Space yard rapid inventory method based on aircraft space ranging and product

Abstract

The application discloses a space yard rapid counting method and product based on aircraft space ranging. The method is used for rapidly counting the number of boxes stacked in a space yard, and comprises the following steps: adding a mark point to a virtual box located at a top position in each virtual stacking unit in a full-stacking three-dimensional model; generating a trajectory line capable of covering each mark point based on position information of the mark points; converting the trajectory line into an actual space trajectory as a flight path of an aircraft performing a counting task; controlling the aircraft to fly according to the flight path, collecting distance information of the aircraft and each target box, and collecting distance information of the aircraft from the ground; and calculating the total number of target boxes in a current target stacking area based on the distance information of the aircraft and each target box, the distance information of the aircraft from the ground and size information of a single target box. The embodiment of the application can realize rapid counting of the boxes in the yard.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, and in particular to a space yard rapid inventory method based on aircraft spatial ranging and a product. BACKGROUND

[0002] A container is an indispensable tool in the modern logistics transportation system. During the handover, storage or stacking of the container, accurately inventorying the number of containers is an important link to ensure the order of operation and the standardization of management. At present, the commonly used number inventory methods in the container yard include manual inventory, two-dimensional code or RFID tag identification, and photograph identification based on image recognition algorithm. However, these methods are difficult to meet the daily rapid inventory needs of multiple batches in the face of complex environments such as large yard area, multiple stacking layers, and occlusion between containers.

[0003] For example, the manual inventory method relies on a large amount of manpower, which is not only time-consuming and inefficient, but also susceptible to human error. In addition, the inventory results and inventory records need to be manually compared, which makes it difficult to find differences in time. Although the two-dimensional code or RFID tag method has certain automation capability, it needs to read the code at close range during inventory. In the scenario of dense stacking of containers, narrow spacing and high stacking, there are problems such as difficulty in reading the code and serious signal interference caused by metal shielding, which makes it difficult to achieve rapid inventory, and the inventory efficiency is still limited. As for the image recognition-based method, a large amount of video data needs to be captured, and the entire process from data collection to data transmission to subsequent processing takes a long time and consumes a lot of computing resources. In addition, in the weather conditions of rain, fog and low visibility, the accuracy of the image recognition result will be significantly reduced, which still cannot meet the demand for rapid and accurate inventory of the number of containers in the existing actual scenario. SUMMARY

[0004] Therefore, the embodiments of the present application provide a space yard rapid inventory method based on aircraft spatial ranging and a product, which are used to solve at least one technical problem.

[0005] The embodiment of the present application provides a container yard inventory method based on aircraft spatial ranging, which is used for quickly counting the number of stacked containers in a spatial yard. In a target stacking area of the spatial yard, stacks formed by a plurality of target containers are arranged in rows and columns to form K stack units, and a predetermined interval is left between adjacent stacks. The spatial yard quick counting method comprises the following steps: according to a planning design drawing of the spatial yard, a full-stacking three-dimensional model is constructed in a full-stacking state of the target containers in the spatial yard. In the full-stacking three-dimensional model, virtual stacks formed by virtual containers are arranged in rows and columns to form virtual stack units, and the virtual stack units occupy the entire target stacking area. The full-stacking three-dimensional model is used to determine a flight path of an aircraft when performing an inventory task. In the full-stacking three-dimensional model, a mark point is added to a virtual container located at a top position in each virtual stack unit to obtain a plurality of mark points. Based on the position information of the plurality of mark points, a trajectory line covering each mark point is generated, and the trajectory line is converted into an actual space trajectory as the flight path of the aircraft when performing the inventory task. When the aircraft starts counting K stack units currently stacked in the target stacking area, the aircraft is controlled to fly according to the flight path, and distance information between the aircraft and each target container is collected when passing through each stack unit. In addition, distance information between the aircraft and the ground is collected when passing through the interval between adjacent stack units. After the aircraft reaches the end point of the flight path, the distance information between the aircraft and each target container and the distance information between the aircraft and the ground are obtained. Based on the distance information between the aircraft and each target container, the distance information between the aircraft and the ground, and the size information of a single target container, the total number of target containers in the current target stacking area is calculated.

