).

[0076] In the above S103, after determining the coordinates of the contour coordinate vertices, perform coordinate calculations based on the contour vertex coordinates, and thus the length of the vehicle board and the length central axis of the vehicle board can be determined.

[0077] In the above S104, after the maximum fixture size and material size, the size required for each material clamping can be determined. Then, combined with the vehicle board length, the number of stacks of materials that can be stacked on the vehicle board can be determined. Then, based on the length central axis, the material stacking coordinates of the materials placed along the length central axis of the vehicle board can be calculated.

[0078] Specifically, the above S104 may further include:

[0079] S1041, calculate based on the vehicle board length, material size, and maximum fixture size to determine the maximum stacking quantity of materials;

[0080] S1042, determine the stacking coordinates of each stack of materials on the length central axis according to the maximum stacking quantity and the length central axis.

[0081] In the above S1041, the size required for the fixture to place the material on the vehicle board each time is the sum of the maximum size of the fixture and the size of the material. Dividing the length of the vehicle board by the size which is the sum of the maximum size of the fixture and the size of the material can obtain the maximum stacking quantity of the materials that can be placed on the vehicle board.

[0082] Specifically, the maximum stacking quantity can be calculated through the following formula:

[0083] n = (L - a) ÷ ((a + b) ÷ 2)

[0084] Where: n is the maximum stacking quantity, taking the integer after removing the decimal part of the calculation result; L is the length of the vehicle board; a is the maximum size of the fixture; b is the size of the material.

[0085] Furthermore, since the stacking quantity of the materials is an integer, when there is a decimal in the calculated maximum stacking quantity of the materials, it should be rounded down.

[0086] Even further, for different vehicle board models and material stacking requirements, there may be an upper limit on the stacking quantity of this kind of material. Therefore, the maximum stacking quantity also needs to be determined in combination with the actual upper limit of the stacking quantity, and the maximum stacking quantity cannot exceed the upper limit of the stacking quantity.

[0087] In the above S1042, after determining the maximum stacking quantity of the materials, in order to improve the stability of the materials placed on the vehicle board, the materials need to be placed along the length central axis of the vehicle board. Thus, according to the maximum stacking quantity of the materials, they are evenly distributed on the length central axis of the vehicle board to obtain the stacking coordinates where each stack of materials is placed.

[0088] It should be noted that since there may be interference when the fixture holds the material and places it on the vehicle board on the side close to the vehicle head, when determining the stacking coordinates, the distance between the closest stacking coordinate to the vehicle head and the vehicle head needs to maintain a safe distance.

[0089] Embodiment 2:

[0090] Before the above S104, the method may further include:

[0091] S105, sequentially select a first sampling area and a second sampling area from the vehicle board area along the first direction of the length central axis. The vehicle board area is enclosed by the contour vertex coordinates, and the first sampling area and the second sampling area are respectively located at both ends of the vehicle board;

[0092] S106, determine the vehicle board type of the vehicle board according to the difference in the point cloud position coordinates of each vehicle board scan point cloud in the first sampling area and the point cloud position coordinates of each vehicle board scan point cloud in the second sampling area;

[0093] The above S104 may include:

[0094] S1043: Calculate according to the vehicle board type, vehicle board length, maximum fixture size, material size, and length central axis to determine the material stacking coordinates of the materials placed on the length central axis.

[0095] In the above embodiments, by respectively selecting a first sampling area and a second sampling area from both ends of the vehicle board, and thus judging the differences between the first sampling area and the second sampling area according to the point cloud position coordinates of the vehicle board scan point cloud in the first sampling area and the second sampling area, and thereby judging the type of the vehicle board according to the differences between the two sampling areas. Thus, the material stacking coordinates of the materials can be reasonably planned in combination with the vehicle board type.

[0096] In the above S105, the first direction refers to the direction from the head of the vehicle board to the tail of the vehicle board. According to the first direction, with the length central axis as the midline, a first sampling area and a second sampling area are respectively selected from both ends of the vehicle board.

[0097] More preferably, multiple sampling areas can also be taken at equal intervals along the first direction of the length central axis, so that the determination of the vehicle board type is more accurate.

