CN114519711A - Method, system, medium and electronic terminal for measuring steel coils in depot area - Google Patents
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Abstract
The invention belongs to the field of storage logistics, and particularly relates to a method, a system, a medium and an electronic terminal for measuring steel coils in a warehouse area, wherein three-dimensional point cloud data of a steel coil stacking area is obtained by scanning the steel coil stacking area, and the three-dimensional point cloud data of the steel coil stacking area is clustered and divided into three-dimensional point cloud data of a plurality of separated steel coil clusters; then randomly sampling the three-dimensional point cloud data of the steel coil cluster to obtain a normal vector of the steel coil cluster so as to obtain the surface characteristics of the steel coil cluster; comparing the surface characteristics of the steel coil clusters with the characteristics of a standard steel coil model, judging the steel coil clusters which accord with the comparison result into one or more independent steel coils, and extracting the characteristic information of the independent steel coils, thereby accurately measuring the independent steel coils in the multilayer stacked steel coil stack; the invention can effectively solve the problem that the measurement of the internal independent steel coil generates errors when the steel coils are stacked in multiple layers.
Description
Technical Field
The invention belongs to the field of storage logistics, and particularly relates to a method, a system, a medium and an electronic terminal for measuring steel coils in a storage area.
Background
The warehousing logistics of the steel industry enter the intelligent development stage, and the intelligent warehousing system taking the unmanned bridge crane driving technology as the core is more and more widely applied to cold-rolled steel coil warehouses, hot-rolled steel coil warehouses and logistics intermediate warehouses.
Under the condition that the coil of strip was stacked at two-layer, when calculating upper coil of strip storehouse position, its coordinate precision receives the theoretical external diameter error influence of bottom coil of strip, leads to the actual position of coil of strip to appear deviating with theoretical calculation position, and the deviant value can reach 200 millimeters, makes mistakes easily when the handling coil of strip, and then increases the potential risk of unmanned bridge crane operation.
Disclosure of Invention
The invention provides a method, a system, a medium and an electronic terminal for measuring steel coils in a stock area, which aim to solve the problem that in the prior art, the steel coils in the stock area are measured by errors caused by stacking of the steel coils.
A method for measuring steel coils in a warehouse area comprises the following steps:
acquiring three-dimensional point cloud data of a steel coil cluster in a steel coil stacking area;
generating a steel coil model according to predefined information, and matching the three-dimensional point cloud data of the steel coil cluster with the characteristics of the steel coil model;
and if the three-dimensional point cloud data of the steel coil cluster is matched with the characteristics of the steel coil model, judging that an independent steel coil exists in the steel coil cluster, and acquiring the characteristic information of the independent steel coil.
Optionally, the step of performing feature matching on the three-dimensional point cloud data of the steel coil cluster and the steel coil model includes:
randomly sampling the three-dimensional point cloud data of the steel coil cluster, and generating a surface normal vector of the steel coil cluster according to the sampled three-dimensional point cloud data;
obtaining the feature description of the steel coil cluster according to the surface normal vector, and obtaining the feature description of the steel coil model according to the predefined information;
comparing the characteristic description of the steel coil cluster with the characteristic description of the steel coil model;
and if the characteristic description of the steel coil cluster is consistent with the characteristic description of the steel coil model or partially consistent with the characteristic description of the steel coil model, judging that the three-dimensional point cloud data is matched with the steel coil model.
Optionally, the step of determining the independent steel coil includes:
judging whether the independent steel coils in the steel coil cluster are one layer or multiple layers;
if the number of the layers is one, the matching and judging process is ended;
if the current layer is multilayer, selecting the upper layer as the current layer, matching the three-dimensional point cloud data of the current layer with the characteristics of the steel coil model, and judging all independent steel coils of the current layer;
removing the three-dimensional point cloud data of all independent steel coils of the current layer, matching the three-dimensional point cloud data of the next layer of the current layer with the characteristics of the steel coil model, and judging all independent steel coils of the next layer of the current layer;
And taking the next layer of the current layer as a new current layer, removing the three-dimensional point cloud data of all independent steel coils of the new current layer, and matching the three-dimensional point cloud data of the next layer of the new current layer with the characteristics of the steel coil model until all independent steel coils of all layers are judged.