[0006] According to the embodiment of the present application, the aircraft comprises at least one of the following: a drone carrying a ranging device, a high-altitude balloon, and a satellite in orbit; wherein the ranging device comprises at least one of the following: a ranging sensor, a laser range finder, a laser radar, a radar altimeter, and an optical camera.

[0007] According to the embodiment of the present application, the method of adding mark points to the virtual containers at the top of each virtual stack unit in the full-stacking three-dimensional model to obtain a plurality of mark points comprises the following steps: coordinate calibration is performed on each row and column of each virtual stack in each virtual stack unit to determine the center point of the top surface of the top virtual container of each virtual stack; and the center point of the top surface of the top virtual container included in each virtual stack unit is added as a mark point.

[0008] According to the embodiment of the present application, the method can further comprise: adding a mark point to each virtual container located at the top in each virtual stacking unit in the full-stacking three-dimensional model, and the method further comprises: determining, for each virtual stacking unit, a virtual stack located at a head end position and a virtual stack located at a tail end position, and virtual stacks adjacent to the virtual stack located at the head end position and the virtual stack located at the tail end position, respectively; performing coordinate calibration on intervals between the virtual stack located at the head end position, the virtual stack located at the tail end position, and the virtual stacks adjacent to the virtual stack located at the head end position and the virtual stack located at the tail end position, respectively, and determining an interval center point at the head end position and an interval center point at the tail end position; and adding the interval center point at the head end position and the interval center point at the tail end position in each virtual stacking unit as the mark point.

[0009] According to the embodiment of the present application, the method can further comprise: generating a trajectory line capable of covering each mark point based on the position information of the plurality of mark points, and the method further comprises: determining coordinates corresponding to the mark point of each virtual container at the top in the three-dimensional model; determining arrangement orders of the mark points in the row and column directions according to the coordinates corresponding to the mark point of each virtual container at the top; and connecting the mark points in sequence according to the arrangement orders of the mark points in the row and column directions to form the trajectory line.

[0010] According to the embodiment of the present application, the method can further comprise: calculating the total number of target containers in the current target stacking area based on the distance information corresponding to the plurality of target containers, the distance information of the aircraft from the ground, and the size information of a single target container, and the method further comprises: determining a height value of the top surface of each target container relative to the ground based on the distance information of the aircraft from the ground and the distance information corresponding to each target container; determining the number of target containers in each stack and the number of target containers in each stacking unit based on the height value of the top surface of each target container relative to the ground and the size information of a single target container; and determining the total number of target containers in the target stacking area according to the number of target containers included in the K stacking units, respectively.

[0011] According to the embodiment of the present application, the distance information of the aircraft from the ground is multiple; the method can further comprise: determining the height value of the top surface of each target container relative to the ground based on the distance information of the aircraft from the ground and the distance information corresponding to each target container, and the method further comprises: obtaining, for each stacking unit, the distance information of the aircraft from the ground collected based on the mark point corresponding to the interval at the head end position and the mark point corresponding to the interval at the tail end position, respectively, calculating the average of the two distance information as the flight height corresponding to the stacking unit; and determining the height value of the top surface of each target container relative to the ground according to the flight height corresponding to the stacking unit and the distance information corresponding to each target container in the stacking unit.

[0012] The embodiment of the present application provides an electronic device, which comprises a processor and a memory storing computer program instructions; the processor implements the steps of the method when executing the computer program instructions.

[0013] The embodiment of the present application provides a computer readable storage medium, which stores computer program instructions, and the computer program instructions are executed by a processor to implement the steps of the method.

[0014] The embodiment of the present application provides a computer program product, which comprises computer program instructions, and the computer program instructions are executed by a processor to implement the steps of the method.

[0015] By using the embodiment of the present application, the space of each stack is positioned based on the three-dimensional model of the target stacking area, and an actual space track is automatically generated as a flight path of the aircraft when performing the counting task, so that the aircraft can quickly acquire the distance information of the aircraft from each target container and the distance information of the aircraft from the ground in the process of following the flight path without relying on manual counting or traditional image recognition means and without contacting the containers. Based on the acquired distance information, the vertical height information of each stack can be quickly restored, and then the number of containers in each stack can be accurately calculated in combination with the size of the containers, so that the counting of the number of containers in a large-scale stacking area is automatically and efficiently completed. The counting process effectively reduces the counting difficulty caused by the shielding of the containers stacked in layers, has small calculation amount and high flexibility, and can accurately and efficiently count the number of containers in a yard with complex space and obvious height change. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings in the embodiments of the present application.

