Mixing plant unloading monitoring method and device and mixing plant

Abstract

The invention provides a mixing plant unloading monitoring method and device and a mixing plant, and is applied to the field of intelligent monitoring of the mixing plant, and the method comprises the steps: obtaining a first video frame of a first monitoring video of a mixing plant unloading area shot by a first monitoring camera, carrying out the detection and recognition of the first video frame of the first monitoring video based on a target detection algorithm, and obtaining a first video frame of a second monitoring video of the mixing plant unloading area; a first video frame of a second monitoring video, shot by a second monitoring camera or a third monitoring camera, of the discharging area of the mixing plant is obtained based on the first recognition result, and the first monitoring camera, the second monitoring camera and the third monitoring camera are arranged at different positions of the discharging area of the mixing plant respectively; and acquiring a third video frame of the first monitoring video, and monitoring unloading of the mixing plant based on the third video frame of the first monitoring video and the second video frame of the second monitoring video. According to the invention, monitoring of the two-way unloading process of the mixer truck can be realized without manual participation, and the unloading efficiency of the mixing plant is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent monitoring of mixing stations, in particular to a mixing station unloading monitoring method, device and mixing station. BACKGROUND

[0002] With the continuous development of the concrete mixing station industry, mixing station unloading monitoring technology has emerged as the times require. The traditional mixing station unloading process relies on manual operation, which has the problems of low efficiency, easy to make mistakes, high safety risk, etc. To solve these problems, the mixing station begins to introduce monitoring technology. By installing a camera at the mixing station, using AI intelligent recognition technology, the unloading process can be monitored in real time, the alignment of the unloading port and the receiving hopper, the unloading level and the unloading flow can be automatically recognized and controlled to avoid material overflow and reduce material loss.

[0003] However, current mixing station unloading monitoring only judges the single mixer truck reversing, and some mixing stations use through-type unloading ports to arrange two mixer trucks back-to-back to unload to reduce the gap time of reversing when switching vehicles and improve production efficiency. At present, the bidirectional guidance and opposite unloading control of this scene can only be operated manually. Therefore, it is necessary to provide a mixing station unloading monitoring method that can monitor the bidirectional unloading of the mixer truck. SUMMARY

[0004] Therefore, the present application provides a mixing station unloading monitoring method, device and mixing station, which solves the technical problem of the current mixing station unloading monitoring method that only judges the single mixer truck reversing and cannot monitor the bidirectional unloading of the mixer truck.

[0005] As a first aspect of the present application, the present application provides a mixing station unloading monitoring method, comprising: obtaining a first video frame of a first monitoring video of a mixing station unloading area shot by a first monitoring camera; based on a preset target detection algorithm, detecting and identifying the first video frame of the first monitoring video to obtain a first identification result, the first identification result including a target mixer truck; based on the first identification result, obtaining a second video frame of a second monitoring video of the mixing station unloading area shot by a second monitoring camera or a third monitoring camera, wherein the first monitoring camera, the second monitoring camera and the third monitoring camera are respectively arranged at different positions of the mixing station unloading area; obtaining a third video frame of the first monitoring video, the generation time of the third video frame being after the first video frame; based on the third video frame of the first monitoring video and the second video frame of the second monitoring video, monitoring the unloading of the mixing station.

[0006] Optionally, the second video frame of the second monitoring video of the unloading area of the mixing station is acquired based on the first identification result, and the second video frame of the second monitoring video of the unloading area of the mixing station is acquired based on the first identification result. When the first identification result is that the receiving hopper of the target mixer is in the target unloading area, the second video frame of the monitoring video corresponding to the direction of the target mixer is acquired, and the target unloading area is in the unloading area of the mixing station.

[0007] Optionally, the unloading of the mixing station is monitored based on the third video frame of the first monitoring video and the second video frame of the second monitoring video, and the unloading of the mixing station is monitored based on the third video frame of the first monitoring video and the second video frame of the second monitoring video. The second identification result is obtained by detecting and identifying the second video frame of the second monitoring video based on a preset deep learning key point detection algorithm. Whether the receiving hopper of the target mixer is aligned with the unloading port of the mixing station in the first direction is determined based on the second identification result. The third identification result is obtained by detecting and identifying the third video frame of the first monitoring video based on the preset target detection algorithm. Whether the feeding port of the receiving hopper of the target mixer is aligned with the unloading port of the mixing station in the second direction is determined based on the third identification result. If it is determined that the feeding port of the receiving hopper of the target mixer is aligned with the unloading port of the mixing station in the second direction, and the receiving hopper of the target mixer is aligned with the unloading port of the mixing station in the first direction, an unloading signal is generated, and the unloading signal is used to instruct the unloading port of the mixing station to start unloading.

[0008] Optionally, whether the receiving hopper of the target mixer is aligned with the unloading port of the mixing station in the first direction is determined based on the second identification result, and whether the receiving hopper of the target mixer is aligned with the unloading port of the mixing station in the first direction is determined based on the second identification result. The second identification result is a first distance between the center point of the outer edge of the receiving hopper of the target mixer and the perpendicular line of the unloading port of the mixing station. When the first distance is less than or equal to a first preset value, it is determined that the receiving hopper of the target mixer is aligned with the unloading port of the mixing station in the first direction.

