CN115880252B - Container sling detection method, device, computer equipment and storage medium - Google Patents
Container sling detection method, device, computer equipment and storage medium Download PDFInfo
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- CN115880252B CN115880252B CN202211601458.3A CN202211601458A CN115880252B CN 115880252 B CN115880252 B CN 115880252B CN 202211601458 A CN202211601458 A CN 202211601458A CN 115880252 B CN115880252 B CN 115880252B
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Abstract
The application provides a container spreader detection method, a device, computer equipment and a storage medium, wherein the method comprises the following steps: acquiring a target detection image; determining a target box carrying sling in a target lane based on the position of each box carrying sling in the target detection image, wherein the target lane is the lane in which a target vehicle is located; judging whether the size and the azimuth of a radar point cloud cluster for describing a target bridge crane meet preset standards or not, wherein the target bridge crane is the bridge crane to which the target box carrier lifting tool belongs; and if the size and the azimuth of the radar point cloud cluster meet the preset standard, determining the actual distance from the target box-carrying sling to the target vehicle according to the center point coordinate of the radar point cloud cluster. By adopting the method, the accuracy of detecting the lifting appliance is improved.
Description
Technical Field
The application relates to the field of wharf transportation management, in particular to a container lifting appliance detection method, a device, computer equipment and a storage medium.
Background
In port operations, the main handling tasks are done under the bridge crane, and the large jigs handling the boxes are called spreaders. The lifting appliance can do front-back, left-right, up-down three-dimensional translational movement under the bridge crane so as to achieve the aim of accurate alignment with the box body. The weight of the container is more than several tons, and when the front is provided with the box lifting appliance, the vehicle is stopped in time and is forbidden to pass through the bridge crane. For an automatic driving truck, the hanger for the operation and the distance from the hanger to the truck can be identified, and the safety planning of the path is very necessary. According to the actual running speed and acceleration of the port truck, the lifting appliance closest to us in the front 60 meters needs to be detected.
In the prior art, the detection of the box-carrying lifting appliance of the lane where the target vehicle is located usually uses a two-dimensional image, only a single camera is used for detecting the lifting appliance, and the height of the current lifting appliance is obtained by mapping the size of the lifting appliance in the image from a database.
The inventors found in the study that since the size and dimensions of the spreader are not uniform, when the height is mapped according to the size of the spreader, the size of the spreader is not only changed due to the change of the height, but also may be changed in size of the spreader itself, so that the height mapped according to the size of the spreader is inaccurate, thereby reducing the accuracy of the detection of the spreader.
Disclosure of Invention
In view of the above, the present application aims to provide a method, a device, a computer device and a storage medium for detecting container spreaders, so as to improve the accuracy of detecting spreaders.
In a first aspect, an embodiment of the present application provides a method for detecting a container spreader, where the method includes:
acquiring a target detection image;
determining a target box carrying sling in a target lane based on the position of each box carrying sling in the target detection image, wherein the target lane is the lane in which a target vehicle is located;
judging whether the size and the azimuth of a radar point cloud cluster for describing a target bridge crane meet preset standards or not, wherein the target bridge crane is the bridge crane to which the target box carrier lifting tool belongs;
and if the size and the azimuth of the radar point cloud cluster meet the preset standard, determining the actual distance from the target box-carrying sling to the target vehicle according to the center point coordinate of the radar point cloud cluster.
Optionally, the determining the target box-carrying sling located in the target lane based on the position of each box-carrying sling in the target detection image includes:
inputting the target detection image into a trained model for identifying rectangular bounding boxes of the box-carrying slings, and determining the rectangular bounding box of each box-carrying sling in the target detection image;
And determining a target box carrying sling according to the position of the rectangular boundary box of each box carrying sling in the target detection image, wherein the target box carrying sling is the box carrying sling positioned on the lane where the target vehicle is positioned.
Optionally, before determining whether the size and the azimuth of the radar point cloud cluster for describing the target bridge crane meet the preset standard, the method includes:
acquiring target radar point cloud data of a target area, wherein the target area comprises the target bridge crane;
performing ground fitting on the target radar point cloud data;
and performing European clustering on the obstacle points obtained after the ground fitting to obtain a Lei Dadian cloud cluster, wherein the obstacle points are obtained by filtering the ground points obtained after the ground fitting.
Optionally, the determining the actual distance from the target carrier box hanger to the target vehicle according to the center point coordinates of the radar point cloud cluster includes:
and determining an x coordinate value of the central point of the radar point cloud cluster under a vehicle coordinate system taking the target vehicle as an origin as an actual distance from the target box carrier lifting tool to the target vehicle.
