CN112308072B - Scrap steel stock yard scattered material identification method, system, electronic equipment and medium - Google Patents
Scrap steel stock yard scattered material identification method, system, electronic equipment and medium Download PDFInfo
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Abstract
The invention provides a scrap steel stock yard scattered material identification method, a system, electronic equipment and a medium, wherein the method comprises the following steps: a camera is arranged above a stock ground, and moves and acquires a region of interest; setting a plane of the stock ground as a first coordinate system, and setting a plane of the region of interest as a second coordinate system; determining scattered blanking through the region of interest and confirming the position of the scattered blanking in a second coordinate system; and determining the positions of the scattered blanking on the first coordinate system and the stock ground through the position relation between the first coordinate system and the second coordinate system. The camera is arranged on the stock ground, the field of view of the camera is set to be an area of interest, the object recognition of scattered blanking is carried out on the area of interest, the position of the scattered blanking in the area of interest is determined, the actual position of the scattered blanking is determined through the corresponding relation between the area of interest and the stock ground, and the positioning and confirmation of the scattered blanking are facilitated.
Description
Technical Field
The invention relates to the technical field of image recognition, in particular to a scrap steel stock yard scattered material recognition method, a scrap steel stock yard scattered material recognition system, electronic equipment and a scrap steel stock yard scattered material medium.
Background
In the process of steel smelting, scrap steel needs to be recovered and reused. However, during loading and unloading of the scrap steel yard, scattered materials which fall carelessly may exist on the ground, so that the scattered materials on the ground need to be picked up in time. Because the scattered steel scraps are more, the equipment reciprocates, the scattered blanking position is not fixed, if only manual identification is adopted, the conditions of missed detection and false detection are most likely to exist, the detection efficiency is low, and a large amount of labor cost is consumed.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention is directed to a method, a system, an electronic device and a medium for identifying scattered materials in a scrap steel yard, which are used for solving the problem of inconvenience in manual detection of scattered materials in the prior art.
To achieve the above and other related objects, the present invention provides a method for identifying scattered blanking of a scrap steel yard, comprising:
a camera is arranged above a stock ground, and moves and acquires a region of interest;
setting a plane of the stock ground as a first coordinate system, and setting a plane of the region of interest as a second coordinate system;
determining scattered blanking through the region of interest and confirming the position of the scattered blanking in a second coordinate system;
and determining the positions of the scattered blanking on the first coordinate system and the stock ground through the position relation between the first coordinate system and the second coordinate system.
Optionally, the step of determining the scattered blanking through the region of interest includes:
labeling scattered materials in the region of interest to obtain a data set and a training set;
inputting the training set into a neural network for training to obtain a training model;
and determining scattered blanking in the region of interest through the training model.
Performing edge detection on the region of interest, and extracting image features of the region of interest;
extracting the outline of the object in the region of interest by extracting the outline of the image after edge detection;
and determining scattered blanking in the region of interest according to the direction and the shape of the contour of the region of interest.
If the scattered materials are identified by the training model and the contour feature judgment, the scattered materials in the interested area can be determined;
if the training model identifies scattered blanking, the contour feature judges that the scattered blanking is not identified, and the scattered blanking in the interested area is determined according to the training model identification confidence;
if the training model does not identify scattered blanking, and the contour feature judges that the scattered blanking is identified, the scattered blanking in the interested area can be determined according to the contour feature.
Optionally, the step of determining the position of the scattered material on the first coordinate system and the material field through the position relationship between the first coordinate system and the second coordinate system includes:
determining the position coordinates of the center of the region of interest on the first coordinate system through any point of the first coordinate system, wherein the mathematical expression of the position coordinates of the center of the region of interest on the first coordinate system is as follows:
[camera x ,camera y ]
wherein, camera x Camera for the position coordinate of the X axis of the center of the region of interest on the first coordinate system y A position coordinate of a Y axis on the first coordinate system for the center of the region of interest;
the mathematical expression of the position coordinates of the scattered blanking on the second coordinate system is as follows:
wherein, steelN xmin For the minimum position coordinate of the X axis of the scattered blanking on the second coordinate system, steelN ymin For the minimum position coordinate of the Y axis of the scattered blanking on the second coordinate system, steelN xmax For the maximum position coordinate of the X axis of the scattered blanking on a second coordinate system, steelN ymax The maximum position coordinate of the Y axis of the scattered blanking on the second coordinate system is given, and N is the number of the scattered blanking;
the mathematical expression of the position coordinates of the scattered materials on the first coordinate system is as follows:
where k is a scaling factor.
