CN115159150B - Scrap steel approach control method and system and computer readable storage medium - Google Patents
Scrap steel approach control method and system and computer readable storage medium Download PDFInfo
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- CN115159150B CN115159150B CN202211086737.0A CN202211086737A CN115159150B CN 115159150 B CN115159150 B CN 115159150B CN 202211086737 A CN202211086737 A CN 202211086737A CN 115159150 B CN115159150 B CN 115159150B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/24—Unloading land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
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Abstract
The application relates to the technical field of steel production, and provides a scrap steel entrance control method, a scrap steel entrance control system and a computer readable storage medium, wherein the scrap steel entrance control method compares a detected second scrap steel grade with a first scrap steel grade declared by a vehicle terminal, allows a vehicle to pass through a primary entrance guard after the detected second scrap steel grade meets requirements, detects the scrap steel grade of the scrap steel on the vehicle again at a secondary entrance guard, obtains a third scrap steel grade for transporting the scrap steel, compares the third scrap steel grade with the declared first scrap steel grade again, allows the vehicle to enter an unloading area after the third scrap steel grade meets the requirements, and obtains a scrap steel image on the vehicle layer by layer through a gun camera arranged in the unloading area in the process of unloading the scrap steel. The scrap steel entering control method provided by the embodiment of the application can manage the discharging area more scientifically, ensure that the grade of the scrap steel is matched with the discharging area, and avoid great investment in sorting the scrap steel in the subsequent scrap steel using process.
Description
Technical Field
The application relates to the technical field of steel production, in particular to a scrap steel approach control method and system and a computer readable storage medium.
Background
The scrap steel refers to waste steel which is eliminated or damaged in the production and living process and is used as recycled steel. The scrap steel mainly comprises some scrapped machine equipment, structural parts, buildings, scrapped steel ingots, steel billets, cut ends and tails, steel castings, steel rails, axles or electric devices and the like, and the scrap steel has various shapes, sizes and colors and is doped with impurities of different degrees because of various types and wide sources.
In actual production, the steel scrap is generally transported to a steel scrap sorting area of a steel plant by a vehicle, the vehicle is required to apply for an entrance certificate (entrance guard card) in advance before entering the steel plant, the identity information of the vehicle and the grade and weight of the loaded steel scrap are required to be provided when the entrance guard card is manufactured, weighing inspection is carried out, and then a vehicle driver queues up to enter the place according to the manufacturing time of the entrance guard card and transports transported goods to a specified steel scrap sorting area according to the grade of the steel scrap.
In the process of controlling the scrap steel transportation vehicle to enter the steel plant in the mode, the unloading area for storing the corresponding scrap steel is judged according to the declaration grade of the transportation vehicle or the grade of the scrap steel initially detected during card making, and before the subsequent use of the scrap steel, the scrap steel in the unloading area needs to be sorted again, so that the efficient production of the steel plant is not facilitated.
Disclosure of Invention
The application provides a scrap steel entering control method, a scrap steel entering control system and a computer readable storage medium, which are used for solving the problem that in the prior art, the scrap steel in an unloading area needs to be sorted again before the subsequent use of the scrap steel because the grade of the scrap steel does not correspond to the unloading area, and the efficient production of a steel plant is not facilitated.
The first aspect of the embodiments of the present application provides a scrap steel approach control method, including:
acquiring a card making instruction, wherein the card making instruction at least comprises first identity information, a first scrap grade and a card making deadline declared by a vehicle terminal, and the vehicle terminal is equipment capable of outputting or inputting information corresponding to a vehicle;
responding to the card making indication, checking identity information and a second scrap grade of the corresponding vehicle, if the checked vehicle information accords with first identity information, the checked second scrap grade accords with a first scrap grade, and the card making time limit is within an effective time limit, generating a first electronic key and sending the first electronic key to a vehicle terminal, wherein the first electronic key at least comprises first vehicle information and a first scrap grade;
determining an entrance sequence of a corresponding vehicle according to the time of detecting a first electronic key of a vehicle terminal;
acquiring an approach request signal of a vehicle terminal, responding to the approach request signal of the vehicle terminal, detecting a third scrap steel grade of a corresponding vehicle, and generating a vehicle approach instruction if the third scrap steel grade accords with the first scrap steel grade, wherein the vehicle approach instruction comprises position information for indicating an unloading area corresponding to the third scrap steel grade;
responding to the vehicle entering instruction, calling a dome camera of the unloading area corresponding to the third waste steel grade, and tracking the corresponding entering vehicle through the dome camera;
and calling a gun camera of the unloading area corresponding to the third waste steel grade in the process of grabbing the waste steel layer by layer, and acquiring the waste steel image on the vehicle layer by layer through the gun camera.
In one implementation, after the step of acquiring the image of the steel scrap on the vehicle layer by layer, the method further includes:
judging a fourth scrap grade corresponding to the scrap steel according to the scrap steel image;
and if the fourth scrap grade does not accord with the scrap grade corresponding to the current unloading area, determining a new unloading area according to the fourth scrap grade, and generating a first area changing instruction, wherein the first area changing instruction is used for indicating a corresponding vehicle to be changed to the new unloading area.