[0017] Figure 1 is a flowchart of a container yard counting method based on aircraft space ranging of the embodiment of the present application.

[0018] Figure 2 is a schematic diagram of a three-dimensional model of a stack area in a yard provided by the embodiment of the present application.

[0019] Figure 3 is a schematic diagram of a track line provided by the embodiment of the present application.

[0020] Figure 4 is a schematic diagram of distance information provided by the embodiment of the present application.

[0021] Figure 5 is a schematic diagram of an electronic device used to implement the embodiment of the present application. DETAILED DESCRIPTION

[0022] The features and exemplary embodiments of the various aspects of the application will be described in detail below with reference to the figures and specific embodiments. It should be understood that the specific embodiments described herein are intended to explain the principles of the application and are not intended to limit the application. The application can be implemented in ways other than those specifically described herein without departing from the spirit of the present application. The following description of the embodiments is merely provided to give a better understanding of the application.

[0023] It should be noted that the terms such as first and second, etc., are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Also, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or device that includes the elements.

[0024] It should be understood that the term "and / or" used herein is merely a description of the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are a "or" relationship.

[0025] Various modifications and changes can be made to the present application without departing from the spirit or scope of the application. It will be apparent to those skilled in the art that various modifications and changes can be made to the present application without departing from the spirit or scope of the application. Thus, the present application is intended to cover the modifications and changes falling within the scope of the corresponding claims (claimed technical solutions) and their equivalents. It should be noted that the embodiments provided by the embodiments of the present application can be combined with each other without contradiction.

[0026] Embodiments of the present application relate to terminal devices and / or servers. Those skilled in the art know that the embodiments of the present application can be implemented as a system, device, apparatus, method, computer readable storage medium or computer program product. Therefore, the present disclosure can be specifically implemented in at least one of the following forms: complete hardware, complete software, or hardware and software combined.

[0027] It should be noted that the acquisition, storage, use, processing and the like of data in the embodiments of the present application comply with the relevant provisions of national laws and regulations.

[0028] The container is the core carrier in modern logistics, and accurate counting of its quantity is the key to ensuring the orderly progress of handover, storage and stacking operations. The present inventors have found that the existing manual counting, two-dimensional code / RFID identification and image recognition and the like have problems such as low efficiency, limited identification, large error and the like in the scene of large stacking area, many stacking layers and serious shielding, and are difficult to meet the daily rapid counting demand of multiple batches, especially in complex weather or high-density stacking conditions, the counting accuracy and real-time performance are difficult to guarantee. Based on this, the embodiments of the present application provide a container yard counting method based on aircraft spatial ranging, which can quickly restore the vertical height information of each group of containers by measuring the distance between the top surface of the container and the aircraft and the distance between the ground and the aircraft without touching the container, and automatically and efficiently complete the counting of the number of containers in the large-scale stacking area.

[0029] The processing flow of the container yard counting method based on aircraft spatial ranging will be introduced below in combination with specific embodiments.

[0030] In the embodiments of the present application, the spatial yard rapid counting method based on aircraft spatial ranging can be used to quickly count the number of containers stacked in the spatial yard. For example, in the target stacking area of the spatial yard, the stacks formed by the stacking of multiple target containers are arranged in rows and columns to form K stacking units, and a predetermined interval is left between adjacent stacks. That is, in the actual spatial yard, multiple stacking areas can be planned and designed, a stacking area can include multiple stacking units, each stacking unit can include multiple stacks, and each stack can include a container stacked and correspond to the top surface of the container. The container can be a container or other entity with a predetermined size. In the embodiments of the present application, the stacking area that needs to count the number of containers is the target stacking area.

[0031] Figure 1 The flowchart of the spatial yard rapid counting method based on aircraft spatial ranging of the embodiments of the present application is shown, which combines Figure 1 As shown, the method includes steps 101 to 106.