Optionally, the acquiring three-dimensional point cloud data of the steel coil cluster includes:
scanning the steel coil stacking area along a preset axis; collecting a two-dimensional profile of the steel coil stacking area and a displacement amount during scanning;
and generating three-dimensional point cloud data of the steel coil cluster according to the displacement and the two-dimensional outline.
Optionally, the step of generating three-dimensional point cloud data of the steel coil cluster according to the two-dimensional outline and the displacement includes:
fusing the two-dimensional outline and the displacement to generate three-dimensional point cloud data of the steel coil stacking area;
acquiring the height of the ground plane of the steel coil stacking area;
performing through filtering on the three-dimensional point cloud data of the steel coil stacking area according to the height, and filtering out the ground plane part of the three-dimensional point cloud data of the steel coil stacking area;
and partitioning the three-dimensional point cloud data of the steel coil stacking area by adopting a clustering method to obtain a plurality of independent three-dimensional point cloud data of the steel coil clusters.
Optionally, the specific step of generating the three-dimensional point cloud data of the steel coil stacking area includes:
establishing a polar coordinate system, and mapping distance information and angle information generated when the scanning equipment scans the steel coil stacking area into the polar coordinate system;
converting the polar coordinate system into a plane rectangular coordinate system to obtain the two-dimensional profile;
adding the preset axis into the rectangular plane coordinate system to serve as a third coordinate axis to form a three-dimensional coordinate system;
and positioning and fusing the two-dimensional outline and the displacement in the three-dimensional coordinate system to obtain three-dimensional point cloud data of the steel coil stacking area.
Optionally, the characteristic information includes an outer diameter of the steel coil, a width dimension of the steel coil, a vector of an axial direction of the steel coil, and a coordinate of a central point of the axial line of the steel coil.
The invention also provides a steel coil measuring system in a depot area, which comprises:
the data acquisition module is used for acquiring three-dimensional point cloud data of the steel coil cluster;
the model generation module is used for generating a steel coil model according to the predefined information;
the matching module is connected with the data acquisition module and the model generation module and is used for matching the three-dimensional point cloud data with the characteristics of the steel coil model;
And the judging module is connected with the matching module and used for judging that the independent steel coil exists in the steel coil cluster and acquiring the characteristic information of the independent steel coil when the three-dimensional point cloud data of the steel coil cluster is matched with the characteristics of the steel coil model.
The invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method as defined in any one of the above.
The present invention also provides an electronic terminal, comprising: a processor and a memory;
the memory is adapted to store a computer program and the processor is adapted to execute the computer program stored by the memory to cause the terminal to perform the method as defined in any one of the above.
The invention provides a method, a system, a medium and an electronic terminal for measuring steel coils in a stock area, which have the following beneficial effects: the method comprises the steps of obtaining three-dimensional point cloud data of a steel coil stacking area by scanning the steel coil stacking area, clustering and dividing the three-dimensional point cloud data of the steel coil stacking area into three-dimensional point cloud data of a plurality of separated steel coil clusters; then randomly sampling the three-dimensional point cloud data of the steel coil cluster to obtain a normal vector of the steel coil cluster so as to obtain the surface characteristics of the steel coil cluster; comparing the surface characteristics of the steel coil cluster with the characteristic description of a standard steel coil model, judging the steel coil cluster meeting the comparison result into one or more independent steel coils, and extracting the characteristic information of the independent steel coils, thereby accurately measuring the independent steel coils in the multilayer stacked steel coil stack; the invention can effectively solve the problem that the measurement of the internal independent steel coil generates errors when the steel coil is stacked in multiple layers.