In one implementation, after the step of determining the approach sequence of the corresponding vehicle according to the time of detecting the first electronic key of the vehicle terminal, the method further includes:
acquiring the queuing state of the vehicles to be unloaded in each unloading area, wherein the queuing state at least comprises the following steps: the system comprises an empty state, an under-saturated state, a saturated state and a supersaturated state, wherein each discharging area corresponds to different scrap steel grades;
and if the queuing state of the vehicles in a certain unloading area is an empty state or an undersaturation state, matching the scrap grade of the corresponding unloading area with the first scrap grade of the vehicle terminal in the entering sorting, and if the first scrap grade of the vehicle terminal in the entering sorting accords with the scrap grade of the corresponding unloading area, adjusting the entering sequence of the corresponding vehicle.
In one implementation manner, the step of obtaining an approach request signal of a vehicle terminal, detecting a third steel scrap grade of a corresponding vehicle in response to the approach request signal of the vehicle terminal, and generating a vehicle approach instruction if the third steel scrap grade meets the first steel scrap grade further includes:
determining the position of a corresponding discharging area according to the grade of the third waste steel;
determining all to-be-selected path information of the vehicle reaching the corresponding unloading area;
acquiring running path information of all vehicles in a discharging area;
and screening out the specified driving path from all the information of the paths to be selected according to the information of the driving paths of all the vehicles in the unloading area, and writing the specified driving path into a vehicle entrance instruction.
In one implementation manner, in the process of grabbing the steel scrap layer by layer, the step of calling the bolt camera of the unloading area corresponding to the third steel scrap grade and acquiring the steel scrap image on the vehicle layer by layer through the bolt camera further includes:
and after the scrap steel on the vehicle is unloaded to a preset amount, generating a second zone changing instruction, wherein the second zone changing instruction is used for indicating the entering vehicle to be changed to a preset unloading zone.
In one implementation, after the step of obtaining the approach request signal of the vehicle terminal, the method further includes:
and acquiring the path route state reaching each unloading area, and if the path route state reaching a certain unloading area is in an occupied state, generating an entrance refusing instruction, wherein the entrance refusing instruction is used for forbidding a corresponding vehicle to enter the unloading area.
In one implementation manner, in the process of grabbing the steel scrap layer by layer, the step of calling the bolt camera of the unloading area corresponding to the third steel scrap grade and acquiring the steel scrap image on the vehicle layer by layer through the bolt camera further comprises:
acquiring a first scrap steel image, establishing a pixel coordinate system on the first scrap steel image, and acquiring all pixel points in the first scrap steel image;
acquiring pixel points of a hopper area in a first scrap steel image, wherein the hopper is used for loading scrap steel;
and if the ratio of the pixel points of the car hopper area to all the pixel points in the first scrap steel image is smaller than a first threshold value, finely adjusting the gunlock camera according to the distribution position of the pixel points predicted by the car hopper in the first scrap steel image.
In one implementation manner, in the process of grabbing the steel scrap layer by layer, the step of calling the bolt camera of the unloading area corresponding to the third steel scrap grade and acquiring the steel scrap image on the vehicle layer by layer through the bolt camera further comprises:
when the waste steel is grabbed, the fog gun machine is controlled to spray water to the waste steel of the vehicle;
and when the camera of the gun camera is controlled to acquire the scrap steel image, the fog gun is controlled to stop spraying water.
A second aspect of the embodiments of the present application provides a scrap steel approach control system, where the scrap steel approach control system is configured to manage a plant area that receives scrap steel, and the plant area that receives scrap steel at least includes a primary access control system, a queuing area system, a secondary access control system, and multiple discharge areas corresponding to different scrap steel grades;
the scrap steel approach control system comprises:
the vehicle detection device is linked with the primary access control system and is used for detecting the identity information and the second vehicle information of the vehicle entering the field;
the system comprises a card making device, a card making device and a card making terminal, wherein the card making device is used for obtaining a card making instruction sent by an access control system, the card making instruction at least comprises first vehicle information and a card making time limit, and the card making device is used for responding to the card making instruction to generate a first electronic key and send the first electronic key to a vehicle terminal if the second vehicle information accords with the first vehicle information and the card making time limit is within the valid time limit, and the first electronic key at least comprises vehicle information and a first scrap steel grade;
the sequencing device is linked with the queuing area system and is used for sequencing the approach time of the vehicle terminal according to the time of detecting a first electronic key of the vehicle terminal;
and the queuing system is also used for acquiring the queuing state of the vehicles to be unloaded in each unloading area, wherein the queuing state at least comprises the following steps: the system comprises an empty state, an under-saturated state, a saturated state and an over-saturated state, wherein each unloading area corresponds to different scrap grades;
the system is also used for matching the scrap steel grade of the corresponding unloading area with the first scrap steel grade of the vehicle terminal in the approach time sequence if the queuing state of the vehicles in a certain unloading area is an empty state or an undersaturation state, and adjusting the approach sequence of the corresponding vehicle terminal if the first scrap steel grade of the vehicle terminal in the approach time sequence accords with the scrap steel grade of the corresponding unloading area;
the entrance instruction generating module is linked with the secondary access control system and used for acquiring an entrance request signal of a vehicle terminal, responding to the entrance request signal of the vehicle terminal, detecting a second scrap grade of a corresponding vehicle, and generating a vehicle entrance instruction if the second scrap grade accords with the first scrap grade, wherein the vehicle entrance instruction comprises position information used for indicating a discharging area corresponding to a third scrap grade;
the vehicle capturing device is linked with the dome camera arranged in the unloading area and used for responding to the vehicle entering instruction, calling the dome camera of the unloading area corresponding to the third waste steel grade and tracking the corresponding entering vehicle through the dome camera;
and the waste steel image acquisition device is linked with the gun camera arranged in the unloading area and used for calling the gun camera of the unloading area corresponding to the third waste steel grade in the unloading process of the grabbing arm and acquiring waste steel images on the vehicle layer by layer through the gun camera.