[0032] Step 101, according to the planning and design drawing of the spatial yard, a full-stacking three-dimensional model is constructed in the state of full-stacking of target containers in the spatial yard, in the full-stacking three-dimensional model, the virtual stacks formed by the virtual containers are arranged in rows and columns to form virtual stacking units, the virtual stacking units occupy the entire target stacking area, and the full-stacking three-dimensional model is used to determine the flight path of the aircraft when performing the counting task.

[0033] Step 102, in the full full three-dimensional model of stacking, a mark point is added to each virtual box body located at the top position in each virtual stacking unit, and a plurality of mark points are obtained.

[0034] Step 103, based on the position information of the plurality of mark points, a trajectory line covering each mark point is generated, and the trajectory line is converted into an actual space trajectory as a flight path of the aircraft performing the inventory task.

[0035] Step 104, when the aircraft starts to inventory the K stacking units currently actually stacked in the target stacking area, the aircraft is controlled to fly according to the flight path, and the distance information between the aircraft and each target box body is collected when passing through each stacking unit, and the distance information between the aircraft and the ground is collected when passing through the interval between adjacent stacking units.

[0036] Step 105, after the aircraft reaches the end point of the flight path, the distance information between the aircraft and each target box body and the distance information between the aircraft and the ground are obtained.

[0037] Step 106, based on the distance information between the aircraft and each target box body, the distance information between the aircraft and the ground, and the size information of a single target box body, the total number of target box bodies in the current target stacking area is calculated.

[0038] The above steps will be described in detail in combination with specific embodiments, as follows.

[0039] In step 101, the terminal device can obtain the planning design drawing of the space yard, and the three-dimensional model is constructed based on the planning design drawing of the space yard, so that the virtual box bodies included in the three-dimensional model correspond to the stacking positions of the box bodies in the actual space.

[0040] Exemplarily, Figure 2 is a schematic diagram of a three-dimensional model of a stacking area in a yard provided by the embodiment of the present application, in combination with Figure 2 As shown in the figure, the virtual stacking formed by the full full stacking of the virtual box bodies is arranged in rows and columns to form a virtual stacking unit, and the actual stacking unit corresponding to the virtual stacking unit occupies the entire target stacking area, thereby simulating the ideal stacking mode of the box bodies in the three-dimensional space under the full full stacking state in the target stacking area.

[0041] Specifically, steps 102 and 103 are related to determining the mark point in the three-dimensional model to generate the flight path.

[0042] Specifically, in the full-stowed three-dimensional model, for each virtual container located at the top position, a mark point can be set on the top surface of the virtual container according to a preset marking rule. The preset marking rule is, for example, set at the center position of the top surface or a specific offset. Through this process, a plurality of mark points are generated in the entire three-dimensional model. At the same time, mark points can also be added to the positions of the unstowed containers, such as the gaps between two virtual stacks, the areas outside the entire three-dimensional model where the containers are not stowed, and by adding mark points to the positions of the unstowed containers, the aircraft can accurately collect the distance information between the aircraft and the ground when passing through the corresponding positions of the mark points.

[0043] After determining the mark points, all the mark points can be connected to form a track line capable of covering each mark point in combination with the relative positional relationship between the mark points, so as to ensure that the aircraft can pass through the top of each container.

[0044] Optionally, the mark points can be connected in sequence to construct a track line in the order of row priority or column priority, using the shortest distance path algorithm, the polyline connection strategy or other trajectory planning methods. The track line can be a straight line or a curve. Exemplarily, Figure 3 is a schematic diagram of a track line provided by an embodiment of the present application.

[0045] After determining the track line, coordinate conversion processing can be performed in combination with transformation factors such as the scale, origin offset and rotation angle of the three-dimensional model, so as to map the track line to the actual space coordinate system to obtain an actual flight path consistent with the coordinate scale of the real yard space. The flight path serves as a navigation route for the aircraft to perform the container counting task, and the aircraft can pass above each mark point along the path in sequence, and during the flight, distance measurement is performed in the direction pointing to the ground.

[0046] It can be understood that the flight height of the aircraft is higher than the height of the highest stack, so as to ensure that no collision occurs during flight.

[0047] In some optional embodiments, the aircraft includes at least one of: a drone carrying a distance measuring device, a high-altitude balloon, a satellite in orbit; wherein the distance measuring device includes at least one of: a distance measuring sensor, a laser range finder, a laser radar, a radar altimeter, an optical camera.