[0009] Optionally, whether the feeding port of the receiving hopper of the target mixer is aligned with the unloading port of the mixing station in the second direction is determined based on the third identification result, and whether the feeding port of the receiving hopper of the target mixer is aligned with the unloading port of the mixing station in the second direction is determined based on the third identification result. The third identification result is a second distance between the perpendicular line of the feeding port of the receiving hopper of the target mixer and the perpendicular line of the unloading port of the mixing station. When the second distance is less than or equal to a second preset value, it is determined that the feeding port of the receiving hopper of the target mixer is aligned with the unloading port of the mixing station in the second direction.

[0010] Optionally, the unloading signal is generated, and the unloading signal is generated. controlling a programmable signal light to send a preset alignment signal to a driver of the target mixer truck, so as to control the target mixer truck to stop according to the preset alignment signal; generating an unloading signal when it is determined that the target mixer truck is in a stable state.

[0011] Optionally, after the unloading signal is generated, the method further comprises: obtaining a fourth video frame of a second monitoring video, the fourth video being generated after the second video frame; determining a material level position in a receiving hopper of the target mixer truck based on the fourth video frame of the second monitoring video; when the material level position is higher than a preset position, sending a second control signal to a control device corresponding to the unloading port of the mixing station, the second control signal being used to instruct the unloading port of the mixing station to stop unloading or adjust the unloading speed.

[0012] As a second aspect of the present application, the present application provides a mixing station unloading monitoring device, comprising: a first video obtaining module, configured to obtain a first video frame of a first monitoring video of an unloading area of a mixing station; and obtain a third video frame of the first monitoring video, the third video frame being generated after the first video frame; an algorithm recognition module, configured to detect and recognize the first video frame of the first monitoring video to obtain a first recognition result, the first recognition result comprising a target mixer truck; a second video obtaining module, configured to obtain a second video frame of a second monitoring video based on the first recognition result; an unloading monitoring module, configured to monitor unloading of the mixing station based on the third video frame of the first monitoring video and the second video frame of the second monitoring video.

[0013] As a third aspect of the present application, the present application provides a mixing station, comprising: the mixing station unloading monitoring device of the second aspect described above; a monitoring camera, the monitoring camera comprising a first monitoring camera, a second monitoring camera and a third monitoring camera arranged at different positions of an unloading area of the mixing station; wherein the first monitoring camera, the second monitoring camera and the third monitoring camera are configured to shoot monitoring videos of the unloading area of the mixing station.

[0014] Optionally, the first monitoring camera is installed at an intersection of a straight line passing through a center of the unloading port of the mixing station and being perpendicular to a reversing route of the mixer truck and the mixing station. The second monitoring camera is installed at the first intersection point of a straight line passing through the center of the discharge port of the mixing station and parallel to the reversing route of the mixing truck and the mixing station. The third monitoring camera is installed at the second intersection point of a straight line passing through the center of the discharge port of the mixing station and parallel to the reversing route of the mixing truck and the mixing station, and the first monitoring camera, the second monitoring camera and the third monitoring camera all face the direction of the discharge port of the mixing station.

[0015] Based on the above, the mixing station discharge monitoring method provided by the application obtains a first video frame of a first monitoring video of a discharge area of a mixing station captured by a first monitoring camera, and detects and identifies the first video frame of the first monitoring video based on a preset target detection algorithm to obtain a first identification result. When the target mixing truck is included in the first identification result, a second video frame of a second monitoring video of the discharge area of the mixing station captured by a camera corresponding to the target mixing truck is obtained, wherein the first monitoring camera, the second monitoring camera and the third monitoring camera are respectively arranged at different positions of the discharge area of the mixing station. Then, a third video frame of the first monitoring video is continuously obtained, and the generation time of the third video frame is after the first video frame. Finally, the discharge of the mixing station is monitored based on the third video frame of the first monitoring video and the second video frame of the second monitoring video, i.e., the video frames of the mixing station discharge area monitoring videos captured by two cameras at different angles, so that the monitoring of the two-way discharge process of the mixing truck can be realized without manual participation, and the discharge efficiency of the mixing station is improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0017] Figure 1 The flowchart of the mixing station discharge monitoring method provided by the embodiment of the present application is shown.

[0018] Figure 2 The flowchart of another mixing station discharge monitoring method provided by the embodiment of the present application is shown.

[0019] Figure 3 The flowchart of another mixing station discharge monitoring method provided by the embodiment of the present application is shown.

[0020] Figure 4 The flowchart of another mixing station discharge monitoring method provided by the embodiment of the present application is shown.

[0021] Figure 5 Fig. 9 shows a flowchart of another method for monitoring unloading of a mixing station according to an embodiment of the present application.

[0022] Figure 6 Fig. 10 shows a block diagram of a device for monitoring unloading of a mixing station according to an embodiment of the present application.

[0023] Figure 7 Fig. 11 shows a block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] Unless otherwise defined, technical terms or scientific terms used in the embodiments of the present application shall have the ordinary meanings to those skilled in the art to which the embodiments of the present application belong. The terms “first”, “second” and similar words used in the embodiments of the present application do not represent any order, number or importance, but are only used to avoid confusion of the constituent elements.

[0025] Unless otherwise required by the context, throughout the specification, “plurality” means “at least two”, “comprising” is to be construed as open, inclusive meaning, i.e. “including, but not limited to”. In the description of the specification, the terms “one embodiment”, “some embodiments”, “exemplary embodiments”, “example”, “specific example” or “some examples” are intended to mean that a particular feature, structure, material or characteristic related to the embodiment or example includes in at least one embodiment or example of the specification. The illustrative representation of the above terms does not necessarily mean the same embodiment or example.