A third aspect of the embodiments of the present application provides a computer-readable storage medium, where a computer program is stored, and the computer program, when being processed and executed, implements the scrap approach control method provided by the first aspect of the embodiments of the present application.
According to the technical scheme, the scrap steel entrance control method, the scrap steel entrance control system and the computer readable storage medium are provided by the embodiment of the application, the detected second scrap steel grade is compared with the first scrap steel grade declared by the vehicle terminal, after the detected second scrap steel grade meets the requirement, the first electronic key allowing the vehicle to pass through the primary entrance guard is generated, the scrap steel grade of the scrap steel on the vehicle is detected again at the secondary entrance guard, the third scrap steel grade of the transport scrap steel is obtained and is compared with the declared first scrap steel grade again, after the third scrap steel grade meets the requirement, the vehicle is allowed to enter the unloading area corresponding to the first scrap steel grade, and in the process of unloading the scrap steel, the scrap steel image on the vehicle is obtained layer by layer through the gun camera arranged in the unloading area. The scrap steel entering control method provided by the embodiment of the application can manage the discharging area more scientifically, ensure that the grade of the scrap steel is matched with the discharging area, and avoid great investment in sorting the scrap steel in the subsequent scrap steel using process.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments are briefly described below, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic view of a scene layout corresponding to a scrap steel approach control method provided in an embodiment of the present application;
FIG. 2 is a schematic flow chart illustrating a first embodiment of a scrap steel approach control method according to the present application;
FIG. 3 is a schematic flow chart of a scrap steel approach control method according to a second embodiment of the present application;
FIG. 4 is a schematic flow chart of a scrap steel approach control method according to a third embodiment of the present application;
FIG. 5 is a schematic flow chart of a fourth embodiment of an approach control method for scrap steel provided by the present application;
fig. 6 is a schematic flow chart of a fifth embodiment of a scrap steel approach control method provided by the present application.
Detailed Description
In order to more clearly explain the technical solution of the present application, the following first explains a scenario related to the present application.
The steel scrap entering control method and system provided by the embodiment of the application are suitable for factories receiving steel scrap, for example, steel plants, as shown in fig. 1, the steel plants are at least provided with two levels of entrance guard, a steel scrap discharging area entering the steel plants needs to sequentially pass through a primary entrance guard and a secondary entrance guard, the primary entrance guard mainly checks whether vehicles can enter the factory area or not, and confirms or distributes activity rights of the vehicles in the factory area, the secondary entrance guard can reach all discharging areas after passing through the secondary entrance guard, wherein the discharging areas are multiple in number to store different types or levels of steel scrap, the discharging areas are provided with cameras and gun cameras and fixed or movable door machines, the shape of a single discharging area can be a regular rectangle, or multiple discharging areas can be formed into a ring or circular rectangle together, and the ring or circular rectangle is distributed with multiple discharging areas.
Because the place in district of unloading is limited, simultaneously in order to guarantee that the district of unloading can be in saturation operating condition, before the checkpoint that the second grade entrance guard corresponds, still be provided with the district of lining up to make the vehicle get into the district of unloading in order.
The first aspect of the embodiment of the present application provides a scrap steel approach control method, including steps 210 to 260.
The card making indication can be an electronic instruction signal, paper information (manual entry or automatic identification entry), or a smart card with data stored therein.
The first identity information includes vehicle information, such as a license plate number, a vehicle model number, a vehicle load capacity and the like, and may further include vehicle driver identity information, such as a driver photo, a work plate and the like.
The vehicle terminal is not limited to a smart device, and any vehicle that can provide the declared first identity information, the declared first scrap grade and the declared card making deadline can be used as the vehicle terminal, for example, a smart card.
And step 220, responding to the card making instruction, checking the identity information and the second scrap steel grade of the corresponding vehicle, if the checked vehicle information accords with the first identity information, the checked second scrap steel grade accords with the first scrap steel grade, and the card making deadline is within the valid deadline, generating a first electronic key and sending the first electronic key to the vehicle terminal, wherein the first electronic key at least comprises the first vehicle information and the first scrap steel grade.
It should be noted that, in the practical application, it is not limited to checking only the vehicle information, the steel scrap grade and the card-making period, but it is also possible to check other information according to practical needs, for example, the total vehicle weight (i.e. the weight detected by weighing), wherein, in the practical application, the second steel scrap grade required to be checked is not lower than the first steel scrap grade (i.e. the steel scrap quality corresponding to the second steel scrap grade is not lower than the steel scrap quality corresponding to the first steel scrap grade).
And step 230, determining the entering sequence of the corresponding vehicle according to the time when the first electronic key of the vehicle terminal is detected.