[0048] After determining the flight path, next, steps 104 and 105 are involved to count the currently actually stowed stack units in the target stack area.

[0049] Specifically, during the process of controlling the aircraft to fly along the flight path, the aircraft can perform at least one distance measurement each time it passes the top surface of a target box, so as to obtain the distance information between the aircraft and the target box; at least one distance measurement is performed when the aircraft is above the gap region between two adjacent stacks, so as to obtain the distance information between the aircraft and the ground; and the distance information corresponding to multiple target boxes and the distance information between the aircraft and the ground are obtained after the aircraft reaches the end of the flight path. For the same target box, if multiple distance information is measured, the mean value can be calculated to determine a final distance information as the distance information of the target box.

[0050] After the distance data is collected, the next step 106 is to calculate the height of each stack and determine the total number of boxes in the target stack region.

[0051] Specifically, as shown in Figure 4 Based on the distance information between the aircraft and the ground and the distance information between the aircraft and the target box, the actual height of each stack, i.e., the total height of the boxes in each stack, can be calculated. Then, combined with the size information of the target box, the number of target boxes in each stack can be determined. During the calculation of the number of target boxes, rounding or rounding down can be used to process the calculation results.

[0052] As a specific example, the distance information H0 between the aircraft and the ground and the height h0 of the target box are given. Based on this, the height of stack 1 is H0-L1, the number of target boxes in stack 1 is (H0-L1) / h0, rounded to an integer; the height of stack 2 is H0-L2, the number of target boxes in stack 2 is (H0-L2) / h0, rounded to an integer; and so on. Finally, the number of target boxes in each stack is obtained. Finally, the total number of target boxes in the target stack region is obtained by summing the number of target boxes corresponding to all stacks, and the accurate counting of the number of boxes is realized.

[0053] According to the embodiments of the present application, based on the three-dimensional model corresponding to the target stacking area, the space of each stack is positioned based on the three-dimensional model of the target stacking area, and an actual space track is automatically generated as a flight path of the aircraft when performing the inventory task. The aircraft can automatically move according to the flight path and collect distance data, without relying on manual operation to obtain accurate distance data between the aircraft and the top surface of the target box and the ground. Based on the collected distance data, the height of each stack and the number of target boxes in each stack can be quickly calculated, and finally the total number of target boxes in the target stacking area can be obtained by only requiring and calculating. The entire inventory process does not require identification of box numbers or reliance on physical labels, effectively reducing the difficulty of inventory caused by the shielding of stacked boxes, and has small calculation amount and high flexibility. In a box yard with complex space and obvious height change, the number of boxes can be accurately and efficiently inventoried.

[0054] In some embodiments of the present application, in the three-dimensional model of full stacking, a mark point is added to each virtual box at the top in each virtual stack unit, to obtain a plurality of mark points, including: coordinate calibration is performed on each row and column of each virtual stack in each virtual stack unit, to determine the top surface center point of the top virtual box of each virtual stack; and the top surface center point of the top virtual box included in each virtual stack unit is added as a mark point.

[0055] The coordinate calibration on each row and column of each virtual stack can be specifically based on the row and column relationship between the stacks, to determine the coordinate information of the top surface width and the coordinate information of the top surface length of each top box, and then to find the top surface center point of each top virtual box. By adding the top surface center point as a mark point, the fault tolerance can be improved, which is conducive to reducing the ranging error.

[0056] In some embodiments of the present application, a mark point for measuring the distance between the aircraft and the ground can also be added. Accordingly, in the three-dimensional model of full stacking, a mark point is added to each virtual box at the top in each virtual stack unit, which can further include the following steps: for each virtual stack unit, the virtual stack at the head end position and the virtual stack at the tail end position, and the virtual stacks adjacent to the virtual stack at the head end position and the virtual stack at the tail end position are determined; the interval between the virtual stack at the head end position and the virtual stack at the tail end position and the virtual stacks adjacent thereto is coordinate calibrated, and the interval center point at the head end position and the interval center point at the tail end position are determined; and the calibrated interval center point at the head end position and the interval center point at the tail end position in each virtual stack unit are added as mark points.