Drawings
FIG. 1 is a schematic illustration of an actual implementation of an embodiment of the present invention;
FIG. 2 is a schematic overall flow chart of a detection method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a process of generating three-dimensional point cloud data of a steel coil cluster in an embodiment of the present invention;
FIG. 4 is a schematic flow chart of the generation of a two-dimensional contour in an embodiment of the present invention;
fig. 5 is a schematic flow chart of three-dimensional point cloud data of a steel coil cluster generated by fusion in a three-dimensional plane rectangular coordinate system according to an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating a matching process of three-dimensional point cloud data and a steel coil model according to an embodiment of the present invention;
fig. 7 is a schematic flow chart illustrating a determination sequence of independent steel coils according to an embodiment of the present invention;
FIG. 8 is a block diagram of a detection system module in one embodiment of the invention;
the reference numbers illustrate:
1 computer
2 two-dimensional laser scanner
3 big car
4 trolley
5 incremental encoder
6 bottom layer steel coil
7 upper steel coil
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
In the following description, numerous details are set forth to provide a more thorough explanation of embodiments of the present invention, however, it will be apparent to one skilled in the art that embodiments of the present invention may be practiced without these specific details.
The inventor finds that when the steel coils in the cold-rolled steel coil warehouse are automatically lifted by using the unmanned bridge crane, if the steel coils are stacked, the measuring equipment (such as a laser scanner) on the unmanned bridge crane is influenced by the stacking shape. For example, the profile of the upper steel coil is affected by the lower steel coil, so that the system mistakenly considers that the edge of the lower steel coil is the edge of the upper steel coil 7, and thus an error exists between the calculated position and the actual position of the upper steel coil 7; the unmanned bridge crane cannot carry out normal hoisting, and particularly, when a small-inner-diameter steel coil is hoisted, situations that the automatic clamping of a hoisting tool of the unmanned bridge crane fails, the steel coil is hooked and turned over, slides and the like easily occur.
Therefore, a surface dimension measurement and coordinate calculation method is needed to measure the steel coil at the storage position so as to assist the intelligent storage system to correct the actual storage position information of the steel coil, thereby ensuring the operation safety of the unmanned bridge crane.
As shown in fig. 1 to 6, the method for measuring steel coils in a stock area provided in the present invention includes the steps of:
s1, acquiring three-dimensional point cloud data of a steel coil cluster in a steel coil stacking area, wherein the point cloud data (point cloud data) refers to a set of vectors in a three-dimensional coordinate system, the steel coil cluster is recorded in a point form, each point contains three-dimensional coordinates, and some points possibly contain color information (RGB) or reflection Intensity information (Intensity);
specifically, the step of acquiring three-dimensional point cloud data of the steel coil cluster comprises the following steps:
s101, presetting scanning equipment for scanning a steel coil stack, enabling the scanning equipment to displace along a preset axis and scan a steel coil stacking area, and presetting an incremental encoder 5 to acquire the displacement of the scanning equipment and acquire the two-dimensional outline of the steel coil stacking area and the displacement during scanning;
in this embodiment, three-dimensional point cloud data of a steel coil stacking area is acquired by using a computer 1, a two-dimensional laser scanner 2 and an incremental encoder 5, the two-dimensional laser scanner 2 is arranged on a cart 3 (beam) of a bridge crane, the steel coil stacking area of the two-dimensional laser scanner 2 facing downward is arranged at the end of the cart 3 (beam) of the bridge crane, and the incremental encoder 5 is used for acquiring the displacement of the cart 3; the two-dimensional laser scanner 2 and the incremental encoder 5 are connected to the computer 1 via a data cable.
When the two-dimensional laser scanner 2 moves along with the cart 3, the two-dimensional laser scanner 2 scans the steel coil stacking area in the storage area, the two-dimensional laser scanner 2 transmits the scanning result to the computer 1 in the form of a message, and the message contains two-dimensional outline information and displacement information of the steel coil stack; the sector plane formed by the two-dimensional laser scanner 2 during operation is parallel to the running direction of the trolley 4 of the bridge crane.