In the practical application process, after a vehicle transporting scrap steel obtains a first electronic key, the vehicle arranges the time for going to a discharging area according to the practical situation, a queuing area is arranged at a secondary entrance guard before entering the discharging area, a queuing area system is arranged in the queuing area, the time for the vehicle to arrive is detected through the queuing area system, namely the time for detecting the first electronic key at the vehicle terminal, and therefore the approach sequence of the vehicle is determined according to the detection time.
It should be noted that, in the practical application process, the functions of the queuing area system may also be implemented by a secondary access control system, that is, two systems may be set to respectively manage the queuing area and the secondary access control, or only one system may be set to simultaneously implement the management of the queuing area and the secondary access control.
Before vehicles in a queuing area are ready to enter a discharging area, whether scrap steel on the vehicles meets requirements or not needs to be determined in advance (secondary inspection), and the method comprises the following specific steps: and the vehicle terminal sends an entrance request signal to the secondary access control system, a first steel scrap grade of the steel scrap transported on the vehicle is detected through detection equipment arranged at the secondary access control, if the third steel scrap grade accords with the declared first steel scrap grade, the steel scrap grade meets the requirement, and the vehicle can enter a discharging area through the secondary access control.
The grade of the third waste steel can be the same grade as the grade of the first waste steel, or can be different grades (the grade of the third waste steel is higher than that of the first waste steel), and the grade of the third waste steel is used as the standard in the process of distributing the unloading area.
It should be noted that, in the actual use process, a weight detection device may be further disposed at the secondary entrance guard to detect whether the weight of the vehicle meets the requirement.
And 250, responding to the vehicle entering instruction, calling a dome camera of the unloading area corresponding to the third waste steel grade, and tracking the corresponding entering vehicle through the dome camera.
When the vehicle entrance instruction is generated, the corresponding vehicle is located near the secondary entrance guard and is about to enter the unloading area, so that after the vehicle entrance instruction is generated, the unloading area system calls the dome camera of the unloading area corresponding to the third waste steel grade, and after the dome camera detects the corresponding vehicle, the corresponding entrance vehicle is tracked through the dome camera.
And step 260, calling a gun camera of the unloading area corresponding to the third waste steel grade in the process of grabbing the waste steel layer by layer, and acquiring a waste steel image on the vehicle layer by layer through the gun camera.
After the vehicle stops in a preset unloading area, a gantry crane arranged in the unloading area unloads steel scraps on the vehicle, wherein the current steel scraps unloading process is that the steel scraps are unloaded layer by layer through an electromagnet, in the unloading process, a steel scrap image on the vehicle is obtained layer by layer through the gun camera, namely the crane of the gantry crane acts once to shoot the steel scrap image once, in the practical application process, the height of the steel scraps in the hopper gradually becomes lower due to continuous unloading of the steel scraps, and in order to obtain a more proper steel scrap image, the gun camera returns to the imaging window for fine adjustment.
According to the scrap steel entrance control method provided by the embodiment of the application, the detected second scrap steel grade is compared with the first scrap steel grade declared by the vehicle terminal, after the detected second scrap steel grade meets the requirement, the first electronic key allowing the vehicle to pass through the primary entrance guard is generated, the scrap steel grade of the scrap steel on the vehicle is detected again at the secondary entrance guard, the third scrap steel grade of the transported scrap steel is obtained, the third scrap steel grade is compared with the declared first scrap steel grade again, after the third scrap steel grade meets the requirement, the vehicle is allowed to enter the unloading area corresponding to the first scrap steel grade, and in the process of unloading the scrap steel, the scrap steel image on the vehicle is obtained layer by layer through the gun camera arranged in the unloading area. The method for controlling the entrance of the scrap steel can manage the entrance of the vehicle (scrap steel) in the discharging area more scientifically, ensures that the grade of the scrap steel is matched with the discharging area, avoids large cost investment in the subsequent use process of the scrap steel, and sorts the scrap steel again.
In the practical application process, because a certain bumpy condition exists during the transportation of the vehicle, the condition that the scrap steel in the hopper has obvious difference in the scrap steel grades of the upper layer and the lower layer is caused, and for this reason, as shown in fig. 3, in some embodiments of the present application, step 310 and step 320 are further included.
And 310, judging a fourth scrap grade corresponding to the scrap steel according to the scrap steel image.
In the actual process, the acquired scrap image may be determined in real time, or may be determined by sampling, for example, the grade of the scrap is determined every other scrap image.
And step 320, if the fourth scrap grade does not accord with the scrap grade corresponding to the current unloading area, determining a new unloading area according to the fourth scrap grade, and generating a first area changing instruction, wherein the first area changing instruction is used for indicating a corresponding vehicle to be changed to the new unloading area.
When the first scrap steel grade is judged to be not accordant with the scrap steel grade corresponding to the current discharging area, the crane stops discharging, a first area changing instruction is sent to the vehicle terminal, the vehicle is indicated to move to the discharging area corresponding to the fourth scrap steel grade, and by means of the method, the scrap steel can be classified more reasonably, and the steel plant can be guaranteed to realize more scientific production.
It should be noted that, in the actual use process, if the fourth scrap grade does not conform to the scrap grade corresponding to the current unloading zone, the solution is not limited to the way of replacing the unloading zone by a vehicle, and if the unloading zone corresponding to the fourth scrap grade is closer to the current unloading zone and is within the working range of the crane of the gantry crane, the corresponding scrap can be grabbed to the unloading zone corresponding to the first scrap grade by the action of the crane.