[0057] By calibrating the interval between the head end position and the tail end position in each virtual stacking unit and extracting the interval center point as a marker point, not only can the aircraft accurately pass through the two end regions of each stacking unit, but also can enhance the recognition ability of the edge container in the path planning process, which helps to reduce the ranging blind area caused by dense stacking, shielding or path turning. The trajectory line generated based on the marker point can better cover the top surface of all target containers.

[0058] In addition, by adding the interval center point as a marker point, a more explicit spatial reference point is provided for subsequent measurement of flight height, which helps to improve the accuracy of ranging.

[0059] In some embodiments of the present application, in order to reduce the complexity of flight control, based on the position information of the plurality of marker points, a trajectory line covering each marker point can include the following steps: determining the coordinates of the marker points of each virtual container on the top of the three-dimensional model; determining the arrangement order of the marker points in the row and column directions according to the coordinates of the marker points of each virtual container on the top; and sequentially connecting the marker points according to the arrangement order of the marker points in the row and column directions to form a trajectory line.

[0060] Specifically, the coordinates of the marker points of each virtual container on the top sequentially connect the marker points to form a complete trajectory line that can cover the top surface of all containers in the target stacking area.

[0061] Since the generation process of the trajectory line fully considers the spatial distribution characteristics between the containers, after converting the trajectory line into an actual spatial trajectory as the flight path of the aircraft performing the inventory task, the aircraft can quickly and stably pass through each stacking unit on the top in sequence to collect distance information, which helps to realize the rapid inventory of containers.

[0062] In some embodiments of the present application, after obtaining the distance information, the total number of target containers in the current target stacking area can be further calculated based on the distance information of the plurality of target containers, the distance information of the aircraft from the ground, and the size information of a single target container, including: determining the height value of the top surface of each target container relative to the ground based on the distance information of the aircraft from the ground and the distance information of each target container; determining the number of target containers in each stacking and the number of target containers in each stacking unit based on the height value of the top surface of each target container relative to the ground and the size information of a single target container; and determining the total number of target containers in the target stacking area according to the number of target containers included in the K stacking units.

[0063] The height value of the top surface of each target box relative to the ground is calculated based on the distance information of the aircraft from the ground minus the distance information corresponding to each target box. After determining the height of the top surface of each target box, the number of target boxes stacked in each stack can be determined in combination with the size information of the single target box.

[0064] The number of target boxes in each stack unit is obtained by summing the number of target boxes stacked in each stack in the stack unit, and then the total number of target boxes in the target stack area is obtained by summing the number of target boxes in each stack unit.

[0065] In some embodiments of the present application, each stack unit includes at least two marker points for measuring the height of the aircraft from the ground. Thus, the distance information of the aircraft from the ground obtained after each flight is multiple.

[0066] Alternatively, based on the distance information of the aircraft from the ground and the distance information corresponding to each target box, the height value of the top surface of each target box relative to the ground can be determined by the following steps: for each stack unit, obtaining the distance information of the aircraft from the ground collected by the marker points corresponding to the interval at the head position and the interval at the tail position, calculating the average of the two distance information as the flight height corresponding to the stack unit; and determining the height value of the top surface of each target box relative to the ground according to the flight height corresponding to the stack unit and the distance information corresponding to each target box in the stack unit.

[0067] Specifically, by pre-setting corresponding marker points at the interval at the head position and the interval at the tail position of each stack unit, the distance measuring device can collect the distance information from the ground without obstruction when the aircraft passes through the corresponding position of the marker point. Based on this, within the stacking range of each stack unit, the distance information from the ground is collected based on the interval at the head and tail, and the average of the two distance information is calculated as the flight height corresponding to the stack unit. Then, for each stack unit, the height value of the top surface of each target box relative to the ground is calculated and determined based on the corresponding flight height and the distance information corresponding to the target boxes in the stack unit.

[0068] According to the embodiments of the present application, the distance information between the ground measured at both ends of the stack unit is calculated as the flight height of the aircraft when passing through the stack unit, which can reduce the calculation error caused by the height fluctuation in the actual flight process, and is beneficial to improve the accuracy of the box number counting.