And S102, generating three-dimensional point cloud data of the steel coil cluster according to the two-dimensional outline and the displacement.
The three-dimensional point cloud data depend on three-dimensional coordinates, and the three-dimensional point cloud data in the three-dimensional coordinates can be used for representing the geometric characteristics of the steel coil cluster;
the three-dimensional point cloud data is data generated by scanning the whole steel coil stacking area, the steel coil cluster is a cluster model formed by scattered or stacked steel coils in the steel coil stack, and generally, the three-dimensional point cloud data of the steel coil cluster comprises two conditions, namely single-layer or multi-layer.
Specifically, the generating step of the two-dimensional contour includes:
s10101, establishing a polar coordinate system, and mapping distance information and angle information generated when a scanning device scans a steel coil stacking area into the polar coordinate system;
the message generated by the two-dimensional laser scanner 2 is distance information and angle information under a polar coordinate system, and a two-dimensional profile under the polar coordinate system is constructed by using the distance information and the angle information;
S10102, converting the polar coordinate system into a planar rectangular coordinate system to obtain a two-dimensional contour, wherein the two-dimensional contour under the planar rectangular coordinate system is represented by coordinate points, and two coordinate axes of the planar rectangular coordinate system are a Y axis and a Z axis respectively.
In this embodiment, the three-dimensional point cloud data of the steel coil cluster is obtained by separating the three-dimensional point cloud data of the steel coil stacking area, the two-dimensional profile and the displacement are three-dimensionally reconstructed, and the specific steps of fusing the three-dimensional point cloud data of the steel coil stacking area include:
s10201, adding a preset axis into a plane rectangular coordinate system to serve as a third coordinate axis, namely an X axis, and forming a three-dimensional plane rectangular coordinate system;
counting and converting encoder pulses in the message data through the displacement resolution of the incremental encoder 5 to obtain the displacement of the bridge crane cart 3, wherein the displacement of the cart 3 can be regarded as the displacement of the two-dimensional laser scanner 2, and the cart 3 and the two-dimensional laser scanner 2 move along the axis, so that the axis is directly used as a third coordinate axis and added to a planar rectangular coordinate system to form a three-dimensional planar rectangular coordinate system; the third coordinate axis is an X axis;
s10202, positioning and fusing the two-dimensional outline and the displacement in a three-dimensional plane rectangular coordinate system to obtain three-dimensional point cloud data of a steel coil stacking area.
Because the two-dimensional profile is the two-dimensional profile in coil of strip stacking area, consequently through step S10201-step S10202 obtain last be coil of strip stacking area ' S three-dimensional point cloud data, there are a plurality of mutual separation ' S coil of strip cluster in the coil of strip stacking area, consequently acquire coil of strip cluster ' S three-dimensional point cloud data still need be through filtering and cutting apart, concrete step includes:
s10203, acquiring the height of a ground plane where a steel coil stacking area is located;
s10204, performing through filtering on the three-dimensional point cloud data of the steel coil stacking area according to the height, filtering along the Z-axis direction, and filtering out the ground plane part of the three-dimensional point cloud data of the steel coil stacking area, so as to eliminate ground interference point cloud data of a reservoir area; in addition, in order to reduce the influence of interference point cloud data in the X-axis and Y-axis directions on the measurement result, the three-dimensional point cloud data can be filtered along the X, Y direction through the steel coil stacking area range in the library area, so that the environmental interference point cloud data in the X-axis and Y-axis directions can be eliminated;
s10205, segmenting the three-dimensional point cloud data of the steel coil stacking area by adopting a clustering method to obtain the three-dimensional point cloud data of a plurality of independent steel coil clusters;
fusing the two-dimensional outline and the displacement to generate three-dimensional point cloud data of a steel coil stacking area, and filtering and dividing the three-dimensional point cloud data of the steel coil stacking area to generate three-dimensional point cloud data of a steel coil cluster;