Optionally, after determining the actual distance from the target carrier box hanger to the target vehicle according to the center point coordinates of the radar point cloud cluster, the method further includes:
Judging whether the number of the target box carrying slings exceeds one;
if the number of the target box-carrying slings does not exceed one, outputting the actual distance from the target box-carrying slings to the target vehicle as a final detection result;
if the number of the target box-carrying slings exceeds one, determining a reference distance between each target box-carrying sling and the target vehicle according to the width of a rectangular boundary frame of each target box-carrying sling and the height of a central point of each target box-carrying sling;
for each target box-carrying sling, judging whether the difference value of the distance between the actual distance from the target box-carrying sling to the target vehicle and the reference distance from the target box-carrying sling to the target vehicle exceeds a preset threshold value;
and if the distance difference value does not exceed the preset threshold value, storing the reference distance as a target distance from the target box carrier lifting tool to the target vehicle.
Optionally, after storing the reference distance as the target distance from the target carrier spreader to the target vehicle, the method further comprises:
judging whether the difference value of the distances between the actual distance from the center point of the target bridge crane to which each target box carrying sling belongs to the target vehicle and the reference distance from each target box carrying sling to the target vehicle exceeds the preset threshold value;
And if the distance difference between the actual distance from the center point of the target bridge to which each target box sling belongs and the reference distance from each target vehicle does not exceed the preset threshold value, or the distance difference between the actual distance from the center point of the target bridge to which each target box sling belongs and the reference distance from each target vehicle exceeds the preset threshold value, outputting the actual distance with the smallest distance value in the actual distances from the center point of the target bridge to which each target box sling belongs to the target vehicles as a final detection result.
Optionally, after determining whether the distance difference between the actual distance from the center point of the target bridge crane to which each target box girder belongs to the target vehicle and the reference distance from each target vehicle exceeds the preset threshold, the method further includes:
if the target box carrying sling with the distance difference exceeding the preset threshold value and the target box carrying sling with the distance difference not exceeding the preset threshold value exist at the same time, judging whether the confidence of the target box carrying sling with the distance difference not exceeding the preset threshold value is larger than the target box carrying sling with the distance difference exceeding the preset threshold value;
If the confidence coefficient of the target box carrier lifting appliance which does not exceed the distance difference value of the preset threshold value is larger than that of the target box carrier lifting appliance which exceeds the distance difference value of the preset threshold value, outputting the actual distance from the central point of the target bridge crane to which the target box carrier lifting appliance which does not exceed the distance difference value of the preset threshold value to the target vehicle as a final detection result;
and if the confidence coefficient of the target box carrying sling which does not exceed the distance difference value of the preset threshold value is smaller than or equal to the target box carrying sling which exceeds the distance difference value of the preset threshold value, outputting the actual distance with the smallest distance value in the actual distance from the center point of the target bridge crane to which all the target box carrying sling belongs to the target vehicle as a final detection result.
In a second aspect, an embodiment of the present application provides a container spreader detection apparatus, the apparatus including:
the image acquisition module is used for acquiring a target detection image;
the target box carrying sling determining module is used for determining a target box carrying sling positioned in a target lane based on the position of each box carrying sling in the target detection image, wherein the target lane is the lane in which the target vehicle is positioned;
The first judging module is used for judging whether the size and the azimuth of a radar point cloud cluster for describing the target bridge crane meet preset standards or not, wherein the target bridge crane is the bridge crane to which the target box carrying lifting appliance belongs;
and the actual distance determining module is used for determining the actual distance from the target box-carrying sling to the target vehicle according to the center point coordinate of the radar point cloud cluster if the size and the azimuth of the radar point cloud cluster meet the preset standard.
Optionally, the target box carrier sling determining module is configured to, when determining a target box carrier sling located in a target lane based on a position of each box carrier sling in the target detection image, specifically:
inputting the target detection image into a trained model for identifying rectangular bounding boxes of the box-carrying slings, and determining the rectangular bounding box of each box-carrying sling in the target detection image;
and determining a target box carrying sling according to the position of the rectangular boundary box of each box carrying sling in the target detection image, wherein the target box carrying sling is the box carrying sling positioned on the lane where the target vehicle is positioned.