It should be noted that, in the practical application process, it is not limited to determine whether the vehicle needs to replace the unloading area by performing real-time judgment on the scrap image, and a region replacement rule of the vehicle may be set according to production experience or analysis of a large amount of data in advance, for example, after the scrap on the vehicle is unloaded to a preset amount, a second region replacement instruction is generated, where the second region replacement instruction is used to instruct the entering vehicle to replace the entering vehicle to a preset unloading area, specifically, for example, after two thirds of the scrap transported by the vehicle is unloaded in the unloading area corresponding to the first-level scrap level, the vehicle is transferred to the unloading area corresponding to the second-level scrap level, and after one half of the scrap transported by the vehicle is unloaded in the unloading area corresponding to the second-level scrap level, the vehicle is transferred to the unloading area corresponding to the third-level scrap level.
Because the discharging areas are classified according to the grade of the scrap steel, in the actual production process, more vehicles which need to go to the first discharging area may occur, and the queuing condition is relatively close to the front; for this reason, as shown in fig. 4, in some embodiments of the present application, steps 410 to 420 are further included.
Step 410, obtaining queuing states of vehicles to be unloaded in each unloading area, wherein the queuing states at least comprise: the system comprises an empty state, an under-saturated state, a saturated state and a supersaturated state, wherein each discharging area corresponds to different scrap steel grades;
and 420, if the queuing state of the vehicles in a certain unloading area is an empty state or an undersaturation state, matching the scrap grade of the corresponding unloading area with the first scrap grade of the vehicle terminal in the entering sorting, and if the first scrap grade of the vehicle terminal in the entering sorting accords with the scrap grade of the corresponding unloading area, adjusting the entering sequence of the corresponding vehicle.
In the practical application process, the adjustment of the approach sequence of the vehicles can be to adjust the avoidance of the front vehicle and the rear vehicle, or to set a special queue-inserting area in the queuing area, or to set an emergency lane or an avoidance position on the driving path of the vehicles, so that the vehicles at the rear position of the queuing sequence can be quickly inserted.
In the scrap steel entrance control method provided by the embodiment of the application, the related discharging areas are large, a plurality of discharging areas exist, the driving routes from the secondary access control to the plurality of discharging areas are many and relatively complex, and in the practical application process, a driver of a vehicle can generally select the route with the closest distance or better road condition according to experience; it is also possible to set a uniform driving rule that requires all vehicles to arrange a predetermined route pattern. In the two driving manners, in the practical application process, the driving interference inevitably occurs, and for this reason, as shown in fig. 5, in some embodiments of the present application, the method further includes steps 510 to 540.
And step 510, determining the position corresponding to the discharging area according to the grade of the third waste steel.
And step 520, determining all the information of the paths to be selected when the vehicle reaches the corresponding unloading area.
In this process, the candidate routes may also be prioritized, for example, in a manner that the vehicle travels closest, or in a manner that the candidate routes are ranked according to the level of the passing route and/or the road conditions and/or the type of the passing route.
And step 530, acquiring the running path information of all vehicles in the unloading area.
And 540, screening out the specified driving path from all the information of the paths to be selected according to the information of the driving paths of all the vehicles in the unloading area, and writing the specified driving path into a vehicle entering command.
In the method, only the factors of a single vehicle are considered in the process of sequencing the paths to be selected, and the vehicle layout and the running path in the unloading area are not comprehensively considered.
The information of the running paths of all vehicles in the unloading area can be acquired through monitoring equipment, or can be acquired through arranging a positioning device on the vehicle, or can be uploaded through a vehicle terminal carried by the vehicle.
In an actual application process, there may be an emergency situation in the discharge area, which may cause the discharge area to be unavailable, or a route to the discharge area to be unavailable, for this, in some embodiments of the present application, after the step of acquiring the approach request signal of the vehicle terminal, the method further includes: and acquiring the path route state of each unloading area, and if the path route state of a certain unloading area is in an occupied state, generating a field entrance refusing instruction, wherein the field entrance refusing instruction is used for forbidding a corresponding vehicle to enter the unloading area.
In the embodiment of the application, in the process of grabbing the waste steel layer by layer, a gun camera of an unloading area corresponding to the third waste steel grade is called, and the step of acquiring the waste steel image on the vehicle layer by layer through the gun camera further comprises steps 610 to 630.
And step 620, obtaining pixel points of a car hopper area in the first scrap steel image, wherein the car hopper is used for loading scrap steel.
And 630, if the ratio of the pixel points of the hopper area to all the pixel points in the first scrap image is smaller than a first threshold value, finely adjusting the camera of the gun camera according to the distribution position of the pixel points predicted by the hopper in the first scrap image.
In order to more conveniently finely adjust the gunlock camera, in the practical application process, the first scrap steel image can be partitioned, for example, the first scrap steel image is equally divided into four rectangular areas, common pixel points of the four rectangular areas are the central position of the first scrap steel image, namely the first image is divided into a right lower area, a right upper area, a left lower area and a left upper area, and the adjustment mode of the gunlock camera is determined by judging the number of the pixel points of the hopper area in each rectangular area. For example, if the pixel points of the hopper area are concentrated in the lower right area of the first image, a lower right offset instruction is sent to the camera; if the pixel points of the car hopper area are concentrated in the lower left area of the first image, a lower left offset instruction is sent to the camera; if the pixel points of the car hopper area are concentrated in the upper left area of the first image, sending an upper left offset instruction to the camera; and if the pixel points of the hopper area are concentrated in the upper right area of the first image, sending an upper right offset instruction to the camera.