Optionally, the determining process of the proportionality coefficient is as follows: and acquiring the pixel area of the region of interest and the actual area of the stock ground, and determining the proportionality coefficient by the ratio of the pixel area to the actual area of the stock ground.
Optionally, the edge detection operator or the filter includes Canny operator, sobel operator, laplacian operator, scharr filter, and the like.
Optionally, contour extraction is performed on the edge-detected image to extract the contour of the object in the region of interest. Setting a scattered blanking length threshold value L and a width threshold value W for a rectangular outline, if the length of an object outline in an interested area is smaller than L and the width is smaller than W, determining the outline as the rectangular scattered blanking outline of the interested area, and returning to the position coordinates of the scattered blanking on a first coordinate system; and setting a scattered blanking area threshold A for the irregular contour, if the closed area of the contour of the object in the region of interest is smaller than A, determining the contour as the irregular scattered blanking contour of the region of interest, and returning to the position coordinates of the scattered blanking on a first coordinate system.
Optionally, if the training model identifies scattered blanking and the contour feature judges that the scattered blanking is not identified, an identification confidence threshold T is set, and according to the training model identification result, the object is considered to be scattered blanking and the position coordinates of the scattered blanking on the first coordinate system are returned.
Optionally, a camera is disposed above the stock ground, and the step of moving and acquiring the region of interest by the camera includes:
the camera is arranged above the material yard vertically, and performs linear stepping reciprocating motion above the material yard and collects an emotion required area.
A system for identifying a scrap yard loose material, comprising:
the acquisition module is used for arranging a camera above the stock ground, and the camera moves and acquires a region of interest;
the identification module is used for setting the plane of the stock ground as a first coordinate system, setting the plane of the region of interest as a second coordinate system, determining scattered blanking through the region of interest and confirming the position of the scattered blanking in the second coordinate system;
and the processing module is used for determining the positions of the scattered materials on the first coordinate system and the material field through the position relation of the first coordinate system and the second coordinate system.
Optionally, the method comprises the following steps:
the step of determining scattered blanking through the region of interest comprises:
labeling scattered materials in the region of interest to obtain a data set and a training set;
inputting the training set into a neural network for training to obtain a training model;
and determining scattered blanking in the region of interest through the training model.
Performing edge detection on the region of interest, and extracting image features of the region of interest;
extracting the outline of the object in the region of interest by extracting the outline of the image after edge detection;
and determining scattered blanking in the region of interest according to the direction and the shape of the contour of the region of interest.
If the scattered materials are identified by the training model and the contour feature judgment, the scattered materials in the interested area can be determined;
if the training model identifies scattered blanking, the contour feature judges that the scattered blanking is not identified, and the scattered blanking in the interested area is determined according to the training model identification confidence;
if the training model does not identify scattered blanking, and the contour feature judges that the scattered blanking is identified, the scattered blanking in the interested area can be determined according to the contour feature.
Optionally, the step of determining the position of the scattered material on the first coordinate system and the material field through the position relationship between the first coordinate system and the second coordinate system includes:
determining the position coordinates of the center of the region of interest on the first coordinate system through any point of the first coordinate system, wherein the mathematical expression of the position coordinates of the center of the region of interest on the first coordinate system is as follows:
[camera x ,camera y ]
wherein, camera x Camera for the position coordinate of the X axis of the center of the region of interest on the first coordinate system y A position coordinate of a Y axis on the first coordinate system for the center of the region of interest;
the mathematical expression of the position coordinates of the scattered blanking on the second coordinate system is as follows:
wherein, steelN xmin For the minimum position coordinate of the X axis of the scattered blanking on the second coordinate system, steelN ymin For the minimum position coordinate of the Y axis of the scattered blanking on the second coordinate system, steelN xmax For the maximum position coordinate of the X axis of the scattered blanking on a second coordinate system, steelN ymax The maximum position coordinate of the Y axis of the scattered blanking on the second coordinate system is given, and N is the number of the scattered blanking;
the mathematical expression of the position coordinates of the scattered materials on the first coordinate system is as follows:
where k is a scaling factor.
Optionally, the edge detection operator or the filter includes Canny operator, sobel operator, laplacian operator, scharr filter, and the like.