Optionally, the apparatus further comprises:
Lei Dadian cloud data determining module, configured to obtain target radar point cloud data of a target area before determining whether the size and the azimuth of a radar point cloud cluster for describing a target bridge meet preset standards, where the target area includes the target bridge;
the ground fitting module is used for performing ground fitting on the target radar point cloud data;
lei Dadian cloud cluster determining module is used for performing European clustering on the obstacle points obtained after the ground fitting to obtain Lei Dadian cloud clusters, wherein the obstacle points are obtained by filtering the ground points obtained after the ground fitting.
Optionally, the actual distance determining module is configured to, when determining an actual distance from the target box carrier spreader to the target vehicle according to the center point coordinates of the radar point cloud cluster, specifically:
and determining an x coordinate value of the central point of the radar point cloud cluster under a vehicle coordinate system taking the target vehicle as an origin as an actual distance from the target box carrier lifting tool to the target vehicle.
Optionally, the apparatus further comprises:
the second judging module is used for judging whether the number of the target box-carrying slings exceeds one after determining the actual distance from the target box-carrying slings to the target vehicle according to the center point coordinates of the radar point cloud cluster;
The first result output module is used for outputting the actual distance from the target box-carrying sling to the target vehicle as a final detection result if the number of the target box-carrying sling does not exceed one;
the reference distance determining module is used for determining the reference distance between each target box carrying sling and the target vehicle according to the width of the rectangular boundary frame of each target box carrying sling and the height of the central point of each target box carrying sling if the number of the target box carrying sling exceeds one;
the third judging module is used for judging whether the distance difference value between the actual distance from the target box carrying sling to the target vehicle and the reference distance from the target box carrying sling to the target vehicle exceeds a preset threshold value or not for each target box carrying sling;
and the target distance storage module is used for storing the reference distance as the target distance from the target box carrier lifting tool to the target vehicle if the distance difference value does not exceed the preset threshold value.
Optionally, the apparatus further comprises:
a fourth judging module, configured to judge whether a distance difference between an actual distance from a center point of a target bridge to which each target box-carrying sling belongs to the target vehicle and a reference distance from each target vehicle exceeds the preset threshold after storing the reference distance as a target distance from the target box-carrying sling to the target vehicle;
And the second result output module is used for outputting the actual distance with the smallest distance value in the actual distance from the center point of the target bridge to which each target box sling belongs to the target vehicle as a final detection result if the distance difference between the center point of the target bridge to which each target box sling belongs to and the actual distance from each target vehicle to the target vehicle does not exceed the preset threshold value, or the distance difference between the center point of the target bridge to which each target box sling belongs to and the actual distance from each target vehicle to the target vehicle exceeds the preset threshold value.
Optionally, the apparatus further comprises:
the third result output module is used for judging whether the confidence coefficient of the target box carrying sling which does not exceed the distance difference value of the preset threshold value is larger than the target box carrying sling which does not exceed the distance difference value of the preset threshold value after judging whether the distance difference value between the actual distance from the center point of the target bridge crane to which each target box carrying sling belongs to the target vehicle and the reference distance from each target vehicle exceeds the preset threshold value;
A fourth result output module, configured to output, as a final detection result, an actual distance from a center point of a target bridge to which the target box spreader having no distance difference exceeding the preset threshold belongs to the target vehicle, if the confidence coefficient of the target box spreader having no distance difference exceeding the preset threshold is greater than the target box spreader having a distance difference exceeding the preset threshold;
and the fourth result output module is used for outputting the actual distance with the smallest distance value in the actual distances from the center point of the target bridge crane to the target vehicle, to which all the target box hangers belong, as a final detection result if the confidence coefficient of the target box hanger which does not exceed the distance difference value of the preset threshold value is smaller than or equal to the target box hanger which exceeds the distance difference value of the preset threshold value.
In a third aspect, an embodiment of the present application provides a computer apparatus, including: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating via the bus when the computer device is running, the machine readable instructions when executed by the processor performing the steps of the container spreader detection method as described in any of the alternative embodiments of the first aspect above.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the container spreader detection method as described in any of the alternative embodiments of the first aspect.
The technical scheme provided by the application comprises the following beneficial effects:
acquiring a target detection image; determining a target box carrying sling in a target lane based on the position of each box carrying sling in the target detection image, wherein the target lane is the lane in which a target vehicle is located; through the steps, the box carrying slings can be classified, and the target box carrying slings positioned on the lane where the target vehicle is positioned can be screened out.