[0098] In the above S106, the point cloud position coordinates of the vehicle board scan point cloud in the first sampling area and the second sampling area are respectively obtained, and the height difference between the first sampling area and the second sampling area is determined according to the height (Z) in the position coordinates, and thereby the vehicle board type of the vehicle board is judged according to the difference.

[0099] Specifically, in one example, the above S106 may further include:

[0100] S1061: Calculate and obtain the first height median of the first sampling area and the second height median of the second sampling area respectively according to the point cloud position coordinates of each vehicle board scan point cloud in each first sampling area and the point cloud position coordinates of each vehicle board scan point cloud in each second sampling area;

[0101] S1062: Determine the vehicle board type of the vehicle board according to the sampling difference between the first height median and the second height median.

[0102] In the above S1061, the vehicle board type can be divided into a flat board and a high-low board according to the height of the vehicle board, and the difference between the flat board and the high-low board is reflected in the overall height of the vehicle board. In order to further accurately determine the vehicle board type, it is necessary to respectively select the median value of the height of the first sampling area and the second sampling area according to the height (Z) of each vehicle board scan point cloud in the first sampling area and the second sampling area, so as to obtain the first height median and the second height median.

[0103] In the above S1062, by comparing the first height median and the second height median, a sampling difference is obtained. Specifically, the sampling difference is the absolute value of the difference between the first height median and the second height median. Then, according to the magnitude of the sampling difference, the type of the vehicle floor is determined.

[0104] Specifically, the above S1061 may include:

[0105] In the case where the sampling difference is greater than the height threshold, it is determined that the type of the vehicle floor is a high-low floor;

[0106] In the case where the sampling difference is less than or equal to the height threshold, it is determined that the type of the vehicle floor is a flat floor.

[0107] Among them, the height threshold is a preset value, which can be set in advance by the user. When the sampling difference is greater than the height threshold, it can indicate that the height difference between the first sampling area and the second sampling area is too large, exceeding the height threshold. Thus, it can be considered that there is a height difference in the vehicle floor, that is, the type of the vehicle floor is a high-low floor; otherwise, the type of the vehicle floor is a flat floor.

[0108] In the above S1043, after determining the type of the vehicle floor, the material stacking coordinates of the material in different vehicle floor types can be determined by combining the vehicle floor length, the maximum size of the fixture, the material size, and the length central axis.

[0109] Specifically, in one example, S1043 may further include:

[0110] S10431, in the case where the type of the vehicle floor is a high-low floor, the vehicle floor area is divided according to the point cloud position coordinates of the vehicle floor scan point cloud, and a high board area and a low board area are obtained;

[0111] S10432, according to the high board length, the maximum size of the fixture, the material size, and the length central axis, determine the material stacking coordinates of the material on the length central axis placed in the high board area;

[0112] S10433, according to the low board length, the maximum size of the fixture, the material size, and the length central axis, determine the material stacking coordinates of the material on the length central axis placed in the low board area.

[0113] In the above S10431, since when determining that the type of the vehicle floor is a high-low floor, it is only determined according to the height medians of the first sampling area and the second sampling area, and both the first sampling area and the second sampling area are only partial areas of the vehicle floor and cannot completely determine the dividing line between the high board and the low board. Therefore, it is necessary to re-divide the vehicle floor area according to the point cloud position coordinates of the vehicle floor scan point cloud, so as to obtain a high board area and a low board area.

[0114] Specifically, in one example, the above S10431 may include:

[0115] S104311, sequentially divide the vehicle board area into a plurality of areas to be measured along the first direction;

[0116] S104312, sequentially compare the median height to be measured of the vehicle board scan point cloud in each area to be measured with the first median height for comparison to obtain a height difference;

[0117] S104313, in the case where the height difference is greater than the height threshold, determine the vehicle board scan point cloud corresponding to the median height to be measured as the high-low board critical point;

[0118] S104314, divide the vehicle board area and the vehicle board length according to the high-low board critical point to obtain a high board area, a low board area, a high board length, and a low board length.

[0119] In the above S104311, for a vehicle board with a high-low board type, the high board and the low board are arranged along the length direction. Thus, the vehicle board area is divided along the length direction (the first direction) to obtain a plurality of areas to be measured.