Specifically, a Kdtree rapid retrieval data structure needs to be established based on three-dimensional point cloud data in a three-dimensional plane rectangular coordinate system, and the three-dimensional point cloud data is segmented by applying an Euclidean distance clustering method to obtain the three-dimensional point cloud data of the steel coil cluster, wherein the three-dimensional point cloud data of the steel coil cluster is also composed of the three-dimensional point cloud data;
the three-dimensional point cloud data of the segmented steel coil cluster comprises two conditions: (1) based on three-dimensional point cloud data of a steel coil cluster formed by steel coils stacked in a single layer, independent three-dimensional point cloud data can be generally formed under the condition; (2) based on the three-dimensional point cloud data of the steel coil cluster formed by the stacked steel coils in multiple layers, the three-dimensional point cloud data of the bottom steel coil 6 and the upper steel coil 7 are adhered together, and in this case, the error of steel coil measurement is caused;
therefore, based on the three-dimensional point cloud data of the steel coil clusters stacked in a single layer or multiple layers, the following steps are adopted for separation;
s2, generating a steel coil model according to predefined information, and matching the three-dimensional point cloud data with the characteristics of the steel coil model; the predefined information is set manually, the content of the predefined information mainly comprises the set shape and size, and the predefined information can be set according to various batches of steel coils with different shapes and specifications; for example, the steel coil model is a cylindrical model, and the predefined information mainly sets a threshold interval of diameter parameters and length parameters of the steel coil model, so as to set cylindrical curved surface characteristics of the cylindrical model;
The coil of strip model is the single coil of strip model of self-defined standard, and the geometric characteristics of coil of strip model are known, consequently need acquire the geometric characteristics of coil of strip cluster before the contrast, acquires the independent coil of strip in the coil of strip cluster through the geometric characteristics of the coil of strip model and the coil of strip cluster, therefore the acquisition step of the three-dimensional point cloud data of coil of strip cluster includes:
s201, randomly sampling three-dimensional point cloud data to obtain a surface normal vector of a steel coil cluster;
specifically, sampling detection is carried out on three-dimensional point cloud data of a steel coil cluster by using a RANSAC algorithm, and then a surface normal vector of the steel coil cluster is obtained;
s202, obtaining surface feature description of the steel coil cluster through a surface normal vector, calculating the surface normal vector through sampled three-dimensional point cloud data, and describing the surface feature description of the steel coil cluster through the surface normal vector; thereby obtaining the geometric characteristics of the steel coil cluster; the surface feature description of the steel coil cluster can be regarded as the feature description formed by a plurality of cylindrical curved surfaces formed after a plurality of cylinders are stacked;
s203, comparing the characteristic description of the steel coil cluster with the characteristic description of the steel coil model;
specifically, in some embodiments, the feature description of the steel coil cluster and the feature description of the steel coil model are surface profiles of the steel coil cluster, and when the surface profile of the top of the steel coil cluster is judged to be consistent with the surface profile of the steel coil model or partially consistent with the surface profile of the steel coil model, that is, point cloud data of a corresponding part is matched, the part of the steel coil cluster can be judged to be in accordance with the geometric features of the steel coil model; the contrast characteristic description is the curved surface characteristic of the contrast cylindrical model and the cylindrical curved surface characteristic of the surface of the steel coil cluster;
And S204, if the feature description (the cylindrical curved surface feature in the embodiment) of the steel coil cluster is consistent with the feature description (the cylindrical curved surface feature in the embodiment) of the steel coil model or is partially consistent with the feature description, judging that the corresponding three-dimensional point cloud data is matched with the steel coil model according to the comparison result.