Optionally, contour extraction is performed on the edge-detected image to extract the contour of the object in the region of interest. Setting a scattered blanking length threshold value L and a width threshold value W for a rectangular outline, if the length of an object outline in an interested area is smaller than L and the width is smaller than W, determining the outline as the rectangular scattered blanking outline of the interested area, and returning to the position coordinates of the scattered blanking on a first coordinate system; and setting a scattered blanking area threshold A for the irregular contour, if the closed area of the contour of the object in the region of interest is smaller than A, determining the contour as the irregular scattered blanking contour of the region of interest, and returning to the position coordinates of the scattered blanking on a first coordinate system.
Optionally, if the training model identifies scattered blanking and the contour feature judges that the scattered blanking is not identified, an identification confidence threshold T is set, and according to the training model identification result, the object is considered to be scattered blanking and the position coordinates of the scattered blanking on the first coordinate system are returned.
An electronic device, comprising:
one or more processors; and one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the electronic device to perform one or more of the methods.
One or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause an apparatus to perform one or more of the described methods.
As described above, the scrap steel stock yard scattered material identification method, system, electronic equipment and medium have the following beneficial effects:
the camera is arranged on the stock ground, the field of view of the camera is set to be an area of interest, the object recognition of scattered blanking is carried out on the area of interest, the position of the scattered blanking in the area of interest is determined, the actual position of the scattered blanking is determined through the corresponding relation between the area of interest and the stock ground, the positioning and the confirmation of the scattered blanking are facilitated, the detection efficiency and the accuracy are improved, and the system error existing in manual detection is reduced.
Drawings
Fig. 1 is a schematic diagram showing a method for identifying scattered materials in a scrap yard according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a scrap yard bulk material identification system according to an embodiment of the present invention.
Fig. 3 is a schematic diagram showing a camera moving and acquiring a region of interest according to an embodiment of the present invention.
Fig. 4 is a schematic diagram showing coordinate positions of scattered blanking according to an embodiment of the present invention.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention.
It should be noted that, the illustrations provided in the present embodiment merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complex. The structures, proportions, sizes, etc. shown in the drawings attached hereto are for illustration purposes only and are not intended to limit the scope of the invention, which is defined by the claims, but rather by the claims. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.
Referring to fig. 1, the invention provides a method for identifying scattered blanking of a scrap steel yard, which comprises the following steps:
s1: -arranging a camera above the stockyard, said camera performing movements and acquiring a region of interest (Regionof Interest, abbreviated as ROI);
s2: setting a plane of the stock ground as a first coordinate system, and setting a plane of the region of interest as a second coordinate system;
s3: determining scattered blanking through the region of interest and confirming the position of the scattered blanking in a second coordinate system;
s4: and determining the positions of the scattered blanking on the first coordinate system and the stock ground through the position relation between the first coordinate system and the second coordinate system. The camera is arranged on the stock ground, the field of view of the camera is set to be an area of interest, the object recognition of scattered blanking is carried out on the area of interest, the position of the scattered blanking in the area of interest is determined, the actual position of the scattered blanking is determined through the corresponding relation between the area of interest and the stock ground, the positioning and the confirmation of the scattered blanking are facilitated, the detection efficiency and the accuracy are improved, and the system error existing in manual detection is reduced.
In some implementations, the step of determining the scattered material through the region of interest includes:
labeling scattered materials in the region of interest to obtain a data set and a training set, selecting a frame from the labeling positions, selecting the positions of the scattered materials in the region of interest by the frame, recording the position information of a target rectangular frame corresponding to the frame selection, obtaining the corresponding data set and training set, and further comprising a verification set;
inputting the training set into a neural network for training to obtain a training model, wherein the neural network can select a convolutional neural network, and training the characteristics of objects in a target frame in each region of interest through the convolutional neural network for target detection, so as to finally obtain a scattered material target detection model, and the convolutional neural network can comprise at least one of the following: SSD-MobileNet, R-CNN, faster-RCNN and YOLO series. Further, the contour feature determination may also be performed, including:
performing edge detection on the region of interest, and extracting image features of the region of interest;
extracting the outline of the object in the region of interest by extracting the outline of the image after edge detection;
determining scattered materials in the region of interest according to the direction and the shape of the outline of the region of interest;
if the scattered materials are identified by the training model and the contour feature judgment, the scattered materials in the interested area can be determined;
if the training model identifies scattered blanking, the contour feature judges that the scattered blanking is not identified, and the scattered blanking in the interested area is determined according to the training model identification confidence;
if the training model does not identify scattered blanking, and the contour feature judges that the scattered blanking is identified, the scattered blanking in the interested area can be determined according to the contour feature.