[0026] The technical solutions in the embodiments of the present specification will be described clearly and completely in combination with the drawings in the embodiments of the present specification. Obviously, the described embodiments are only part of the embodiments of the present specification, not all the embodiments. Based on the embodiments in the present specification, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present specification.

[0027] Exemplary method As Figure 1 As shown in the exemplary embodiments of the present application, a method for monitoring unloading of a mixing station is provided, which can include the following steps: S10: acquiring a first video frame of a first monitoring video of an unloading area of a mixing station captured by a first monitoring camera.

[0028] The application mainly aims at the mixing station of the through-type discharge port, can arrange two mixing trucks back-to-back reversing to unload at the same time, and provides a mixing station unloading monitoring method applied to a mixing station unloading monitoring system. The mixing station unloading monitoring system comprises a monitoring camera, a control module and a display module. The monitoring camera is used for shooting the monitoring video of the mixing station unloading area. In order to clearly monitor the mixing station unloading area, three monitoring cameras, i.e. a first monitoring camera, a second monitoring camera and a third monitoring camera, can be installed. The installation positions of the three monitoring cameras can be set according to the actual situation. For example, the first monitoring camera can be installed at the intersection of the straight line perpendicular to the reversing route of the mixing truck and the mixing station through the center of the discharge port of the mixing station, the second monitoring camera can be installed at the first intersection of the straight line parallel to the reversing route of the mixing truck and the mixing station through the center of the discharge port of the mixing station, and the third monitoring camera can be installed at the second intersection of the straight line parallel to the reversing route of the mixing truck and the mixing station through the center of the discharge port of the mixing station. The first monitoring camera, the second monitoring camera and the third monitoring camera all face the direction of the discharge port of the mixing station. If the reversing route direction of the mixing truck is specified as the front-back direction, specifically, the first monitoring camera can shoot the first monitoring video (the left-right direction video of the discharge port of the mixing station) of the mixing station unloading area, and the second monitoring camera or the third monitoring camera can shoot the second video frame of the second monitoring video (the front-back direction video of the discharge port of the mixing station) of the mixing station unloading area. The control module is used for acquiring the monitoring video of the mixing station unloading area shot by the camera, and monitoring the unloading of the mixing station according to the video content. The display module is used for displaying the monitoring video of the mixing station unloading area shot by the camera. When the control module acquires the first video frame of the first monitoring video of the mixing station unloading area shot by the first monitoring camera, the first video frame is displayed in real time on the display module, and the display module can be a display screen.

[0029] S20: detecting and identifying the first video frame of the first monitoring video based on a preset target detection algorithm to obtain a first identification result.

[0030] The control module of the unloading monitoring system of the mixing station can be an embedded edge computing module, that is, the control module is embedded with a preset target detection algorithm, the target detection algorithm can identify each object and its position in an image or a video, and the target detection algorithm can be a traditional target detection algorithm, such as a sliding window-based method or a region-based method, or a target detection algorithm based on deep learning, such as the R-CNN (Region-based Convolutional Neural Networks) series, the SSD (Single Shot MultiBox Detector), the YOLO (You Only Look Once) series, and the like. The preset target detection algorithm is not particularly limited in the present application, and can meet the function of identifying each object and its position in an image. The control module calls the preset target detection algorithm through an interface, detects and identifies a first video frame of the first monitoring video based on the preset target detection algorithm, and obtains a first identification result. When the first identification result includes a target mixer truck, the control module can perform a next control operation.

[0031] S30: based on the first identification result, a second video frame of a second monitoring video of the unloading area of the mixing station photographed by the second monitoring camera or the third monitoring camera is obtained, wherein the first monitoring camera, the second monitoring camera, and the third monitoring camera are respectively arranged at different positions of the unloading area of the mixing station.

[0032] Specifically, according to the first identification result, it can be determined which mixer truck is preparing to receive material, and the mixer truck preparing to receive material is the target mixer truck. For example, the first video frame of the first monitoring video includes a first mixer truck and a second mixer truck, and the first mixer truck and the second mixer truck are back to back. According to the installation positions of the second monitoring camera and the third monitoring camera, the second monitoring camera or the third monitoring camera can specifically photograph detailed videos of the first mixer truck and the second mixer truck corresponding to the material hoppers in the front and rear directions of the unloading port of the mixing station, and display the videos on the display device. That is, based on the first identification result, the control device obtains a second video frame of a second monitoring video of the unloading area of the mixing station photographed by the second monitoring camera or the third monitoring camera, wherein the second video frame is a video frame of the second monitoring video.

[0033] S40: a third video frame of the first monitoring video is obtained, and the generation time of the third video frame is after the first video frame.

[0034] At this time, the display device displays the second monitoring video of the discharging area of the mixing station captured by the second monitoring camera or the third monitoring camera. In order to avoid misalignment between the discharging port of the mixing station and the receiving hopper of the mixer truck, causing concrete to spill, it is necessary to ensure that the discharging port of the mixing station is aligned with the receiving hopper of the mixer truck. Obviously, it is difficult to accurately determine whether the discharging port of the mixing station is aligned with the receiving hopper of the mixer truck only based on the first monitoring video or the second monitoring video. Therefore, the first monitoring video and the second monitoring video need to be combined for judgment. In addition, in order to distinguish different video frames of the first monitoring video, a video frame generated after the first video frame is named as a third video frame.