[0120] In the above S104312, for each area to be measured, respectively select the median height to be measured of each area to be measured according to the point cloud position coordinates of the vehicle board scan point cloud in each area to be measured, and further compare the median height to be measured with the first median height to obtain a height difference. Similarly, the height difference is the absolute value of the difference between the median height to be measured and the first median height.

[0121] In the above S104313, since the first median height is determined by the first sampling area according to the point cloud position coordinates, and the first sampling area is selected along the first direction of the vehicle board area, which is consistent with the direction of the sequentially selected areas to be measured; thus, according to the selection order, the height differences obtained by sequentially comparing the median heights to be measured of each area to be measured are further compared with the height threshold using the height difference and the height threshold. If the height difference is greater than the height threshold, it indicates that there is a height difference between the area to be measured and the first sampling area at this time. Then, this area to be measured is regarded as a critical area at the high-low board boundary. Further, select the point corresponding to the median height to be measured that can best reflect the height of the critical area as the high-low board critical point.

[0122] In the above S104314, divide the vehicle board area according to the high-low board critical point to divide the vehicle board area into two parts, namely a high board area and a low board area. After determining the vehicle board contour according to the contour vertices, the high board length and the low board length can be calculated according to the vehicle board contour and the high-low board critical point.

[0123] Preferably, for the distinction between the high-board area and the low-board area, if the difference between the first height median and the second height median is greater than 0, it indicates that the first sampling area is larger than the second sampling area. The first sampling area exists in the high-board area, and the second sampling area exists in the low-board area, and vice versa.

[0124] In S10432 above, after determining the high-board length of the high-board area, the method as in S1041 - S1042 above can be adopted. Combining the maximum fixture size, the material size, and the length central axis, determine the material stacking coordinates of the material placed on the length central axis in the high-board area.

[0125] In S10433 above, after determining the low-board length of the low-board area, the method as in S1041 - S1042 above can be adopted. Combining the maximum fixture size, the material size, and the length central axis, determine the material stacking coordinates of the material placed on the length central axis in the low-board area.

[0126] In the above-mentioned Embodiment 2, it includes each method in the above-mentioned Embodiment 1, and can achieve each process in the above-mentioned Embodiment 1, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0127] Embodiment 3:

[0128] Before S101 above, the method for determining the truck material stacking position may further include:

[0129] S107, obtain a scanned point cloud set, where the scanned point cloud set includes multiple scanned point clouds;

[0130] S108, perform a denoising operation on the multiple scanned point clouds to obtain multiple vehicle board scanned point clouds.

[0131] In S107 above, scan the area where the truck is located through a scanning instrument, thereby obtaining a lot of scanned point clouds. There may be point clouds irrelevant to the vehicle board or some incorrect point clouds and other noises in these scanned point clouds. The multiple scanned point clouds are combined together to form a scanned point cloud set.

[0132] In S108 above, perform denoising operations such as intercepting, filtering, and clustering on the multiple scanned point clouds to obtain multiple vehicle board scanned point clouds from the multiple scanned point clouds. Thereby improving the accuracy of the vehicle board scanned point clouds.

[0133] More specifically, by setting up a pan-tilt laser line scanning scanner and connecting it to the data processing computer in the ground control room via a network, when the data processing computer receives a scanning request sent by the dispatching system, it will control the specified scanner to perform a single scan. After the scan is completed, the acquired scan point cloud will be saved as a file in PCD format, and the scan point cloud will be processed according to the set parameters. The vehicle board scan point cloud of the vehicle board is selected from the scan point cloud through methods such as cropping, filtering, and clustering.