Referring to fig. 3 and 4, the camera 4 is disposed on the frame 1, and the unmanned vehicle 3 can drive the camera 4 to perform linear stepping reciprocating motion on the track 2, so as to perform image acquisition and traversal on the stock ground 5, so as to obtain the coordinates 6 of scattered materials in the stock ground 5; fig. 4 is a partial plan view of fig. 3, so that the unmanned vehicle 3, the driving camera 4 and the stock ground 5 in fig. 4 are identical to the labeling contents in fig. 3, wherein the label 6 in fig. 4 is a scattered material coordinate.
The step of determining the position of the scattered material on the first coordinate system and the material field through the position relation between the first coordinate system and the second coordinate system comprises the following steps:
determining the position coordinates of the center of the region of interest on the first coordinate system through any point of the first coordinate system, wherein the mathematical expression of the position coordinates of the center of the region of interest on the first coordinate system is as follows:
[camera x ,camera y ]
wherein, camera x Camera for the position coordinate of the X axis of the center of the region of interest on the first coordinate system y A position coordinate of a Y axis on the first coordinate system for the center of the region of interest;
the mathematical expression of the position coordinates of the scattered blanking on the second coordinate system is as follows:
wherein, steelN xmin For the minimum position coordinate of the X axis of the scattered blanking on the second coordinate system, steelN ymin For the minimum position coordinate of the Y axis of the scattered blanking on the second coordinate system, steelN xmax For the maximum position coordinate of the X axis of the scattered blanking on a second coordinate system, steelN ymax The maximum position coordinate of the Y axis of the scattered blanking on the second coordinate system is given, and N is the number of the scattered blanking;
the mathematical expression of the position coordinates of the scattered materials on the first coordinate system is as follows:
where k is a scaling factor.
Further, the determining process of the proportionality coefficient is as follows: acquiring a pixel area of the region of interest and an actual area of the stock ground, and determining the scaling factor by a ratio of the pixel area to the actual area of the stock ground, for example: 1pixel corresponds to k cm on the actual ground, and the expression is:
1pixel＝kcm
the edge detection operator or the filter comprises a Canny operator, a Sobel operator, a Laplacian operator, a Scharr filter and the like.
Further, contour extraction is performed on the edge-detected image to extract the contour of the object in the region of interest. Setting a scattered blanking length threshold value L and a width threshold value W for a rectangular outline, if the length of an object outline in an interested area is smaller than L and the width is smaller than W, determining the outline as the rectangular scattered blanking outline of the interested area, and returning to the position coordinates of the scattered blanking on a first coordinate system; and setting a scattered blanking area threshold A for the irregular contour, if the closed area of the contour of the object in the region of interest is smaller than A, determining the contour as the irregular scattered blanking contour of the region of interest, and returning to the position coordinates of the scattered blanking on a first coordinate system.
If the training model identifies scattered blanking and the contour feature judges that the scattered blanking is not identified, an identification confidence threshold T is set, and the object is considered to be scattered blanking according to the fact that the confidence of the training model identification result is larger than T, and the position coordinates of the scattered blanking on a first coordinate system are returned.
In some implementations, a camera is positioned over the stockyard, the camera moving and acquiring a region of interest comprising:
the camera is arranged above the material yard vertically, and performs linear stepping reciprocating motion above the material yard and collects an emotion required area.
Referring to fig. 2, the present invention provides a system for identifying scattered materials in a waste material yard, comprising:
the acquisition module is used for arranging a camera above the stock ground, and the camera moves and acquires a region of interest;
the identification module is used for setting the plane of the stock ground as a first coordinate system, setting the plane of the region of interest as a second coordinate system, determining scattered blanking through the region of interest and confirming the position of the scattered blanking in the second coordinate system;
and the processing module is used for determining the positions of the scattered materials on the first coordinate system and the material field through the position relation of the first coordinate system and the second coordinate system.
Optionally, the method comprises the following steps:
the step of determining scattered blanking through the region of interest comprises:
labeling scattered materials in the region of interest to obtain a data set and a training set;
inputting the training set into a neural network for training to obtain a training model;
and determining scattered blanking in the region of interest through the training model.