[0035] S50: monitoring the discharging of the mixing station based on the third video frame of the first monitoring video and the second video frame of the second monitoring video.

[0036] The display device can display the first monitoring video and the second monitoring video at the same time, and monitor the discharging process of the mixing station based on the third video frame of the first monitoring video and the second video frame of the second monitoring video.

[0037] In some embodiments of the present application, a first video frame of a first monitoring video of a discharging area of a mixing station captured by a first monitoring camera is obtained, a first identification result is obtained by detecting and identifying the first video frame of the first monitoring video based on a preset target detection algorithm, the first identification result includes a target mixer truck, a second video frame of a second monitoring video of the discharging area of the mixing station captured by a second monitoring camera or a third monitoring camera is obtained based on the first identification result, the first monitoring camera, the second monitoring camera and the third monitoring camera are respectively arranged at different positions of the discharging area of the mixing station, a third video frame of the first monitoring video is obtained, the generation time of the third video frame is after the first video frame, and the discharging of the mixing station is monitored based on the third video frame of the first monitoring video and the second video frame of the second monitoring video. The video frames of the monitoring videos of the discharging area of the mixing station captured by two different angle cameras are used to monitor the discharging of the mixing station, which can realize the monitoring of the two-way discharging process of the mixer truck without manual participation, and improve the discharging efficiency of the mixing station.

[0038] In some embodiments of the present application, the second video frame of the second monitoring video of the discharging area of the mixing station is obtained based on the first identification result in S30, and the specific steps can include: S31: when the first identification result is that the receiving hopper of the target mixer truck is in the target area to be discharged, the second video frame of the monitoring video corresponding to the direction of the target mixer truck is obtained, and the target area to be discharged is in the discharging area of the mixing station.

[0039] Specifically, the preset target detection algorithm identifies the first video frame of the first monitoring video of the mixing station unloading area shot by the first monitoring camera, and outputs a first recognition result corresponding to the first video frame. In the identification process, the first video frame is framed to generate a recognition frame, which can be a fixed-shaped bounding box, such as a rectangular box that encloses the position of the object with the smallest circumscribed rectangle. The recognition frame can determine the position information of the target unloading area, the first mixer truck hopper and the second mixer truck hopper. The target unloading area can be a fixed area including the mixing station discharge port. When the first recognition result is that the hopper of the target mixer truck is in the target unloading area, that is, the first mixer truck hopper or the second mixer truck hopper is in the target unloading area, it can be determined which mixer truck is ready to unload. The mixer truck ready to unload is the target mixer truck, and then the second video frame of the monitoring video corresponding to the direction of the target mixer truck is obtained. The target unloading area is in the mixing station unloading area. For example, when the first mixer truck hopper is in the target unloading area, the second video frame of the monitoring video corresponding to the direction of the first mixer truck is obtained. When the second mixer truck hopper is in the target unloading area, the second video frame of the monitoring video corresponding to the direction of the second mixer truck is obtained.

[0040] In some embodiments, the identification frame of the target unloading area, the first mixer truck hopper and the second mixer truck hopper can be used to determine whether the hopper of the first or second mixer truck is in the target unloading area. Specifically, when the left edge and the right edge of the identification frame of the hopper of the first or second mixer truck are both within the range of the identification frame of the target unloading area, it can be determined that the hopper of the first or second mixer truck is in the target unloading area.

[0041] In some embodiments of the present application, as shown in Figure 2 The specific steps of monitoring the unloading of the mixing station based on the third video frame of the first monitoring video and the second video frame of the second monitoring video in S50 can include: S51: Based on the preset deep learning key point detection algorithm, the second video frame of the second monitoring video is detected and identified to obtain a second recognition result.

[0042] When the first video frame of the first monitoring video of the mixing station unloading area shot by the first monitoring camera is identified to obtain a first identification result, the target mixer truck is determined, and the second video frame of the monitoring video in the direction corresponding to the target mixer truck is obtained, the second monitoring video is further detected and identified based on the preset deep learning key point detection algorithm, and a second identification result is obtained. The deep learning key point detection algorithm is used to automatically identify and locate the key points of the target object in the image or video, and the position coordinates of the key points are obtained. The deep learning key point detection algorithm can be a method combining CNN and RNN, a YOLO-KP method, a DETR (Detection Transformer), etc. Since the receiving hopper of the target mixer truck is in the target unloading area including the unloading port of the mixing station, the second video frame of the second monitoring video obtained at this time can further obtain detailed information of the receiving hopper of the target mixer truck and the unloading port of the mixing station.

[0043] S52: Determine whether the receiving hopper of the target mixer truck and the unloading port of the mixing station are aligned in the first direction based on the second identification result.

[0044] The first direction can be a front-rear direction parallel to the direction of the mixer truck reversing route, and the first direction can also be a front-rear direction relative to the unloading port of the mixing station.

[0045] S53: Detect and identify the third video frame of the first monitoring video based on the preset target detection algorithm to obtain a third identification result.

[0046] After the control module obtains the third video frame of the first monitoring video of the mixing station unloading area shot by the first monitoring camera, the third video frame of the first monitoring video is detected and identified based on the preset target detection algorithm to obtain a third identification result.

[0047] S54: Determine whether the receiving hopper of the target mixer truck and the unloading port of the mixing station are aligned in the second direction based on the third identification result.

[0048] Since the first monitoring camera is installed in the left-right direction of the unloading port of the mixing station, the second direction can also be the left-right direction relative to the unloading port of the mixing station. Therefore, whether the receiving hopper of the target mixer truck and the unloading port of the mixing station are aligned in the second direction is determined based on the third identification result.