At the scrap steel unloading in-process, in order to satisfy the environmental protection requirement, need spray (water) to the work place, and key spraying area is the car hopper position, but, after the spraying, there is a large amount of steam in the car hopper position, can lead to the rifle bolt camera can't acquire clear scrap steel image, to this, in the partial embodiment of this application, when snatching the scrap steel, control fog gun machine is to the scrap steel water spray of vehicle, when control rifle bolt camera acquires the scrap steel image, control fog gun machine stops the water spray.
Specifically, after the camera of the gun camera detects the position of the car hopper of the car, the direction and the elevation angle of the fog gun are adjusted in real time, so that the spraying direction of the fog gun is aligned to the upper portion of the car hopper, and the area of the scrap steel is covered. Before the fog gun machine is controlled to spray water to a vehicle, the fog gun machine needs to adjust the proper direction and elevation angle to ensure that dust on steel scraps on the vehicle is removed to the maximum extent, after the direction and elevation angle are adjusted, the fan and the water pump are opened, the fan blows tiny fog droplet flow formed by atomizing the spray head to the hopper and the periphery of the hopper, at the moment, a crane on the door machine grabs the steel scraps from the hopper through a suction disc, after a layer of steel scraps are grabbed, the fog gun machine closes the water pump and the fan, water spraying is stopped, the process is a water spraying period from water spraying to water spraying pause, the period is set to be 30s in the embodiment of the application, the suction disc is controlled to be moved away from the visual field of the camera, and the time for discharging the steel scraps is set to be 10s. After the crane grabs the scrap steel from the car hopper and moves away from the visual field of the camera, the camera is controlled to acquire a first scrap steel image of a layer of scrap steel.
The second aspect of the embodiment of the application provides a scrap steel approach control system, the scrap steel approach control system is used for managing a plant area for receiving scrap steel, and the plant area for receiving the scrap steel at least comprises a primary access control system, a queuing area system, a secondary access control system and a plurality of unloading areas corresponding to different scrap steel grades.
The scrap steel approach control system comprises:
and the vehicle detection device is linked with the primary access control system and is used for detecting the identity information and the second vehicle information of the vehicles entering the field.
The card making device is used for obtaining a card making instruction sent by an access control system, wherein the card making instruction at least comprises first vehicle information and a card making time limit, and is used for responding to the card making instruction to generate a first electronic key and send the first electronic key to a vehicle terminal if the second vehicle information accords with the first vehicle information and the card making time limit is within the valid time limit, and the first electronic key at least comprises vehicle information and a first scrap steel grade.
And the sequencing device is linked with the queuing area system and is used for sequencing the approach time of the vehicle terminal according to the time of detecting the first electronic key of the vehicle terminal.
And the queuing system is also used for acquiring the queuing state of the vehicles to be unloaded in each unloading area, wherein the queuing state at least comprises the following steps: the steel scrap discharging device comprises an empty state, an under-saturated state, a saturated state and an over-saturated state, wherein each discharging area corresponds to different scrap grades.
And if the queuing state of the vehicles in a certain unloading area is an empty state or an undersaturation state, matching the scrap grade of the corresponding unloading area with the first scrap grade of the vehicle terminal in the approach time sequence, and if the first scrap grade of the vehicle terminal in the approach time sequence accords with the scrap grade of the corresponding unloading area, adjusting the approach sequence of the corresponding vehicle terminal.
And the entrance instruction generating module is linked with the secondary access control system and used for acquiring an entrance request signal of a vehicle terminal, responding to the entrance request signal of the vehicle terminal, detecting a second scrap grade of a corresponding vehicle, and if the second scrap grade accords with the first scrap grade, generating a vehicle entrance instruction, wherein the vehicle entrance instruction comprises position information used for indicating an unloading area corresponding to a third scrap grade.
And the vehicle capturing device is linked with the dome camera arranged in the unloading area and used for responding to the vehicle entrance time order, calling the dome camera of the unloading area corresponding to the third waste steel grade and tracking the corresponding entering vehicle through the dome camera.
And the waste steel image acquisition device is linked with the gun camera arranged in the unloading area and used for calling the gun camera of the unloading area corresponding to the third waste steel grade in the unloading process of the grabbing arm and acquiring waste steel images on the vehicle layer by layer through the gun camera.
A third aspect of embodiments of the present application provides a computer-readable storage medium, where a computer program is stored, and when the computer program is processed and executed, the computer program implements a scrap approach control method provided by the first aspect of embodiments of the present application.