Judging whether the size and the azimuth of a radar point cloud cluster for describing a target bridge crane meet preset standards or not, wherein the target bridge crane is the bridge crane to which the target box carrier lifting tool belongs; and if the size and the azimuth of the radar point cloud cluster meet the preset standard, determining the actual distance from the target box-carrying sling to the target vehicle according to the center point coordinate of the radar point cloud cluster. Through the steps, the actual distance from the target box carrier sling to the target vehicle can be determined according to the radar point cloud cluster of the target bridge crane to which the target box carrier sling belongs.
By adopting the method, after the box carrying sling in the target lane in the image is determined, the actual distance from the box carrying sling to the target vehicle is determined according to the coordinate information of the radar point cloud cluster of the bridge crane to which the box carrying sling belongs, so that the accuracy of detecting the sling is improved.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the drawings below only show some of the present invention
The examples, therefore, should not be construed as limiting the scope, and other related figures may be obtained from these figures by those of ordinary skill in the art without undue burden.
Fig. 1 shows a flowchart of a container spreader detection method according to a first embodiment of the present invention;
fig. 2 shows a flowchart of a method for determining a target carrier spreader according to an embodiment of the present invention;
FIG. 3 is a flow chart of an actual distance determination method according to an embodiment of the present invention;
FIG. 4 is a flowchart of a target distance storage method according to an embodiment of the present invention;
fig. 5 is a flowchart of a detection result output method according to a first embodiment of the present invention;
fig. 6 is a flowchart of a second detection result output method according to a first embodiment of the present invention;
fig. 7 is a schematic structural diagram of a container spreader detection device according to a second embodiment of the present invention;
fig. 8 is a schematic structural diagram of a second object carrier spreader determination device according to a second embodiment of the present invention;
fig. 9 shows a schematic diagram of a structure 0 of a third object carrier spreader determination device according to a second embodiment of the present invention;
fig. 10 is a schematic structural diagram of a fourth object carrier spreader determination device according to the second embodiment of the present invention;
fig. 11 is a schematic structural view of a fifth object carrier spreader determination device according to the second embodiment of the present invention;
fig. 12 is a schematic structural diagram of a computer device according to a third embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
Example 1
In order to facilitate understanding of the present application, the following describes in detail the first embodiment of the present application with reference to the flowchart of the method for detecting a container spreader according to the first embodiment of the present application shown in fig. 1.
Referring to fig. 1, fig. 1 shows a flowchart of a container spreader detection method according to an embodiment of the present application, where the method includes steps S101 to S104:
s101: an object detection image is acquired.
Specifically, the target detection image is an image containing the box carrying sling, the target detection image can be acquired through a camera, and the point cloud data aiming at the box carrying sling can be acquired through a laser radar; the model and the installation angle of the camera can be determined according to the boundary position of the container spreader and the installation position of the camera so as to ensure that the image of the spreader positioned at the highest knocking point can be acquired at a distance of 60 meters; the installation location of the lidar is not limited, but it is necessary to ensure that the bridge crane can be scanned within 60 meters.
In practice, a camera with a FOV (Field of View) of 120 degrees vertically, 60 degrees horizontally, 1080 x 1920 pixels in image width is preferably used; a 32-line lidar was used.
S102: and determining the target box carrying sling in the target lane based on the position of each box carrying sling in the target detection image, wherein the target lane is the lane in which the target vehicle is positioned.
Specifically, the target detection image includes one or more box-carrying spreaders, and when the vehicle runs, only the box-carrying spreaders above the lane where the vehicle is located may form a threat to the safety of the vehicle, so that the box-carrying spreaders located in the lane where the target vehicle is located need to be determined according to the respective positions of each box-carrying spreader, and the box-carrying spreaders are box-carrying spreaders needing to be detected; the target vehicle is a host vehicle.
S103: judging whether the size and the azimuth of a radar point cloud cluster for describing a target bridge crane meet preset standards, wherein the target bridge crane is the bridge crane to which the target box carrier lifting tool belongs.
Specifically, the crane used for carrying out loading and unloading operations on the wharf is used for moving the box carrying sling, and after the target box carrying sling is determined, whether the size and the azimuth of a radar point cloud cluster used for describing the target bridge crane to which the target box carrying sling belongs meet preset standards is judged, so that whether the center position of the target bridge crane can be used for describing the actual distance from the box carrying sling to a target vehicle is determined according to the judging result.
S104: and if the size and the azimuth of the radar point cloud cluster meet the preset standard, determining the actual distance from the target box-carrying sling to the target vehicle according to the center point coordinate of the radar point cloud cluster.