[0049] S55: If it is determined that the receiving hopper of the target mixer truck and the unloading port of the mixing station are aligned in the second direction, and the receiving hopper of the target mixer truck and the unloading port of the mixing station are aligned in the first direction, an unloading signal is generated, and the unloading signal is used to indicate that the unloading of the unloading port of the mixing station starts.

[0050] Specifically, whether the inlet of the receiving hopper of the target mixer truck is aligned with the discharge outlet of the mixing station in the second direction can be determined first, and then whether the receiving hopper of the target mixer truck is aligned with the discharge outlet of the mixing station in the first direction can be determined; or whether the receiving hopper of the target mixer truck is aligned with the discharge outlet of the mixing station in the first direction can be determined first, and then whether the inlet of the receiving hopper of the target mixer truck is aligned with the discharge outlet of the mixing station in the second direction can be determined; or whether the inlet of the receiving hopper of the target mixer truck is aligned with the discharge outlet of the mixing station in the second direction and whether the receiving hopper of the target mixer truck is aligned with the discharge outlet of the mixing station in the first direction can be determined simultaneously. As long as it is determined that the inlet of the receiving hopper of the target mixer truck is aligned with the discharge outlet of the mixing station in the first direction and the second direction, the discharge signal is generated, wherein the discharge signal is used to instruct the discharge outlet of the mixing station to start discharging.

[0051] In the embodiment, by detecting the second video frame of the second monitoring video of the mixing station discharge area captured by the second monitoring camera or the third monitoring camera and the third video frame of the first monitoring video of the mixing station discharge area captured by the first monitoring camera, whether the inlet of the receiving hopper of the target mixer truck is aligned with the discharge outlet of the mixing station in the first direction and the second direction can be accurately determined, the frequency and time of manual inspection of the alignment condition can be reduced, and the work efficiency can be improved.

[0052] In some embodiments of the present application, as shown in Figure 3 The specific steps of determining whether the receiving hopper of the target mixer truck is aligned with the discharge outlet of the mixing station in the first direction based on the second identification result in S52 can include: S521: The first distance between the center point of the outer edge of the receiving hopper of the target mixer truck and the perpendicular line of the discharge outlet of the mixing station.

[0053] Specifically, when detecting and identifying the second video frame of the second monitoring video based on the preset deep learning key point detection algorithm, the perpendicular line of the discharge outlet of the mixing station is first labeled, and the center point of the outer edge of the receiving hopper of the target mixer truck is labeled, and the first distance between the center point of the outer edge of the receiving hopper of the target mixer truck and the perpendicular line of the discharge outlet of the mixing station is calculated, and the first distance is taken as the second identification result.

[0054] The receiving hopper of the mixer truck is generally of a regular shape, such as a circle, an ellipse, a square or a rectangle. The center point position of the outer edge of the receiving hopper of the mixer truck can be obtained according to the position information of any three points on the outer edge of the receiving hopper of the mixer truck. Optionally, the three key points of the outer edge of the receiving hopper of the target mixer truck in the second video frame of the second monitoring video can be identified based on the preset deep learning key point detection algorithm, and the center point coordinates of the outer edge of the receiving hopper of the target mixer truck can be determined according to the three key points.

[0055] S522: When the first distance is less than or equal to the first preset value, determine that the receiving hopper of the target mixer truck is aligned with the discharge port of the mixing plant in the first direction.

[0056] A first preset value is set in advance. When the second recognition result is obtained, that is, the first distance between the center point of the outer edge of the target mixer truck's receiving hopper and the vertical line of the mixing plant's discharge port, the relationship between the first distance and the first preset value is determined. When the first distance is less than or equal to the first preset value, it is determined that the target mixer truck's receiving hopper and the mixing plant's discharge port are aligned in the first direction. Otherwise, the target mixer truck's receiving hopper and the mixing plant's discharge port are not aligned in the first direction, and the driver needs to continue to adjust the position of the mixer truck's receiving hopper.

[0057] In some embodiments of this application, such as Figure 4 As shown, in step S54, based on the third identification result, it is determined whether the feed inlet of the target mixer truck's receiving hopper is aligned with the discharge outlet of the mixing plant in the second direction. Specific steps may include: S541: The third identification result is the second distance between the vertical line of the feed inlet of the target mixer truck's receiving hopper and the vertical line of the discharge outlet of the mixing plant.

[0058] Specifically, based on a preset target detection algorithm, the third video frame of the first monitoring video is detected and identified. When obtaining the third identification result, the vertical line of the feed inlet of the target mixer truck's receiving hopper and the vertical line of the discharge port of the mixing plant are marked first. The second distance between the vertical line of the target mixer truck's receiving hopper and the vertical line of the discharge port of the mixing plant is calculated, and the second distance is used as the third identification result.

[0059] Optionally, based on a preset target detection algorithm, the receiving hopper of the target mixer truck is selected to generate an identification box. At a preset position from the left edge of the identification box of the receiving hopper of the target mixer truck, the center point of the feed inlet of the receiving hopper of the target mixer truck is marked, and the vertical line of the feed inlet of the receiving hopper of the target mixer truck is marked. The preset position can be a preset ratio, for example, the preset position is one-third of the distance from the left edge of the identification box of the receiving hopper of the target mixer truck. The specific position can be determined according to the positional relationship between the feed inlet and the receiving hopper of different mixer trucks.