Generally, if the steel coil cluster is completely consistent with the steel coil model, it can be judged that the steel coil cluster only contains a single independent steel coil; if a plurality of parts contained in the steel coil cluster are consistent with the steel coil model, a plurality of independent steel coils contained in the steel coil cluster can be judged;
s3, if all the three-dimensional point cloud data are matched with the steel coil model, judging that the steel coil cluster corresponding to the three-dimensional point cloud data is an independent steel coil according to a matching result; if the partial three-dimensional point cloud data is matched with the steel coil model, judging that the partial steel coil cluster corresponding to the partial three-dimensional point cloud data is an independent steel coil according to a matching result;
the three-dimensional point cloud data can reflect the geometric characteristic information of the steel coil cluster in the three-dimensional coordinates, and the geometric characteristic information of the steel coil model is known, so that the geometric characteristic information, namely the surface profile, of the steel coil cluster and the steel coil model can be compared; generally, the cluster of coils from the coil stacking area includes two cases: (1) one steel coil cluster only comprises one independent steel coil; (2) one steel coil cluster comprises a plurality of independent steel coils;
Therefore, the surface profile of the steel coil cluster is possibly consistent with the surface profile of the steel coil model, and the steel coil cluster can be judged to be an independent steel coil under the condition; the shape of the independent steel coil is consistent with that of the steel coil model, and the characteristic information of the independent steel coil can be extracted according to the three-dimensional point cloud data of the steel coil cluster;
it is also possible that a part of the surface profile of the steel coil cluster conforms to the surface profile of the steel coil model. Under the condition, the steel coil cluster is judged to have a plurality of independent steel coils which are stacked together to form aggregated three-dimensional point cloud data, and clustering segmentation cannot be performed through the step S10205, so that the independent steel coils are separated out in a way of comparing the surface contour outline;
specifically, since the steel coil cluster may be one layer or multiple layers, the determination sequence is as follows:
s301, judging whether the independent steel coils in the steel coil cluster are in one layer or multiple layers, and in the matching process, if the condition that any two independent steel coils are not at the same height exists, judging that multiple layers of independent steel coils exist;
s302, if the number of the layers is one, the matching and judging process is ended;
s303, if the steel coil is multilayer, selecting the uppermost layer as the current layer, matching the three-dimensional point cloud data of the current layer with the characteristics of the steel coil model, and judging all independent steel coils of the current layer; in this embodiment, matching is performed layer by layer from top to bottom, so that the current layer is the first layer of the top, and the corresponding three-dimensional point cloud data is the three-dimensional point cloud data of the top;
S304, removing the three-dimensional point cloud data of all independent steel coils on the current layer, matching the three-dimensional point cloud data of the next layer of the current layer with the characteristics of the steel coil model, and judging all independent steel coils on the next layer of the current layer; removing the three-dimensional point cloud data at the top, and matching and judging the independent steel coil on the second layer;
s305, taking the next layer of the current layer as a new current layer, removing the three-dimensional point cloud data of all independent steel coils of the new current layer, and matching the three-dimensional point cloud data of the next layer of the new current layer with the characteristics of the steel coil model until the independent steel coils of all layers are judged. And repeating matching and judging to separate the independent steel coils of all layers, thereby obtaining the position information of all the independent steel coils.
And S4, acquiring the characteristic information of the independent steel coil, and completing the measurement of the steel coil by using the characteristic information. Specifically, the characteristic information includes the outer diameter of the steel coil, the width dimension of the steel coil, the axial direction vector of the steel coil and the central point coordinate of the axial line of the steel coil. Because the independent steel coils are positioned under the three-dimensional straight coordinate, the accurate position of each independent steel coil can be accurately measured through the characteristic information; and feeding the characteristic information back to the warehousing system, and accurately hoisting the steel coil by the bridge crane according to the characteristic information.
The invention provides a steel coil measuring method in a reservoir area, which comprises the steps of obtaining three-dimensional point cloud data of a steel coil stacking area by scanning the steel coil stacking area, clustering and partitioning the three-dimensional point cloud data of the steel coil stacking area into three-dimensional point cloud data of a plurality of separated steel coil clusters; then randomly sampling the three-dimensional point cloud data of the steel coil cluster to obtain a normal vector of the steel coil cluster so as to obtain the characteristic description of the steel coil cluster; comparing the characteristic description of the steel coil cluster with the characteristic description of a standard steel coil model, judging the steel coil cluster meeting the comparison result into one or more independent steel coils, and extracting the characteristic information of the independent steel coils, thereby accurately measuring the independent steel coils in the multilayer stacked steel coil stack; the invention can effectively solve the problem that the measurement of the internal independent steel coil generates errors when the steel coils are stacked in multiple layers.