[0069] Corresponding to the method embodiments of the present application, the present application also provides a space yard rapid inventory method and device based on aircraft space ranging. The space yard rapid inventory method and device based on aircraft space ranging can correspond to the execution subject of the space yard rapid inventory method based on aircraft space ranging provided by the embodiments of the present application. The specific details of the operation and / or function of each module / unit of the space yard rapid inventory method and device based on aircraft space ranging can be referred to the description of the corresponding part in the above-mentioned method provided by the embodiments of the present application. For the sake of brevity, it will not be repeated here.

[0070] The electronic device in the embodiments of the present application can be a user terminal device, can be a server, can also be other computing devices, and can also be a cloud server. Figure 5 A hardware structure schematic diagram of the electronic device of the embodiments of the present application is shown, which can include a processor 501 and a memory 502 storing computer program instructions. The processor 501 executes the computer program instructions to implement the flow or function of the method of any of the above-mentioned embodiments.

[0071] Specifically, the processor 501 can include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or can be configured to implement one or more integrated circuits of the embodiments of the present application. The memory 502 can include a mass storage device for data or instructions. For example, the memory 502 can be at least one of a hard disk drive (HDD), a read-only memory (ROM), a random access memory (RAM), a floppy disk drive, a flash memory, an optical disc, a magneto-optical disc, a magnetic tape, a universal serial bus (USB) drive, or other physical / tangible memory storage devices. For another example, the memory 502 can include removable or non-removable (or fixed) media. For another example, the memory 502 can be inside or outside the integrated gateway disaster recovery device. The memory 502 can be a non-volatile solid-state memory. In other words, the memory 502 generally includes a tangible (non-transitory) computer-readable storage medium (such as a memory device) encoded with computer-executable instructions and, when the software is executed (such as by one or more processors), can perform the operations described in the method of the embodiments of the present application. The processor 501 implements the flow or function of any of the above-mentioned methods by reading and executing the computer program instructions stored in the memory 502.

[0072] In one example, Figure 5The electronic device shown can also include a communication interface 503 and a bus 510. Among them, the processor 501, the memory 502, the communication interface 503 are connected through the bus 510 and complete the communication between each other. The communication interface 503 is mainly used to realize the communication between the modules, devices, units and / or equipment in the embodiments of the application. The bus 510 includes hardware, software or both, which can couple the components of the online data traffic billing device to each other. For example, the bus can include at least one of the following: an accelerated graphics port (AGP) or other graphics bus, an enhanced industry standard architecture (EISA) bus, a front side bus (FSB), a hyper transport (HT) interconnect, an industry standard architecture (ISA) bus, an infiniband interconnect, a low pin count (LPC) bus, a memory bus, a micro channel 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 bus. The bus 510 can include one or more buses. Although the embodiments of the application describe or show a specific bus, any suitable bus or interconnection method can be considered by the embodiments of the application.

[0073] In combination with the method in the above embodiments, the embodiments of the application further provide a computer readable storage medium, which has stored thereon computer program instructions, and the computer program instructions are executed by a processor to implement the flow or function of any of the methods in the above embodiments.

[0074] In addition, the embodiments of the application also provide a computer program product, which has stored thereon computer program instructions, and the computer program instructions are executed by a processor to implement the flow or function of any of the methods in the above embodiments.

[0075] The flowcharts and / or block diagrams of the methods, devices, systems and computer program products of the embodiments of the application are described above as examples, and the related aspects are described. It should be understood that each block in the flowchart and / or block diagram can be implemented by computer program instructions, or by special hardware that performs specified functions or actions, or by a combination of special hardware and computer instructions. For example, these computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus, to form a machine, so that the instructions executed by the processor enable the implementation of the functions / actions specified in each block or combination of blocks in the flowchart and / or block diagram. Such a processor can be a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit.