Specifically, if the size and the azimuth of the radar point cloud cluster meet the preset standards, the center position of the target bridge crane is indicated to be used for describing the actual distance from the box carrier lifting tool to the target vehicle, and the actual distance from the target box carrier lifting tool to the target vehicle is determined according to the center point coordinates of the radar point cloud cluster; if the physical quantity which does not meet the preset standard exists in the size and the azimuth of the radar point cloud cluster, the fact that the center position of the target bridge crane cannot be used for describing the actual distance between the box carrier sling and the target vehicle is indicated, and detection of the box carrier sling is stopped.
The preset standard comprises the following steps: firstly, an x-axis positive included angle between a main direction of a radar point cloud cluster and a vehicle body system (a coordinate system taking the center of a rear axis of a target vehicle as a coordinate origin o, the direction of a vehicle head as an x-axis positive direction, a left direction vertical to the x-axis as a y-axis positive direction and a z-axis positive direction vertical to an x-o-y plane) is smaller than a first threshold; secondly, the length of the radar point cloud cluster is 10-20 meters, the z coordinate value of the highest point is more than 6 meters, and the width is about 3 meters; third,: in the continuous image frames, the position of the bridge crane is hardly moved, namely, in the continuous frames, the differences of the convex hull vertex coordinates of the point cloud cluster, the center coordinates of the point cloud cluster, the size of the minimum outsourcing rectangle of the point cloud cluster and the like are smaller than a second threshold value.
In a possible implementation manner, referring to fig. 2, fig. 2 shows a flowchart of a method for determining a target box-carrying sling according to an embodiment of the present invention, wherein the determining, based on a position of each box-carrying sling in the target detection image, the target box-carrying sling located in the target lane includes steps S201 to S202:
s201: and inputting the target detection image into a trained model for identifying the rectangular bounding boxes of the box-carrying slings, and determining the rectangular bounding box of each box-carrying sling in the target detection image.
Specifically, before step S201 is performed, the acquired image is required to be used to train a model for identifying a rectangular bounding box of the box carrier, and the training process includes the following steps: step one: a complete data set needs to be acquired, so that the lifting appliance in different environments can be detected; the lifting appliance image sample needs to cover night scene data, overcast and rainy day data, backlight data and the like; step two: and (3) performing category labeling on the image data (only one type of box-carrying lifting tool is needed to be labeled here), selecting training under a YOLOX network model, and adjusting parameters to obtain a trained model, wherein the input of the model is an image containing the box-carrying lifting tool, and the input of the model is a rectangular boundary frame of the box-carrying lifting tool and the confidence of the box-carrying lifting tool.
After the trained model is obtained, inputting the target detection image into the trained model to obtain a rectangular bounding box (bounding box) and confidence of each box-carrying sling in the target detection image.
S202: and determining a target box carrying sling according to the position of the rectangular boundary box of each box carrying sling in the target detection image, wherein the target box carrying sling is the box carrying sling positioned on the lane where the target vehicle is positioned.
Specifically, considering that only the box-carrying lifting appliance of the lane where the own vehicle is located has potential safety hazards to the running of the own vehicle, the lifting appliances of other lanes are filtered according to the positions of the rectangular boundary boxes; the hanger camera is generally positioned at the center of the vehicle in the left-right direction, and if the camera is installed more eccentrically, the position (the position in the width direction) of the hanger on the image from the lane needs to be determined according to the external parameters from the camera to the vehicle body.
In a possible implementation manner, referring to fig. 3, fig. 3 shows a flowchart of an actual distance determining method provided by an embodiment of the present invention, where before determining whether the size and the azimuth of a radar point cloud cluster for describing a target bridge meet preset criteria, the method includes steps S301 to S303:
S301: and acquiring target radar point cloud data of a target area, wherein the target area comprises the target bridge crane.
Specifically, firstly, calibrating a radar to obtain external parameter data (a rotation matrix R and a translation matrix T) from the radar to a vehicle system; down-converting the point cloud data from the radar coordinate system to a vehicle body coordinate system (the vehicle body system is represented by a base system); the base coordinate system is defined by taking the center of a self-vehicle rear axis as a coordinate origin o, taking the direction of a vehicle head as the positive direction of an x axis, taking the direction of a left axis perpendicular to the x axis as the positive direction of a y axis, and taking the direction of a vertical xoy plane upwards as the positive direction of a z axis.
S302: and performing ground fitting on the target radar point cloud data.
Specifically, under a vehicle body system, performing ground fitting on the target radar point cloud data.