Optionally, the step of determining the position of the scattered material on the first coordinate system and the material field through the position relationship between the first coordinate system and the second coordinate system includes:
determining the position coordinates of the center of the region of interest on the first coordinate system through any point of the first coordinate system, wherein the mathematical expression of the position coordinates of the center of the region of interest on the first coordinate system is as follows:
[camera x ,camera y ]
wherein, camera x Camera for the position coordinate of the X axis of the center of the region of interest on the first coordinate system y A position coordinate of a Y axis on the first coordinate system for the center of the region of interest;
the mathematical expression of the position coordinates of the scattered blanking on the second coordinate system is as follows:
wherein, steelN xmin For the minimum position coordinate of the X axis of the scattered blanking on the second coordinate system, steelN ymin For the minimum position coordinate of the Y axis of the scattered blanking on the second coordinate system, steelN xmax For the maximum position coordinate of the X axis of the scattered blanking on a second coordinate system, steelN ymax For the scattered materialThe maximum position coordinate of the Y axis on the second coordinate system, N is the number of the scattered blanking;
the mathematical expression of the position coordinates of the scattered materials on the first coordinate system is as follows:
where k is a scaling factor.
The edge detection operator or the filter comprises a Canny operator, a Sobel operator, a Laplacian operator, a Scharr filter and the like.
Further, contour extraction is performed on the edge-detected image to extract the contour of the object in the region of interest. Setting a scattered blanking length threshold value L and a width threshold value W for a rectangular outline, if the length of an object outline in an interested area is smaller than L and the width is smaller than W, determining the outline as the rectangular scattered blanking outline of the interested area, and returning to the position coordinates of the scattered blanking on a first coordinate system; and setting a scattered blanking area threshold A for the irregular contour, if the closed area of the contour of the object in the region of interest is smaller than A, determining the contour as the irregular scattered blanking contour of the region of interest, and returning to the position coordinates of the scattered blanking on a first coordinate system.
If the training model identifies scattered blanking and the contour feature judges that the scattered blanking is not identified, an identification confidence threshold T is set, and the object is considered to be scattered blanking according to the fact that the confidence of the training model identification result is larger than T, and the position coordinates of the scattered blanking on a first coordinate system are returned.
An embodiment of the present invention provides an electronic device, including: one or more processors; and one or more machine readable media having instructions stored thereon, which when executed by the one or more processors, cause the apparatus to perform one or more of the described methods. The invention is operational with numerous general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.
Embodiments of the invention also provide one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause an apparatus to perform one or more of the methods described. The invention may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (8)
1. The method for identifying the scattered materials in the scrap steel yard is characterized by comprising the following steps of:
a camera is arranged above a stock ground, and moves and acquires a region of interest;
setting a plane of the stock ground as a first coordinate system, and setting a plane of the region of interest as a second coordinate system;
determining scattered blanking through the region of interest and confirming the position of the scattered blanking in a second coordinate system;
determining the positions of the scattered blanking on the first coordinate system and the material field through the position relation of the first coordinate system and the second coordinate system
Wherein, through the positional relationship of the first coordinate system and the second coordinate system, the step of determining the position of the scattered blanking on the first coordinate system and the material field comprises the following steps:
determining the position coordinates of the center of the region of interest on the first coordinate system through any point of the first coordinate system, wherein the mathematical expression of the position coordinates of the center of the region of interest on the first coordinate system is as follows:
[camera x ，camera y ]
wherein, camera x Camera for the position coordinate of the X axis of the center of the region of interest on the first coordinate system y A position coordinate of a Y axis on the first coordinate system for the center of the region of interest;
the mathematical expression of the position coordinates of the scattered blanking on the second coordinate system is as follows:
wherein, steelN xmin For the minimum position coordinate of the X axis of the scattered blanking on the second coordinate system, steelN ymin For the minimum position coordinate of the Y axis of the scattered blanking on the second coordinate system, steelN xmax For the maximum position coordinate of the X axis of the scattered blanking on a second coordinate system, steelN ymax The maximum position coordinate of the Y axis of the scattered blanking on the second coordinate system is given, and N is the number of the scattered blanking;
the mathematical expression of the position coordinates of the scattered materials on the first coordinate system is as follows:
where k is a scaling factor, 1pixel corresponds to k cm above the actual ground, and the expression is: 1 pixel=k cm
2. The scrap yard loose material identification method of claim 1, wherein the step of determining loose material through the region of interest comprises:
labeling scattered materials in the region of interest to obtain a data set and a training set;
inputting the training set into a neural network for training to obtain a training model;
determining scattered materials in the region of interest through the training model;
performing edge detection on the region of interest, and extracting image features of the region of interest;
extracting the outline of the object in the region of interest by extracting the outline of the image after edge detection;
determining scattered materials in the region of interest according to the direction and the shape of the outline of the region of interest;
if the scattered materials are identified by the training model and the contour feature judgment, the scattered materials in the interested area can be determined;
if the training model identifies scattered blanking, the contour feature judges that the scattered blanking is not identified, and the scattered blanking in the interested area is determined according to the training model identification confidence;
if the training model does not identify scattered blanking, and the contour feature judges that the scattered blanking is identified, the scattered blanking in the interested area can be determined according to the contour feature.