[0134] In the above-mentioned Embodiment 3, it includes each method in the above-mentioned Embodiment 1 and / or, and can implement each process in the above-mentioned Embodiment 1, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0135] Embodiment 4;

[0136] As Figure 2 shown, based on the same inventive concept, on the basis of Embodiment 1, this embodiment further provides a device 200 for determining the stacking position of goods on a freight car, which includes:

[0137] A first acquisition module 210, configured to acquire the vehicle board scan point cloud set of the vehicle board, the material size, and the maximum fixture size, and the scan point cloud set includes a plurality of vehicle board scan point clouds;

[0138] A first calculation module 220, configured to calculate the position coordinates of each point cloud in the plurality of vehicle board scan point clouds to determine the contour vertex coordinates of the vehicle board, and the vehicle board scan point cloud includes point cloud position coordinates;

[0139] A second calculation module 230, configured to perform coordinate calculation according to the contour vertex coordinates to obtain the vehicle board length and the length central axis of the vehicle board;

[0140] A third calculation module 240, configured to perform calculations based on the vehicle board length, the maximum fixture size, the material size, and the length central axis to determine the material stacking coordinates of the materials placed on the length central axis.

[0141] Based on the above embodiments, the first acquisition module 210 acquires the vehicle board scan point cloud set, the material size, and the maximum fixture size of the vehicle board; the first calculation module 220 calculates the position coordinates of each point cloud in the multiple vehicle board scan point clouds to determine the contour vertex coordinates of the vehicle board; the second calculation module 230 performs coordinate calculations based on the contour vertex coordinates to obtain the vehicle board length and the length central axis of the vehicle board; the third calculation module 240 calculates based on the vehicle board length, the maximum fixture size, the material size, and the length central axis to determine the material stacking coordinates of the materials placed on the length central axis. Based on this, after acquiring the vehicle board scan point cloud set, the material size, and the maximum fixture size, the contour vertex coordinates of the vehicle board can be calculated from the vehicle board scan point cloud, and then the vehicle board length and the length central axis of the freight vehicle board can be calculated from the contour vertex coordinates. When calculating the material stacking coordinates based on the vehicle board length and the length central axis, the obtained material stacking coordinates are all the material stacking coordinates for stacking on this vehicle board. Thus, regardless of the type of vehicle board, the materials can be stacked more accurately on the vehicle board, improving the accuracy of the freight vehicle for stacking goods of different vehicle board types, and thus being applicable to freight vehicles of various different vehicle board types.

[0142] Optionally, the first calculation module 220 may include:

[0143] The first calculation unit is used to calculate the sum of the abscissa and the ordinate to obtain the coordinate sum, and calculate the difference between the abscissa and the ordinate to obtain the coordinate difference according to the abscissa and the ordinate of each point cloud position coordinate;

[0144] The selection unit is used to select the maximum coordinate sum, the minimum coordinate sum, the maximum coordinate difference, and the minimum coordinate difference from the multiple coordinate sums and the multiple coordinate differences;

[0145] The first determination unit is used to respectively determine that the point cloud position coordinates corresponding to the maximum coordinate sum, the minimum coordinate sum, the maximum coordinate difference, and the minimum coordinate difference are the contour vertex coordinates.

[0146] Optionally, the third calculation module 240 may include:

[0147] The second calculation unit is used to calculate according to the vehicle board length, the material size, and the maximum fixture size to determine the maximum stacking quantity of the materials;

[0148] The second determination unit is used to determine the stacking coordinates of each stack of materials on the length central axis according to the maximum stacking quantity and the length central axis.

[0149] Optionally, the second calculation unit may include:

[0150] The following formula is used for calculation to obtain the maximum stacking quantity;

[0151] n=(L - a)÷((a + b)÷2)

[0152] Wherein: n is the maximum stacking quantity, taking the integer after removing the decimal part of the calculation result; L is the length of the car body; a is the maximum size of the fixture; b is the size of the material.

[0153] Optionally, the device 200 for determining the stacking position of goods on a freight car may further include:

[0154] A selection module, configured to sequentially select a first sampling area and a second sampling area from the car body area along the first direction of the length central axis. The car body area is enclosed by the contour vertex coordinates, and the first sampling area and the second sampling area are respectively located at both ends of the car body;

[0155] A determination module, configured to determine the type of the car body according to the difference between the point cloud position coordinates of each car body scanning point cloud in the first sampling area and the point cloud position coordinates of each car body scanning point cloud in the second sampling area;

[0156] The third calculation module 240 may include:

[0157] A third calculation unit, configured to calculate according to the car body type, the car body length, the maximum size of the fixture, the material size, and the length central axis to determine the material stacking coordinates of the materials placed on the length central axis.