S303: and performing European clustering on the obstacle points obtained after the ground fitting to obtain a Lei Dadian cloud cluster, wherein the obstacle points are obtained by filtering the ground points obtained after the ground fitting.
Specifically, the fitted ground points are filtered, and European clustering is carried out on the rest obstacle points, so that the obstacle forms a radar point cloud cluster.
In a possible embodiment, the determining the actual distance from the target box sling to the target vehicle according to the central point coordinates of the radar point cloud cluster includes:
And determining an x coordinate value of the central point of the radar point cloud cluster under a vehicle coordinate system taking the target vehicle as an origin as an actual distance from the target box carrier lifting tool to the target vehicle.
Specifically, determining an x coordinate value of a center point of the radar point cloud cluster or a rectangular boundary frame of the radar point cloud cluster under a vehicle coordinate system with the target vehicle as an origin as an actual distance from the target carrier box lifting tool to the target vehicle.
In a possible implementation manner, referring to fig. 4, fig. 4 shows a flowchart of a target distance storage method according to an embodiment of the present invention, where after determining an actual distance from the target box lift to the target vehicle according to a center point coordinate of the radar point cloud cluster, the method includes steps S401 to S406:
s401: and judging whether the number of the target box-carrying slings exceeds one.
S402: and if the number of the target box-carrying slings does not exceed one, outputting the actual distance from the target box-carrying slings to the target vehicle as a final detection result.
Specifically, if the number of the target box-carrying slings does not exceed one, the actual distance from the target box-carrying slings to the target vehicle is directly output as a final detection result.
S403: and if the number of the target box-carrying slings exceeds one, determining the reference distance between each target box-carrying sling and the target vehicle according to the width of the rectangular boundary frame of each target box-carrying sling and the height of the central point of each target box-carrying sling.
Specifically, if the number of the target box-carrying slings exceeds one, corresponding matching is required to be performed on a plurality of bridge cranes obtained by radar point clouds, a mapping relationship between two data of the width of a rectangular boundary frame of the box-carrying slings and the height of a central point of the box-carrying slings and a reference distance between the box-carrying slings and a target vehicle is established in advance according to prior data, and then a reference distance (marked as a target reference distance) with the mapping relationship with the two data is found according to the width of the rectangular boundary frame of the target box-carrying slings and the height of the central point of the target box-carrying slings in an image and is used for subsequent comparison.
S404: for each target box carrier spreader, determining whether a distance difference between an actual distance of the target box carrier spreader to the target vehicle and a reference distance of the target box carrier spreader to the target vehicle exceeds a preset threshold.
S405: and if the distance difference value does not exceed the preset threshold value, storing the reference distance as a target distance from the target box carrier lifting tool to the target vehicle.
Specifically, for example, a rectangular bounding box B of width widthA, spreaderB of the rectangular bounding box a of the hanger spreader a and the hanger SpreaderB, spreaderA is detected in the lane where the target vehicle is located, the width widthB of the rectangular bounding box a center point has a coordinate in the height direction of center_y_ A, boxB center point and a coordinate in the height direction of center_y_b; the bridge Crane (denoted as the bridge) has two seats, which are respectively denoted as the bridge_ M, crane _N, the distance from the center point of the bridge Crane (bridge) to the x-axis direction of the base system is bounding_box_x_M, and the distance from the center point of the bridge Crane (bridge) to the x-axis direction of the base system is bounding_box_x_N.
According to the prior data statistics, when the distance from the center point of the bridge Crane to the x-axis direction of the base system is =10 meters, 12 meters, 15 meters, 20 meters, 30 meters, 40 meters, 50 meters and 60 meters, the distance from the lifting appliance to the hanging plate is from high to low and high=15 meters, 10 meters, 8 meters, 6 meters, 5 meters, 4 meters, 3 meters, 2 meters, 1 meter, 0.5 meter and 0 meter, the width of the rectangular boundary box of the lifting appliance at 88 positions and the coordinate center of the center point in the height direction are recorded in the prior test data; and comparing the widthA, center _y_A with the width of the 88 positions and the coordinates center of the center point of the rectangular boundary frame in the height direction, selecting the closest width and the closest binding_box_x corresponding to the center to determine the distance from the lifting appliance SpreaderA to the base x-axis direction of the base system to the binding_box_x_A, and obtaining the distance from the lifting appliance SpreaderB to the base system x-axis direction of the binding_box_x_B by the same method.