As shown in fig. 7, the present invention further provides a steel coil measuring system in a depot area, which is characterized by comprising:
the data acquisition module is used for acquiring three-dimensional point cloud data of the steel coil cluster;
the model generation module is used for generating a steel coil model according to the predefined information;
the matching module is connected with the data acquisition module and the model generation module and is used for matching the three-dimensional point cloud data with the characteristics of the steel coil model;
And the judging module is connected with the matching module and used for judging that the independent steel coil exists in the steel coil cluster and acquiring the characteristic information of the independent steel coil when the three-dimensional point cloud data of the steel coil cluster is matched with the characteristics of the steel coil model.
The invention provides a steel coil measuring system in a depot area, which obtains three-dimensional point cloud data of a steel coil stacking area by scanning the steel coil stacking area, and performs clustering segmentation on the three-dimensional point cloud data of the steel coil stacking area to divide the three-dimensional point cloud data into a plurality of separated steel coil clusters; then randomly sampling the three-dimensional point cloud data of the steel coil cluster to obtain a normal vector of the steel coil cluster so as to obtain the characteristic description of the steel coil cluster; comparing the characteristic description of the steel coil cluster with the characteristic description of a standard steel coil model, judging the steel coil cluster meeting the comparison result into one or more independent steel coils, and extracting the characteristic information of the independent steel coils, thereby accurately measuring the independent steel coils in the multilayer stacked steel coil stack; the invention can effectively solve the problem that the measurement of the internal independent steel coil generates errors when the steel coils are stacked in multiple layers.
The present embodiment also provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor implements any of the methods in the present embodiments.
The present embodiment further provides an electronic terminal, including: a processor and a memory;
the memory is used for storing computer programs, and the processor is used for executing the computer programs stored in the memory so as to enable the terminal to execute the method in the embodiment.
The computer-readable storage medium in the present embodiment can be understood by those skilled in the art as follows: all or part of the steps for implementing the above method embodiments may be performed by hardware associated with a computer program. The aforementioned computer program may be stored in a computer readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The electronic terminal provided by the embodiment comprises a processor, a memory, a transceiver and a communication interface, wherein the memory and the communication interface are connected with the processor and the transceiver and are used for completing mutual communication, the memory is used for storing a computer program, the communication interface is used for carrying out communication, and the processor and the transceiver are used for operating the computer program so that the electronic terminal can execute the steps of the method.
In this embodiment, the Memory may include a Random Access Memory (RAM), and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
In the embodiments described above, although the present invention has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those skilled in the art in light of the foregoing description. The embodiments of the invention are intended to embrace all such alternatives, modifications and variances that fall within the broad scope of the appended claims.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Those skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A method for measuring steel coils in a stock area is characterized by comprising the following steps:
acquiring three-dimensional point cloud data of a steel coil cluster in a steel coil stacking area;
generating a steel coil model according to predefined information, and matching the three-dimensional point cloud data of the steel coil cluster with the characteristics of the steel coil model;
and if the three-dimensional point cloud data of the steel coil cluster is matched with the characteristics of the steel coil model, judging that an independent steel coil exists in the steel coil cluster, and acquiring the characteristic information of the independent steel coil.
2. The method for measuring the steel coils in the stock area according to claim 1, wherein the step of performing feature matching on the three-dimensional point cloud data of the steel coil cluster and the steel coil model comprises the following steps:
Randomly sampling the three-dimensional point cloud data of the steel coil cluster, and generating a surface normal vector of the steel coil cluster according to the sampled three-dimensional point cloud data;
obtaining the feature description of the steel coil cluster according to the surface normal vector, and obtaining the feature description of the steel coil model according to the predefined information;
comparing the characteristic description of the steel coil cluster with the characteristic description of the steel coil model;
and if the characteristic description of the steel coil cluster is consistent with the characteristic description of the steel coil model or partially consistent with the characteristic description of the steel coil model, judging that the three-dimensional point cloud data is matched with the steel coil model.