[0060] S542: When the second distance is less than or equal to the second preset value, determine that the feed inlet of the receiving hopper of the target mixer truck is aligned with the discharge outlet of the mixing plant in the second direction.

[0061] The second preset value is set in advance. When the third identification result, i.e., the second distance between the median line of the feeding port of the receiving hopper of the target mixer truck and the median line of the discharging port of the mixing station, is obtained, the size relationship between the second distance and the second preset value is determined. When the second distance is less than or equal to the second preset value, it is determined that the feeding port of the receiving hopper of the target mixer truck is aligned with the discharging port of the mixing station in the second direction. Otherwise, the feeding port of the receiving hopper of the target mixer truck is not aligned with the discharging port of the mixing station in the second direction, and the driver needs to continue to adjust the position of the receiving hopper of the mixer truck.

[0062] In some embodiments of the present application, the unloading signal is generated in S55, and the specific steps can include: S551: controlling the programmable signal light to send a preset alignment signal to the driver of the target mixer truck, so that the target mixer truck is parked according to the preset alignment signal.

[0063] The programmable signal light is installed on the mixing station and is within the visual line range of the driver of the mixer truck. When it is determined that the feeding port of the receiving hopper of the target mixer truck is aligned with the discharging port of the mixing station in the first direction and the second direction, the programmable signal light sends a preset alignment signal to the driver of the target mixer truck. The preset alignment signal can be a preset color light flashing, such as a green light, so that the driver of the target mixer truck parks the target mixer truck according to the preset alignment signal.

[0064] S552: generating the unloading signal when it is determined that the target mixer truck is in a stable parking state.

[0065] The video frames of the first monitoring video are continuously monitored, and a preset frame is set in advance, such as 10 frames. The preset frame can also be adjusted according to actual conditions. When the video frames of the first monitoring video are within the preset frame and the change range of the position of the target mixer truck is less than the preset value, it is determined that the target mixer truck is in a stable parking state. At this time, the unloading signal is generated.

[0066] In some embodiments of the present application, as shown in Figure 5 After the unloading signal is generated in the above S55, the mixing station unloading monitoring method can further include the following steps: S56: obtaining a fourth video frame of a second monitoring video, the generation time of the fourth video being after the second video frame.

[0067] In the process of unloading the target mixer truck at the discharging port of the mixing station, the fourth video frame of the second monitoring video corresponding to the direction of the target mixer truck can be used to monitor the unloading process, wherein the generation time of the fourth video is after the second video frame.

[0068] S57: determining the material position in the receiving hopper of the target mixer truck based on the fourth video frame of the second monitoring video.

[0069] Specifically, the fourth video frame of the second monitoring video can determine the material level position in the target mixer truck hopper. In addition, when detecting and identifying the fourth video frame of the second monitoring video based on the preset target detection algorithm, the preset position of the target mixer truck hopper is marked. According to the relationship between the material level position in the target mixer truck hopper and the preset position, the discharge port of the mixing station is further controlled, wherein the preset position can be a straight line related to the position.

[0070] S58: When the material level position is higher than the preset position, an adjustment signal is sent to the control device corresponding to the discharge port of the mixing station, and the adjustment signal is used to instruct the discharge port of the mixing station to stop discharging or adjust the discharging speed.

[0071] When the material level position is lower than the preset position, or the material level position is flush with the preset position, the current discharging speed of the discharge port of the mixing station is maintained. When the material level position is higher than the preset position, an adjustment signal is sent to the control device corresponding to the discharge port of the mixing station, and the adjustment signal is used to instruct the discharge port of the mixing station to stop discharging or adjust the discharging speed.

[0072] In this embodiment, the fourth video frame of the second monitoring video is used to determine the high-low relationship between the material level position in the target mixer truck hopper and the preset position, and the whole discharging process is monitored to avoid waste caused by material overflow.

[0073] In some embodiments, before the preset target detection algorithm detects and identifies the video frame of the monitoring video, the mixing station discharging monitoring method further includes: preprocessing the video frame of the monitoring video captured by the monitoring camera. Specifically, the preprocessing includes calculating the intrinsic and extrinsic parameters of the monitoring camera, calculating the homography matrix, performing coordinate conversion on the video frame of the monitoring video, and then performing image de-distortion and inverse perspective transformation.

[0074] Exemplary device Next, as a second aspect of the present application, the present application Figure 6 As shown in the figure, the application also provides a mixing station discharging monitoring device. It includes: a first video acquisition module 601, an algorithm identification module 602, a second video acquisition module 603, and a discharging monitoring module 604, wherein The first video acquisition module 601 is used to acquire the first video frame of the first monitoring video of the discharging area of the mixing station; and acquire the third video frame of the first monitoring video, and the generation time of the third video frame is after the first video frame.

[0075] The algorithm identification module 602 is used to detect and identify the first video frame of the first monitoring video to obtain the first identification result, and the first identification result includes the target mixer truck.

[0076] The second video acquisition module 603 is configured to acquire a second video frame of a second monitoring video based on the first identification result.

[0077] The unloading monitoring module 604 is configured to monitor unloading of the mixing station based on the third video frame of the first monitoring video and the second video frame of the second monitoring video.