[0076] The functional blocks shown in the structural block diagram of the embodiments of the present application 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 function card, etc.; when implemented in software, it is a program or code segment used to perform the required tasks. The program or code segment can be stored in a memory or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0077] It should be noted that the present application is not limited to the specific configurations and processes described above or shown in the drawings. The above description is merely a specific implementation of the present application, and those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the described systems, devices, modules or units can refer to the corresponding processes in the method embodiments, which need not be described again. It should be understood that the protection scope of the present application is not limited thereto, and any person skilled in the art can think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. An aircraft space ranging based space yard rapid inventory method, the method being used for rapidly inventorying the number of containers stacked in a space yard, characterized in that, The K stack units are formed by rows and columns of stacks formed by a plurality of target boxes stacked in the target stacking area of the spatial yard; The spatial yard rapid inventory method comprises: According to the planning design drawing of the spatial yard, a full-stack three-dimensional model is constructed in the state of full-stack of target boxes in the spatial yard, in the full-stack three-dimensional model, virtual stacks formed by virtual boxes are arranged in rows and columns to form virtual stack units, and the virtual stack units occupy the entire target stacking area, and the full-stack three-dimensional model is used to determine the flight path of the aircraft when performing the inventory task; In the full-stack three-dimensional model, a mark point is added to each virtual box at the top of each virtual stack unit to obtain a plurality of mark points; The coordinates corresponding to the mark points of each top virtual box in the three-dimensional model are determined; According to the coordinates corresponding to the mark points of each top virtual box, the arrangement order of each mark point in the row and column direction is determined; According to the arrangement order of each mark point in the row and column direction, each mark point is connected in turn to form a trajectory line, and the trajectory line is converted into an actual space trajectory as the flight path of the aircraft when performing the inventory task; When the aircraft starts to inventory the K stack units currently actually stacked in the target stacking area, the aircraft is controlled to fly according to the flight path, and when passing through each stack unit, the distance information between the aircraft and each target box is collected, and when passing through the interval between adjacent stack units, the distance information between the aircraft and the ground is collected; After the aircraft reaches the end point of the flight path, the distance information between the aircraft and each target box and the distance information between the aircraft and the ground are obtained; Based on the distance information between the aircraft and the ground and the distance information corresponding to each target box, the height value of the top surface of each target box relative to the ground is determined; Based on the height value of the top surface of each target box relative to the ground and the size information of each target box, the number of target boxes in each stack and the number of target boxes in each stack unit are determined; and According to the number of target boxes included in the K stack units, the total number of target boxes in the target stacking area is determined.

2. The method according to claim 1, characterized in that The aircraft comprises at least one of the following: a drone carrying a distance measuring device, a high-altitude balloon, and a satellite in orbit; The distance measuring device comprises at least one of the following: a distance measuring sensor, a laser range finder, a laser radar, a radar altimeter, and an optical camera.

3. The method of claim 1, wherein, In the full-stack three-dimensional model, a mark point is added to each virtual box at the top of each virtual stack unit to obtain a plurality of mark points, which comprises: The top surface center point of the top virtual box of each virtual stack in each virtual stack unit is determined by coordinate calibration; The top surface center point of the top virtual box included in each virtual stack unit is added as a mark point.

4. The method of claim 1, wherein, In the full-stack three-dimensional model, a mark point is added to each virtual box at the top of each virtual stack unit, which further comprises: For each virtual stacking unit, a virtual stack at a head position and a virtual stack at a tail position are determined, and the virtual stacks adjacent to the virtual stack at the head position and the virtual stack at the tail position are determined respectively; The intervals between the virtual stack at the head position and the virtual stack at the tail position and the virtual stacks adjacent thereto are calibrated, and the interval center points at the head position and the tail position are determined respectively; The interval center points at the head position and the tail position in each virtual stacking unit are added as marker points.

5. The method of claim 1, wherein, The distance information of the aircraft from the ground is multiple; The height value of the top surface of each target box relative to the ground is determined based on the distance information of the aircraft from the ground and the distance information corresponding to each target box, including: For each stacking unit, the distance information of the aircraft from the ground collected based on the marker points corresponding to the interval at the head position and the marker points corresponding to the interval at the tail position is obtained, and the mean value of the two distance information is calculated as the flight height corresponding to the stacking unit; and The height value of the top surface of each target box relative to the ground is determined based on the flight height corresponding to the stacking unit and the distance information corresponding to each target box in the stacking unit.

6. An electronic device, comprising: The electronic device includes a processor and a memory storing computer program instructions; the electronic device executes the computer program instructions to realize the method of any one of claims 1-5.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer program instructions, and the computer program instructions are executed by the processor to realize the method of any one of claims 1-5.

8. A computer program product, characterised in that, It includes computer program instructions, and the computer program instructions are executed by the processor to realize the method of any one of claims 1-5.

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