Comparing the binding_box_m and the binding_box_n with the binding_box_x_a respectively, and if the difference between the most similar value of the binding_box_x_a and the binding_box_a in the two binding_box_x_ M, bounding _box_x_a is smaller than the threshold value T, assigning the most similar value of the binding_box_box_a in the two binding_box_x_ M, bounding _box_x_n to the binding_box_x_a; the same applies to the binding_box_x_b.
In a possible implementation manner, referring to fig. 5, fig. 5 shows a flowchart of a detection result output method provided by an embodiment of the present invention, where after storing the reference distance as the target distance from the target carrier spreader to the target vehicle, the method includes steps S501 to S502:
s501: and judging whether the difference value of the distances between the actual distance from the central point of the target bridge crane to which each target box carrying sling belongs to the target vehicle and the reference distance from each target box carrying sling to the target vehicle exceeds the preset threshold value.
S502: and if the distance difference between the actual distance from the center point of the target bridge to which each target box sling belongs and the reference distance from each target vehicle does not exceed the preset threshold value, or the distance difference between the actual distance from the center point of the target bridge to which each target box sling belongs and the reference distance from each target vehicle exceeds the preset threshold value, outputting the actual distance with the smallest distance value in the actual distances from the center point of the target bridge to which each target box sling belongs to the target vehicles as a final detection result.
Specifically, if the preset threshold value (considered that the box spreader can correspond to the laser bridge) is not exceeded, or the preset threshold value (considered that the box spreader cannot correspond to the laser bridge) is exceeded, that is, if the SpreaderA, spreaderB can correspond to the laser bridge, or the SpreaderA, spreaderB cannot correspond to the laser bridge, the final detection result is that the distance from the front operation box spreader to the target vehicle is the minimum value of the binding_box_x_m and the binding_box_x_n.
In a possible implementation manner, referring to fig. 6, fig. 6 shows a flowchart of a second detection result output method provided by an embodiment of the present invention, where after determining whether the difference between the actual distance from the center point of the target bridge to which each target box girder is respectively assigned to the target vehicle and the reference distance from each target vehicle exceeds the preset threshold, the method includes steps S601 to S603:
s601: if the target box carrying sling with the distance difference exceeding the preset threshold value and the target box carrying sling with the distance difference not exceeding the preset threshold value exist at the same time, judging whether the confidence of the target box carrying sling with the distance difference not exceeding the preset threshold value is larger than the target box carrying sling with the distance difference exceeding the preset threshold value.
S602: and if the confidence coefficient of the target box carrier lifting appliance which does not exceed the distance difference value of the preset threshold value is larger than that of the target box carrier lifting appliance which exceeds the distance difference value of the preset threshold value, outputting the actual distance from the central point of the target bridge crane to which the target box carrier lifting appliance which does not exceed the distance difference value of the preset threshold value to the target vehicle as a final detection result.
S603: and if the confidence coefficient of the target box carrying sling which does not exceed the distance difference value of the preset threshold value is smaller than or equal to the target box carrying sling which exceeds the distance difference value of the preset threshold value, outputting the actual distance with the smallest distance value in the actual distance from the center point of the target bridge crane to which all the target box carrying sling belongs to the target vehicle as a final detection result.
Specifically, if the distance difference value exceeding the preset threshold value and the distance difference value not exceeding the preset threshold value exist at the same time, outputting a detection result according to the confidence level of the target box carrier lifting tool.
And when the confidence coefficient of the target box carrier sling, of which the distance difference value between the target box carrier sling and the reference distance of the target vehicle does not exceed the preset threshold value, is larger than the target box carrier sling of which the distance difference value between the target box carrier sling and the reference distance of the target vehicle exceeds the preset threshold value, executing the step S602, otherwise executing the step S603.
For example, when the distance difference between the reference distances of the spreader spadder a and the target vehicle does not exceed the preset threshold value, and the distance difference between the reference distances of the spreader spadder b and the target vehicle exceeds the preset threshold value, judging the confidence level of the spreader spadder a and the confidence level of the spreader spadder b, and if the confidence level of the spreader spadder a is greater than the confidence level of the spreader spadder b, outputting the distance from the center point of the bridge to which the spreader spadder belongs to the target vehicle as a final result; and if the confidence coefficient of the spreader SpreaderA is smaller than or equal to the confidence coefficient of the spreader SpreaderB, outputting the minimum distance from the center point of the bridge to which the spreader SpreaderA belongs to the target vehicle and the center point of the bridge to which the spreader SpreaderB belongs to the target vehicle as a final detection result.