[0158] Optionally, the selection module may include:

[0159] A fourth calculation unit, configured to respectively calculate a first height median value of the first sampling area and a second height median value of the second sampling area according to the point cloud position coordinates of each car body scanning point cloud in each first sampling area and the point cloud position coordinates of each car body scanning point cloud in each second sampling area;

[0160] A third determination unit, configured to determine the type of the car body according to the sampling difference between the first height median value and the second height median value.

[0161] Optionally, the determination module may include:

[0162] A fourth determination unit, configured to determine that the car body type is a high-low plate when the sampling difference is greater than the height threshold;

[0163] A fifth determination unit, configured to determine that the car body type is a flat plate when the sampling difference is less than or equal to the height threshold.

[0164] Optionally, the third calculation unit may include:

[0165] A division sub-unit, configured to divide the car body area according to the point cloud position coordinates of the car body scanning point cloud to obtain a high plate area and a low plate area when the car body type is a high-low plate;

[0166] A first determination subunit, configured to determine the material stacking coordinates of the material placed on the length central axis in the high-board area according to the high-board length, the maximum fixture size, the material size, and the length central axis;

[0167] A second determination subunit, configured to determine the material stacking coordinates of the material placed on the length central axis in the low-board area according to the low-board length, the maximum fixture size, the material size, and the length central axis.

[0168] Optionally, the division subunit may include:

[0169] A division component, configured to sequentially divide the car body area into multiple areas to be measured along a first direction;

[0170] A comparison component, configured to sequentially compare the measured height median of the car body scan point cloud in each area to be measured with the first height median to obtain a height difference;

[0171] A determination component, configured to determine the car body scan point cloud corresponding to the measured height median as the high-low board critical point when the height difference is greater than the height threshold;

[0172] A segmentation component, configured to segment the car body area and the car body length according to the high-low board critical point to obtain a high-board area, a low-board area, a high-board length, and a low-board length.

[0173] Optionally, the device 200 for determining the truck material stacking position may further include:

[0174] A second acquisition module, configured to acquire a scan point cloud set, where the scan point cloud set includes multiple scan point clouds;

[0175] A denoising module, configured to perform a denoising operation on the multiple scan point clouds to obtain multiple car body scan point clouds.

[0176] In Embodiment 3, each process of the above Embodiment 1 and / or Embodiment 2 can be implemented, and the same technical effects can be achieved. To avoid repetition, details are not described herein again.

[0177] Embodiment 5:

[0178] Figure 3 FIG. shows a schematic hardware structure diagram of a device for determining the truck material stacking position provided by an embodiment of the present invention.

[0179] The device for determining the truck material stacking position may include a processor 301 and a memory 302 storing computer program instructions.

[0180] Specifically, the above-mentioned processor 301 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured as one or more integrated circuits for implementing the embodiments of the present invention.

[0181] The memory 302 may include a mass storage for data or instructions. By way of example and not limitation, the memory 302 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disc, a magneto-optical disc, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. In a suitable case, the memory 302 may include a removable or non-removable (or fixed) medium. In a suitable case, the memory 302 may be internal or external to the integrated gateway disaster recovery device. In a specific embodiment, the memory 32 is a non-volatile solid-state memory.

[0182] In a specific embodiment, the memory 302 may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage media device, an optical storage media device, a flash memory device, an electrical, optical, or other physical / tangible memory storage device. Thus, generally, the memory 302 includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors 301), it is operable to perform the operations described with reference to the method according to an aspect of the present application.

[0183] The processor 301 reads and executes the computer program instructions stored in the memory 302 to implement any one of the methods for determining the stacking position of goods in a truck in the above embodiments.

[0184] In an example, the device for determining the stacking position of goods in a truck may further include a communication interface 303 and a bus 304. As shown in the figure, the processor 301, the memory 302, and the communication interface 303 are connected through the bus 304 to complete communication with each other.

[0185] The communication interface 303 is mainly used to implement communication between the various modules, devices, units, and / or devices in the embodiments of the present invention.