According to the technical scheme, the scrap steel entrance control method, the scrap steel entrance control system and the computer readable storage medium are provided by the embodiment of the application, the detected second scrap steel grade is compared with the first scrap steel grade declared by the vehicle terminal, after the detected second scrap steel grade meets the requirement, the first electronic key allowing the vehicle to pass through the primary entrance guard is generated, the scrap steel grade of the scrap steel on the vehicle is detected again at the secondary entrance guard, the third scrap steel grade of the transport scrap steel is obtained and is compared with the declared first scrap steel grade again, after the third scrap steel grade meets the requirement, the vehicle is allowed to enter the unloading area corresponding to the first scrap steel grade, and in the process of unloading the scrap steel, the scrap steel image on the vehicle is obtained layer by layer through the gun camera arranged in the unloading area. The scrap steel entering control method provided by the embodiment of the application can manage the discharging area more scientifically, ensure that the grade of the scrap steel is matched with the discharging area, and avoid great investment in sorting the scrap steel in the subsequent scrap steel using process.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Reference throughout this specification to "embodiments," "some embodiments," "one embodiment," or "an embodiment," etc., means that a particular feature, component, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of the phrases "in various embodiments," "in some embodiments," "in at least one other embodiment," or "in an embodiment," or the like, throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, components, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, without limitation, a particular feature, component, or characteristic illustrated or described in connection with one embodiment may be combined, in whole or in part, with a feature, component, or characteristic of one or more other embodiments. Such modifications and variations are intended to be included within the scope of the present application.
It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means can be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names. The steps in the above embodiments should not be construed as limiting the order of execution unless specified otherwise.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present application.
Claims (8)
1. A scrap steel approach control method is characterized by comprising the following steps:
acquiring a card making instruction, wherein the card making instruction at least comprises first identity information, a first scrap grade and a card making deadline declared by a vehicle terminal, and the vehicle terminal is equipment capable of outputting or inputting information corresponding to a vehicle;
responding to the card making instruction, checking identity information and a second scrap steel grade of a corresponding vehicle, if the checked vehicle information accords with first identity information, the checked second scrap steel grade accords with a first scrap steel grade, and the card making time limit is in an effective time limit, generating a first electronic key and sending the first electronic key to a vehicle terminal, wherein the first electronic key at least comprises first vehicle information and a first scrap steel grade;
determining an entrance sequence of a corresponding vehicle according to the time of detecting a first electronic key of a vehicle terminal;
acquiring the queuing state of the vehicles to be unloaded in each unloading area, wherein the queuing state at least comprises the following steps: the system comprises an empty state, an under-saturated state, a saturated state and an over-saturated state, wherein each unloading area corresponds to different scrap grades;
if the queuing state of the vehicles in a certain unloading area is an empty state or an undersaturation state, matching the scrap grade of the corresponding unloading area with the first scrap grade of the vehicle terminal in the entering sequence, and if the first scrap grade of the vehicle terminal in the entering sequence accords with the scrap grade of the corresponding unloading area, adjusting the entering sequence of the corresponding vehicle;
acquiring an approach request signal of a vehicle terminal, responding to the approach request signal of the vehicle terminal, detecting a third waste steel grade of a corresponding vehicle, and if the third waste steel grade accords with the first waste steel grade, generating a vehicle approach instruction, wherein the vehicle approach instruction comprises position information used for indicating an unloading area corresponding to the third waste steel grade;
responding to the vehicle entering instruction, calling a dome camera of the unloading area corresponding to the third waste steel grade, and tracking the corresponding entering vehicle through the dome camera;
calling a gun camera of a discharging area corresponding to the third waste steel grade in the process of grabbing the waste steel layer by layer, and acquiring a waste steel image on the vehicle layer by layer through the gun camera;
the method comprises the steps of obtaining an approach request signal of a vehicle terminal, responding to the approach request signal of the vehicle terminal, detecting a third waste steel grade of a corresponding vehicle, and generating a vehicle approach instruction if the third waste steel grade accords with the first waste steel grade, and further comprises the following steps:
determining the position of a corresponding discharging area according to the grade of the third waste steel;
determining all to-be-selected path information of the vehicle reaching the corresponding unloading area;
acquiring running path information of all vehicles in a discharging area;
and screening out the specified driving path from all the information of the paths to be selected according to the information of the driving paths of all the vehicles in the unloading area, and writing the specified driving path into a vehicle entrance instruction.
2. The scrap steel approach control method according to claim 1, further comprising, after the step of acquiring the scrap steel image on the vehicle layer by layer:
judging a fourth scrap grade corresponding to the scrap steel according to the scrap steel image;
and if the fourth scrap grade does not accord with the scrap grade corresponding to the current unloading area, determining a new unloading area according to the fourth scrap grade, and generating a first area changing instruction, wherein the first area changing instruction is used for indicating a corresponding vehicle to be changed to the new unloading area.
3. The method for controlling the approach of the scrap steel according to claim 1, wherein in the step of calling a gun camera of an unloading area corresponding to a third grade of the scrap steel during the process of grabbing the scrap steel layer by layer and acquiring images of the scrap steel on the vehicle layer by layer through the gun camera, the method further comprises:
and after the scrap steel on the vehicle is unloaded to a preset amount, generating a second zone changing instruction, wherein the second zone changing instruction is used for indicating the entering vehicle to be changed to a preset unloading zone.
4. The scrap steel approach control method according to claim 1, further comprising, after the step of obtaining an approach request signal of a vehicle terminal:
and acquiring the path route state of each unloading area, and if the path route state of a certain unloading area is in an occupied state, generating a field entrance refusing instruction, wherein the field entrance refusing instruction is used for forbidding a corresponding vehicle to enter the unloading area.