[0078] The controller switching control device provided in the application acquires a first video frame of a first monitoring video of an unloading area of a mixing station through the first video acquisition module 601, and then the algorithm recognition module 602 is configured to detect and recognize the first video frame of the first monitoring video to obtain a first identification result, which includes a target mixer truck. Then the first video acquisition module 601 continues to acquire a third video frame of the first monitoring video, the third video frame being generated after the first video frame. The second video acquisition module 603 acquires a second video frame of a second monitoring video based on the first identification result. Finally, the unloading monitoring module 604 monitors unloading of the mixing station based on the third video frame of the first monitoring video and the second video frame of the second monitoring video. The application can realize monitoring of a two-way unloading process of a mixer truck without manual participation, thereby improving unloading efficiency of the mixing station.

[0079] The mixing station unloading monitoring device provided in the embodiment belongs to the same application concept as the mixing station unloading monitoring method provided in the above-mentioned embodiments of the application, can execute the mixing station unloading monitoring method provided in any of the above-mentioned embodiments of the application, and has the corresponding functional units and beneficial effects of the mixing station unloading monitoring method. Technical details not described in detail in the embodiment can be seen from the specific processing content of the mixing station unloading monitoring method provided in the above-mentioned embodiments of the application, which will not be described here again.

[0080] Exemplary mixing station As a third aspect of the application, the application provides a mixing station, comprising: The controller switching control device of the second aspect and the monitoring camera, the monitoring camera comprising a first monitoring camera, a second monitoring camera and a third monitoring camera arranged at different positions of the unloading area of the mixing station, wherein the first monitoring camera, the second monitoring camera and the third monitoring camera are configured to shoot monitoring videos of the unloading area of the mixing station.

[0081] The first monitoring camera is installed at the intersection of a straight line passing through the center of the unloading port of the mixing station and being perpendicular to the reversing route of the mixer truck and the mixing station; The second monitoring camera is installed at the first intersection of a straight line passing through the center of the unloading port of the mixing station and being parallel to the reversing route of the mixer truck and the mixing station; The third monitoring camera is installed at a second intersection of a straight line, which is parallel to the center of the discharging port of the mixing station and is along the reversing route of the mixing truck, and the mixing station, and the first monitoring camera, the second monitoring camera and the third monitoring camera all face the discharging port of the mixing station.

[0082] Exemplary electronic device In the following, as a fourth aspect of the present application, the present application further provides an electronic device. Figure 7 According to an embodiment of the present application, the electronic device is described.

[0083] Figure 7 A structural block diagram of the electronic device according to an embodiment of the present application is shown.

[0084] As Figure 7 shown, the electronic device 70 includes one or more processors 701 and a memory 702.

[0085] The processor 701 can be a central processing unit (CPU) or other form of processing unit that has data processing capability and / or instruction executing capability, and can control other components in the electronic device 100 to perform desired functions.

[0086] The memory 702 can include one or more computer program products that can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory, for example, can include random access memory (RAM), cache memory and / or the like. The non-volatile memory, for example, can include read-only memory (ROM), hard disk, flash memory and / or the like. One or more computer program instructions can be stored on the computer-readable storage media, and the processor 701 can run the program instructions to implement the mixing station discharging monitoring method of various embodiments of the present application described above and / or other desired functions.

[0087] In one example, the electronic device 70 can further include an input device 703 and an output device 704, which are interconnected through a bus system and / or other forms of connection mechanism (not shown).

[0088] When the electronic device is a stand-alone device, the input device 703 can be a communication network connector for receiving the collected input signals from the first device and the second device.

[0089] In addition, the input device 703 can further include, for example, a keyboard, a mouse and / or the like.

[0090] The output device 704 can externally output various information, including the determined distance information, direction information, etc. The output device 704 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0091] Of course, in order to simplify, Figure 7 Only some of the components of the electronic device 70 related to the present application are shown in the figure, and components such as buses, input / output interfaces, and the like are omitted. In addition to this, the electronic device 70 can include any other appropriate components according to the specific application.

[0092] Exemplary computer-readable storage medium As a fifth aspect of the present application, a computer-readable storage medium is provided, the storage medium storing a computer program, the computer program being used to execute the steps in the method for monitoring discharging of a mixing station according to the various embodiments.

[0093] The computer-readable storage medium can take the form of any combination of one or more computer-readable media. The computer-readable media can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the above. More specific examples (a non-exhaustive list) of the computer-readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0094] In addition to the above method and device, the embodiments of the present application can also be a computer program product, which includes computer program information, and the computer program information causes the processor to execute the steps in the method for monitoring discharging of a mixing station according to various embodiments of the present application when the computer program information is run by the processor.

[0095] The computer program product can be written in any combination of one or more programming languages, including an object-oriented programming language, such as Java, C++, and the like, and a conventional procedural programming language, such as the "C" programming language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0096] The basic principles of the application are described above in connection with specific embodiments, but it should be noted that the advantages, benefits, effects and the like mentioned in the present application are only examples and are not intended to be limiting, and it cannot be considered that these advantages, benefits, effects and the like are necessarily possessed by each embodiment of the present application. In addition, the specific details of the above disclosure are only for the purpose of example and for the purpose of understanding, and are not limiting, and the above details do not limit the present application to necessarily adopt the above specific details to realize.

[0097] The block diagrams of the devices, apparatuses, equipment, systems involved in the present application are only illustrative examples and are not intended to require or imply the connection, arrangement, configuration shown in the block diagram. As those skilled in the art will recognize, these devices, apparatuses, equipment, systems can be connected, arranged, configured in any manner. Words such as "include", "contain", "have" and the like are open-ended words, mean "include but not limited to", and can be used interchangeably. The words "or" and "and" used herein mean the word "and / or", and can be used interchangeably unless the context clearly indicates otherwise. The word "such as" used herein means the phrase "such as but not limited to", and can be used interchangeably.