3. The method for measuring steel coils in a stock area according to claim 1, wherein the step of determining the independent steel coils comprises:
judging whether the independent steel coils in the steel coil cluster are one layer or multiple layers;
if the number of the layers is one, the matching and judging process is ended;
if the current layer is multilayer, selecting the upper layer as the current layer, matching the three-dimensional point cloud data of the current layer with the characteristics of the steel coil model, and judging all independent steel coils of the current layer;
removing the three-dimensional point cloud data of all independent steel coils of the current layer, matching the three-dimensional point cloud data of the next layer of the current layer with the steel coil model, and judging all independent steel coils of the next layer of the current layer;
And taking the next layer of the current layer as a new current layer, removing the three-dimensional point cloud data of all independent steel coils of the new current layer, and matching the three-dimensional point cloud data of the next layer of the new current layer with the characteristics of the steel coil model until all independent steel coils of all layers are judged.
4. The method for measuring steel coils in a depot area according to claim 1, wherein the step of acquiring three-dimensional point cloud data of the steel coil clusters comprises the following steps:
scanning the steel coil stacking area along a preset axis; collecting a two-dimensional outline of the steel coil stacking area and a displacement amount during scanning;
and generating three-dimensional point cloud data of the steel coil cluster according to the displacement and the two-dimensional outline.
5. The method for measuring steel coils in a stock area according to claim 4, wherein the step of generating three-dimensional point cloud data of the steel coil clusters according to the two-dimensional outline and the displacement comprises:
fusing the two-dimensional outline and the displacement to generate three-dimensional point cloud data of the steel coil stacking area;
acquiring the height of the ground plane of the steel coil stacking area;
performing through filtering on the three-dimensional point cloud data of the steel coil stacking area according to the height, and filtering out the ground plane part of the three-dimensional point cloud data of the steel coil stacking area;
And partitioning the three-dimensional point cloud data of the steel coil stacking area by adopting a clustering method to obtain a plurality of independent three-dimensional point cloud data of the steel coil clusters.
6. The method for measuring steel coils in a stock area according to claim 5, wherein the specific step of generating the three-dimensional point cloud data of the steel coil stacking area comprises:
establishing a polar coordinate system, and mapping distance information and angle information generated when the scanning equipment scans the steel coil stacking area into the polar coordinate system;
converting the polar coordinate system into a plane rectangular coordinate system to obtain the two-dimensional profile;
adding the preset axis into the rectangular plane coordinate system to serve as a third coordinate axis to form a three-dimensional coordinate system;
and positioning and fusing the two-dimensional outline and the displacement in the three-dimensional coordinate system to obtain three-dimensional point cloud data of the steel coil stacking area.
7. The method for measuring the steel coils in the stock area according to claim 1, wherein the characteristic information includes the external diameter of the steel coil, the width dimension of the steel coil, the axial direction vector of the steel coil and the central point coordinate of the axial line of the steel coil.
8. A steel coil measuring system for a depot area is characterized by comprising:
The data acquisition module is used for acquiring three-dimensional point cloud data of the steel coil cluster;
the model generation module is used for generating a steel coil model according to the predefined information;
the matching module is connected with the data acquisition module and the model generation module and is used for matching the three-dimensional point cloud data with the characteristics of the steel coil model;
and the judging module is connected with the matching module and used for judging that the independent steel coil exists in the steel coil cluster and acquiring the characteristic information of the independent steel coil when the three-dimensional point cloud data of the steel coil cluster is matched with the characteristics of the steel coil model.
9. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program, when executed by a processor, implements the method of any one of claims 1 to 7.
10. An electronic terminal, comprising: a processor and a memory;
the memory is for storing a computer program and the processor is for executing the computer program stored by the memory to cause the terminal to perform the method of any of claims 1 to 7.
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