[0186] The bus 304 includes hardware, software, or both. By way of example and not limitation, the bus 304 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, a wireless bandwidth interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, the bus 304 may include one or more buses 304. Although embodiments of the present application describe and illustrate a specific bus 304, the present application contemplates any suitable bus 304 or interconnect.

[0187] The determining device for the truck material stacking position can be based on the method for determining the current truck material stacking position, so as to implement the combination Figure 1 , 2 the method for determining the truck material stacking position and the determining device 200 for the truck material stacking position described above.

[0188] In addition, an embodiment of the present application also provides a computer program product, including computer program instructions. When the computer program product is executed by the processor 301, the steps and corresponding contents of the foregoing method embodiments can be implemented.

[0189] It should be clear that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order between steps after understanding the spirit of the present application.

[0190] The functional blocks shown in the above-described structural block diagrams can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a functional card, and so on. When implemented in software, the elements of the present application are programs or code segments for performing the required tasks. The program or code segment can be stored in a machine-readable medium or transmitted via a data signal carried in a carrier wave over a transmission medium or a communication link. "Machine-readable medium" can include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical discs, hard disks, fiber optic media, radio frequency (RF) links, and so on. The code segment can be downloaded via a computer network such as the Internet, an intranet, and so on.

[0191] It should also be noted that the exemplary embodiments mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps can be executed in the order mentioned in the embodiments, or different from the order in the embodiments, or several steps can be executed simultaneously.

[0192] Aspects of the present disclosure have been described above with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each block in the flowcharts and / or block diagrams, and the combinations of blocks in the flowcharts and / or block diagrams, 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, or other programmable methods, apparatuses, and devices for determining the stacking position of freight cars, to generate a machine such that these instructions executed by the processor of the computer or other programmable methods, apparatuses, and devices for determining the stacking position of freight cars enable the implementation of the functions / actions specified in one or more blocks of the flowcharts and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and the combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by dedicated hardware for performing the specified functions or actions, or by a combination of dedicated hardware and computer instructions.

[0193] As described above, this is only the specific implementation manner of the present application. Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, modules, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein. It should be understood that the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present application.

Claims

1. A method for determining the stacking position of goods in a freight car, characterized in that The steps of the method are as follows: Obtain the set of scanned point clouds of the vehicle board, the material size, and the maximum fixture size, where the set of scanned point clouds includes multiple scanned point clouds of the vehicle board; Calculate the position coordinates of each point cloud in the multiple scanned point clouds of the vehicle board to determine the contour vertex coordinates of the vehicle board. The scanned point cloud of the vehicle board includes position coordinates; Perform coordinate calculation based on the contour vertex coordinates to obtain the length of the vehicle board and the length central axis of the vehicle board; Perform calculations based on the length of the vehicle board, the maximum fixture size, the material size, and the length central axis to determine the material stacking coordinates of the materials placed on the length central axis; 2. The method for determining the stacking position of goods in a truck according to claim 1, wherein The calculating the position coordinates of each point cloud in the multiple scanned point clouds of the vehicle board to determine the contour vertex coordinates of the vehicle board includes: According to the abscissa and ordinate of each point cloud position coordinate, calculate the sum of the abscissa and the ordinate to obtain the coordinate sum, and calculate the difference between the abscissa and the ordinate to obtain the coordinate difference; Select the maximum coordinate sum, the minimum coordinate sum, the maximum coordinate difference, and the minimum coordinate difference from the multiple coordinate sums and the multiple coordinate differences; Respectively determine the point cloud position coordinates corresponding to the maximum coordinate sum, the minimum coordinate sum, the maximum coordinate difference, and the minimum coordinate difference as the contour vertex coordinates; 3. The method for determining the stacking position of goods in a freight car according to claim 1, characterized in that, The calculating based on the length of the vehicle board, the maximum fixture size, the material size, and the length central axis to determine the material stacking coordinates of the materials placed on the length central axis includes: Perform calculations based on the length of the vehicle board, the material size, and the maximum fixture size to determine the maximum stacking quantity of the materials; Determine the stacking coordinates of each stack of the materials on the length central axis according to the maximum stacking quantity and the length central axis; 4. The method for determining the stacking position of truck materials according to claim 3, characterized in that The calculating based on the length of the vehicle board, the material size, and the maximum fixture size to determine the maximum stacking quantity of the materials includes: Perform calculations through the following formula to obtain the maximum stacking quantity; n = (L - a) ÷ ((a + b) ÷ 2) Where: n is the maximum stacking quantity, taking the integer after removing the decimal part of the calculation result; L is the length of the vehicle board; a is the maximum fixture size; b is the material size.