5. The method for controlling the approach of the scrap steel according to claim 1, wherein in the step of capturing the scrap steel layer by layer, calling a gun camera of a discharging area corresponding to a third grade of the scrap steel, and acquiring an image of the scrap steel on the vehicle layer by layer through the gun camera, the method further comprises:
acquiring a first scrap steel image, establishing a pixel coordinate system on the first scrap steel image, and acquiring all pixel points in the first scrap steel image;
acquiring pixel points of a hopper area in a first scrap steel image, wherein the hopper is used for loading scrap steel;
and if the ratio of the pixel points of the car hopper area to all the pixel points in the first scrap steel image is smaller than a first threshold value, finely adjusting the gun camera according to the distribution position of the pixel points predicted by the car hopper in the first scrap steel image.
6. The method for controlling the approach of the scrap steel according to claim 1, wherein in the step of calling a gun camera of an unloading area corresponding to a third grade of the scrap steel during the process of grabbing the scrap steel layer by layer and acquiring images of the scrap steel on the vehicle layer by layer through the gun camera, the method further comprises:
when the scrap steel is grabbed, controlling a fog gun machine to spray water to the scrap steel of the vehicle;
and when the camera of the gun camera is controlled to acquire the scrap steel image, the fog gun is controlled to stop spraying water.
7. A scrap steel approach control system is characterized in that the scrap steel approach control system is used for managing a plant area for receiving scrap steel, and the plant area for receiving the scrap steel at least comprises a primary access control system, a queuing area system, a secondary access control system and a plurality of unloading areas corresponding to different scrap steel grades;
the scrap steel approach control system comprises:
the vehicle detection device is linked with the primary access control system and is used for detecting the identity information and the second vehicle information of the vehicles entering the field;
the system comprises a card making device, a card making device and a card making terminal, wherein the card making device is used for obtaining a card making instruction sent by an access control system, the card making instruction at least comprises first vehicle information and a card making time limit, and the card making device is used for responding to the card making instruction to generate a first electronic key and send the first electronic key to a vehicle terminal if the second vehicle information accords with the first vehicle information and the card making time limit is within the valid time limit, and the first electronic key at least comprises vehicle information and a first scrap steel grade;
the sequencing device is linked with the queuing area system and is used for sequencing the approach time of the vehicle terminal according to the time of detecting a first electronic key of the vehicle terminal;
and the queuing system is also used for acquiring the queuing state of the vehicles to be unloaded in each unloading area, wherein the queuing state at least comprises the following steps: the system comprises an empty state, an under-saturated state, a saturated state and an over-saturated state, wherein each unloading area corresponds to different scrap grades;
the system is also used for matching the scrap steel grade of the corresponding unloading area with the first scrap steel grade of the vehicle terminal in the approach time sequence if the queuing state of the vehicles in a certain unloading area is an empty state or an undersaturation state, and adjusting the approach sequence of the corresponding vehicle terminal if the first scrap steel grade of the vehicle terminal in the approach time sequence accords with the scrap steel grade of the corresponding unloading area;
the entrance instruction generating module is linked with the secondary access control system and used for acquiring an entrance request signal of a vehicle terminal, responding to the entrance request signal of the vehicle terminal, detecting a second steel scrap grade of a corresponding vehicle, and generating a vehicle entrance instruction if the second steel scrap grade accords with the first steel scrap grade, wherein the vehicle entrance instruction comprises position information used for indicating a discharging area corresponding to a third steel scrap grade;
the vehicle capturing device is linked with the dome camera arranged in the unloading area and used for responding to the vehicle entering instruction, calling the dome camera of the unloading area corresponding to the third waste steel grade and tracking the corresponding entering vehicle through the dome camera;
and the waste steel image acquisition device is linked with the gun camera arranged in the unloading area and is used for calling the gun camera of the unloading area corresponding to the third waste steel grade in the unloading process of the grabbing arm and acquiring the waste steel image on the vehicle layer by layer through the gun camera.
8. A computer-readable storage medium, wherein a computer program is stored, which when executed by a processor, implements the scrap approach control method according to any one of claims 1 to 6.
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| CN110717455A (en) * | 2019-10-10 | 2020-01-21 | 北京同创信通科技有限公司 | Method for classifying and detecting grades of scrap steel in storage |
| CN112801391A (en) * | 2021-02-04 | 2021-05-14 | 科大智能物联技术有限公司 | Artificial intelligent scrap steel impurity deduction rating method and system |
| CN113743210A (en) * | 2021-07-30 | 2021-12-03 | 阿里巴巴达摩院(杭州)科技有限公司 | Image recognition method and scrap grade recognition method |
| CN114078126A (en) * | 2022-01-19 | 2022-02-22 | 江苏金恒信息科技股份有限公司 | Scrap steel grading method and device based on machine learning |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110717455A (en) * | 2019-10-10 | 2020-01-21 | 北京同创信通科技有限公司 | Method for classifying and detecting grades of scrap steel in storage |
| CN112801391A (en) * | 2021-02-04 | 2021-05-14 | 科大智能物联技术有限公司 | Artificial intelligent scrap steel impurity deduction rating method and system |
| CN113743210A (en) * | 2021-07-30 | 2021-12-03 | 阿里巴巴达摩院(杭州)科技有限公司 | Image recognition method and scrap grade recognition method |
| CN114078126A (en) * | 2022-01-19 | 2022-02-22 | 江苏金恒信息科技股份有限公司 | Scrap steel grading method and device based on machine learning |
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