3. The scrap steel yard scattered material identification method according to claim 2, wherein contour extraction is carried out on an image after edge detection, the contour of an object in an interested area is extracted, a scattered material length threshold value L and a width threshold value W are set for a rectangular contour, if the contour length of the object in the interested area is smaller than L and the width is smaller than W, the contour is determined to be the rectangular scattered material contour of the interested area, and the position coordinates of the scattered material on a first coordinate system are returned; and setting a scattered blanking area threshold A for the irregular contour, if the closed area of the contour of the object in the region of interest is smaller than A, determining the contour as the irregular scattered blanking contour of the region of interest, and returning to the position coordinates of the scattered blanking on a first coordinate system.
4. The method for identifying scattered materials in a scrap steel yard according to claim 2, wherein if the training model identifies scattered materials and the contour feature judges that the scattered materials are not identified, an identification confidence threshold T is set, and the object is considered to be the scattered materials according to the confidence of the training model identification result being greater than T, and the position coordinates of the scattered materials on a first coordinate system are returned.
5. The scrap yard loose material identification method of claim 1, wherein a camera is positioned above the yard, the camera moving and capturing the region of interest comprising:
the camera is arranged above the material yard vertically, and performs linear stepping reciprocating motion above the material yard and acquires a region of interest.
6. A system for utilizing the scrap yard loose material identification method in accordance with any one of claims 1 to 5, comprising:
the acquisition module is used for arranging a camera above the stock ground, and the camera moves and acquires a region of interest;
the identification module is used for setting the plane of the stock ground as a first coordinate system, setting the plane of the region of interest as a second coordinate system, determining scattered blanking through the region of interest and confirming the position of the scattered blanking in the second coordinate system;
the processing module is used for determining the positions of the scattered materials on the first coordinate system and the material field through the position relation of the first coordinate system and the second coordinate system;
wherein, through the positional relationship of the first coordinate system and the second coordinate system, the step of determining the position of the scattered blanking on the first coordinate system and the material field comprises the following steps:
determining the position coordinates of the center of the region of interest on the first coordinate system through any point of the first coordinate system, wherein the mathematical expression of the position coordinates of the center of the region of interest on the first coordinate system is as follows:
[camera x ，camera y ]
wherein, camera x Camera for the position coordinate of the X axis of the center of the region of interest on the first coordinate system y A position coordinate of a Y axis on the first coordinate system for the center of the region of interest;
the mathematical expression of the position coordinates of the scattered blanking on the second coordinate system is as follows:
wherein, steelN xmin For the minimum position coordinate of the X axis of the scattered blanking on the second coordinate system, steelN ymin For the minimum position coordinate of the Y axis of the scattered blanking on the second coordinate system, steelN xmax For the maximum position coordinate of the X axis of the scattered blanking on a second coordinate system, steelN ymax The maximum position coordinate of the Y axis of the scattered blanking on the second coordinate system is given, and N is the number of the scattered blanking;
the mathematical expression of the position coordinates of the scattered materials on the first coordinate system is as follows:
where k is a scaling factor, 1pixel corresponds to k cm above the actual ground, and the expression is: 1pixel = k cm;
the acquisition module, the identification module and the processing module are connected.
7. An electronic device, comprising:
one or more processors; and one or more machine readable media having instructions stored thereon, which when executed by the one or more processors, cause the apparatus to perform the method of one or more of claims 1-5.
8. One or more machine readable media having instructions stored thereon that, when executed by one or more processors, cause an apparatus to perform the method of one or more of claims 1-5.
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