[0098] It should also be noted that in the devices, apparatuses and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions of the present application.

Claims

1. A method of monitoring discharge of a mixing plant, characterized in that, The method comprises the following steps: obtaining a first video frame of a first monitoring video of a mixing station unloading area captured by a first monitoring camera; based on a preset target detection algorithm, detecting and identifying the first video frame of the first monitoring video to obtain a first identification result, the first identification result including a target mixer truck; based on the first identification result, obtaining a second video frame of a second monitoring video of the mixing station unloading area captured by a second monitoring camera or a third monitoring camera, wherein the first monitoring camera, the second monitoring camera and the third monitoring camera are respectively arranged at different positions of the mixing station unloading area; obtaining a third video frame of the first monitoring video, the generation time of the third video frame being after the first video frame; based on the third video frame of the first monitoring video and the second video frame of the second monitoring video, monitoring the unloading of the mixing station.

2. The method of claim 1, wherein, The method comprises the following steps: when the first identification result is that the receiving hopper of the target mixer truck is in a target unloading area in the mixing station unloading area, obtaining a second video frame of a monitoring video corresponding to the direction of the target mixer truck, and the target unloading area is in the mixing station unloading area.

3. The method of claim 2, wherein, The method comprises the following steps: based on a preset deep learning key point detection algorithm, detecting and identifying the second video frame of the second monitoring video to obtain a second identification result; based on the second identification result, determining whether the receiving hopper of the target mixer truck is aligned with the unloading port of the mixing station in a first direction; based on the preset target detection algorithm, detecting and identifying the third video frame of the first monitoring video to obtain a third identification result; based on the third identification result, determining whether the feeding port of the receiving hopper of the target mixer truck is aligned with the unloading port of the mixing station in a second direction; if it is determined that the feeding port of the receiving hopper of the target mixer truck is aligned with the unloading port of the mixing station in the second direction, and the receiving hopper of the target mixer truck is aligned with the unloading port of the mixing station in the first direction, generating an unloading signal, the unloading signal being used to indicate that the unloading of the unloading port of the mixing station starts.

4. The method of claim 3, wherein, The method comprises the following steps: the second identification result is a first distance between the center point of the outer edge of the receiving hopper of the target mixer truck and the perpendicular line of the unloading port of the mixing station; when the first distance is less than or equal to a first preset value, it is determined that the receiving hopper of the target mixer truck is aligned with the unloading port of the mixing station in the first direction.

5. The method of claim 3, wherein, The method comprises the following steps: the third identification result is a second distance between the perpendicular line of the feeding port of the receiving hopper of the target mixer truck and the perpendicular line of the unloading port of the mixing station; When the second distance is less than or equal to a second preset value, it is determined that the feeding port of the material hopper of the target mixer truck is aligned with the discharging port of the mixing station in a second direction.

6. The method of monitoring the discharge of a mixing plant according to claim 3, characterized in that, The generation of the discharging signal comprises: controlling a programmable signal light to send a preset alignment signal to the driver of the target mixer truck, so that the target mixer truck is parked according to the preset alignment signal; When it is determined that the target mixer truck is in a stable state, a discharging signal is generated.

7. The method of claim 3, wherein, After the discharging signal is generated, further comprising: obtaining a fourth video frame of the second monitoring video, the generation time of the fourth video being after the second video frame; determining a material level position in the material hopper of the target mixer truck based on the fourth video frame of the second monitoring video; When the material level position is higher than a preset position, a second control signal is sent to the control device corresponding to the discharging port of the mixing station, the second control signal being used to instruct the discharging port of the mixing station to stop discharging or adjust the discharging speed.

8. A plant discharge monitoring device, characterized in that Comprising: a first video acquisition module for obtaining a first video frame of a first monitoring video of a discharging area of a mixing station; obtaining a third video frame of the first monitoring video, the generation time of the third video frame being after the first video frame; an algorithm recognition module for detecting and recognizing the first video frame of the first monitoring video to obtain a first recognition result, the first recognition result comprising a target mixer truck; a second video acquisition module for obtaining a second video frame of a second monitoring video based on the first recognition result; a discharging monitoring module for monitoring the discharging of the mixing station based on the third video frame of the first monitoring video and the second video frame of the second monitoring video.

9. A mixing station, characterized by Comprising: the discharging monitoring device of the mixing station of claim 8; a monitoring camera, the monitoring camera comprising a first monitoring camera, a second monitoring camera and a third monitoring camera arranged at different positions of the discharging area of the mixing station; wherein the first monitoring camera, the second monitoring camera and the third monitoring camera are configured to shoot monitoring videos of the discharging area of the mixing station.

10. The mixing station of claim 9, wherein the first monitoring camera is installed at the intersection of a straight line passing through the center of the discharging port of the mixing station and perpendicular to the reversing route of the mixer truck and the mixing station; the second monitoring camera is installed at the first intersection of a straight line passing through the center of the discharging port of the mixing station and parallel to the reversing route of the mixer truck and the mixing station; the third monitoring camera is installed at the second intersection of a straight line passing through the center of the discharging port of the mixing station and parallel to the reversing route of the mixer truck and the mixing station, and the first monitoring camera, the second monitoring camera and the third monitoring camera all face the direction of the discharging port of the mixing station.

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