5. The method for determining the stacking position of goods in a freight car according to claim 1, characterized in that, Before the calculating based on the length of the vehicle board, the maximum fixture size, the material size, and the length central axis to determine the material stacking coordinates of the materials placed on the length central axis, the method further includes: Select a first sampling area and a second sampling area in sequence from the vehicle board area along the first direction of the length central axis. The vehicle board area is enclosed by the contour vertex coordinates. The first sampling area and the second sampling area are respectively located at both ends of the vehicle board; Determine the type of the vehicle board according to the difference between the point cloud position coordinates of each scanned point cloud in the first sampling area and the point cloud position coordinates of each scanned point cloud in the second sampling area; The calculating based on the length of the vehicle board, the maximum fixture size, the material size, and the length central axis to determine the material stacking coordinates of the materials placed on the length central axis includes: Calculate according to the vehicle board type, according to the vehicle board length, the maximum size of the fixture, the material size, and the length central axis to determine the material stacking coordinates of the materials placed on the length central axis.

6. The method for determining the stacking position of goods in a freight vehicle according to claim 5, wherein Determining the vehicle board type according to the difference in the point cloud position coordinates of each vehicle board scan point cloud in the first sampling area and the point cloud position coordinates of each vehicle board scan point cloud in the second sampling area includes: Calculate the first height median of the first sampling area and the second height median of the second sampling area respectively according to the point cloud position coordinates of each vehicle board scan point cloud in each first sampling area and the point cloud position coordinates of each vehicle board scan point cloud in each second sampling area; Determine the vehicle board type according to the sampling difference between the first height median and the second height median.

7. The method for determining the stacking position of truck materials according to claim 6, characterized in that, Determining the vehicle board type according to the sampling difference between the first height median and the second height median includes: When the sampling difference is greater than the height threshold, determine that the vehicle board type is a high-low board; When the sampling difference is less than or equal to the height threshold, determine that the vehicle board type is a flat board.

8. The method for determining the stacking position of goods in a freight car according to claim 7, characterized in that, Determining the material stacking coordinates of the materials placed on the length central axis according to the vehicle board type, the vehicle board length, the maximum size of the fixture, the material size, and the length central axis includes: When the vehicle board type is the high-low board, divide the vehicle board area according to the point cloud position coordinates of the vehicle board scan point cloud to obtain a high board area and a low board area; Determine the material stacking coordinates of the materials placed on the length central axis in the high board area according to the high board length, the maximum size of the fixture, the material size, and the length central axis; Determine the material stacking coordinates of the materials placed on the length central axis in the low board area according to the low board length, the maximum size of the fixture, the material size, and the length central axis.

9. The method for determining the stacking position of goods in a freight vehicle according to claim 8, wherein When the vehicle board type is the high-low board, dividing the vehicle board area according to the point cloud position coordinates of the vehicle board scan point cloud to obtain a high board area and a low board area includes: Divide the vehicle board area into multiple areas to be measured in sequence along the first direction; Compare the measured height median of the vehicle board scan point cloud in each area to be measured with the first height median in sequence to obtain a height difference; When the height difference is greater than the height threshold, determine that the vehicle board scan point cloud corresponding to the measured height median is the high-low board critical point; Divide the vehicle board area and the vehicle board length according to the high-low board critical point to obtain a high board area, a low board area, a high board length, and a low board length.

10. The method according to any one of claims 1-9, characterized in that, Before obtaining the vehicle board scan point cloud set, the material size, and the maximum size of the fixture of the vehicle board, the method further includes: Obtain a scan point cloud set, where the scan point cloud set includes multiple scan point clouds; Perform a denoising operation on the multiple scan point clouds to obtain multiple vehicle board scan point clouds.

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