Example two
Referring to fig. 7, fig. 7 is a schematic structural diagram of a container spreader detection device according to a second embodiment of the present invention, where, as shown in fig. 7, the container spreader detection device according to the second embodiment of the present invention includes:
an image acquisition module 701 for acquiring a target detection image;
The target box-carrying sling determining module 702 is configured to determine a target box-carrying sling located in a target lane based on a position of each box-carrying sling in the target detection image, where the target lane is a lane in which a target vehicle is located;
a first judging module 703, configured to judge whether the size and the azimuth of a radar point cloud cluster for describing a target bridge crane meet preset standards, where the target bridge crane is a bridge crane to which the target box carrier spreader belongs;
and the actual distance determining module 704 is configured to determine an actual distance from the target carrier box hanger to the target vehicle according to a center point coordinate of the radar point cloud cluster if both the size and the azimuth of the radar point cloud cluster meet the preset standard.
In a possible embodiment, the target box carrier spreader determination module is configured, when configured to determine a target box carrier spreader located in a target lane based on a position of each box carrier spreader in the target detection image, to:
inputting the target detection image into a trained model for identifying rectangular bounding boxes of the box-carrying slings, and determining the rectangular bounding box of each box-carrying sling in the target detection image;
And determining a target box carrying sling according to the position of the rectangular boundary box of each box carrying sling in the target detection image, wherein the target box carrying sling is the box carrying sling positioned on the lane where the target vehicle is positioned.
In a possible implementation manner, referring to fig. 8, fig. 8 shows a schematic structural diagram of a second object carrying case sling determining device according to a second embodiment of the present invention, where the device further includes:
lei Dadian cloud data determining module 801, configured to obtain target radar point cloud data of a target area before determining whether the size and the azimuth of a radar point cloud cluster for describing a target bridge crane meet preset criteria, where the target area includes the target bridge crane;
a ground fitting module 802, configured to perform ground fitting on the target radar point cloud data;
lei Dadian cloud cluster determining module 803 is configured to perform euclidean clustering on the obstacle points obtained after performing the ground fitting to obtain Lei Dadian cloud clusters, where the obstacle points are obtained by filtering the ground points obtained after performing the ground fitting.
In a possible embodiment, the actual distance determining module is specifically configured to, when determining the actual distance from the target box-carrier spreader to the target vehicle according to the coordinates of the center point of the radar point cloud cluster:
And determining an x coordinate value of the central point of the radar point cloud cluster under a vehicle coordinate system taking the target vehicle as an origin as an actual distance from the target box carrier lifting tool to the target vehicle.
In a possible implementation manner, referring to fig. 9, fig. 9 shows a schematic structural diagram of a third object carrying case sling determining device according to a second embodiment of the present invention, where the device further includes:
the second judging module 901 is configured to judge whether the number of the target box-carrying slings exceeds one after determining the actual distance from the target box-carrying slings to the target vehicle according to the center point coordinates of the radar point cloud cluster;
a first result output module 902, configured to output, as a final detection result, an actual distance from the target box-carrying sling to the target vehicle if the number of the target box-carrying slings does not exceed one;
the reference distance determining module 903 is configured to determine, if the number of the target box-carrying slings exceeds one, a reference distance between each target box-carrying sling and the target vehicle according to a width of a rectangular bounding box of each target box-carrying sling and a height of a center point of each target box-carrying sling;
A third judging module 904, configured to judge, for each target box-carrying sling, whether a distance difference between an actual distance from the target box-carrying sling to the target vehicle and a reference distance from the target box-carrying sling to the target vehicle exceeds a preset threshold;
and a target distance storage module 905, configured to store the reference distance as a target distance from the target box carrier spreader to the target vehicle if the distance difference does not exceed the preset threshold.
In a possible implementation manner, referring to fig. 10, fig. 10 shows a schematic structural diagram of a fourth object carrying case sling determining device according to a second embodiment of the present invention, where the device further includes:
a fourth determining module 1001, configured to determine, after storing the reference distance as a target distance from the target box lift to the target vehicle, whether a distance difference between an actual distance from a center point of a target bridge to which each target box lift belongs to the target vehicle and a reference distance from each target bridge to the target vehicle exceeds the preset threshold;
and a second result output module 1002, configured to output, as a final detection result, an actual distance with a minimum distance value among the actual distances from the center point of the target bridge to which each of the target box hangers belongs to the target vehicle and the actual distances from each of the target box hangers to the target vehicle, if the distance difference between the center point of the target bridge to which each of the target box hangers belongs to and the actual distances from each of the target vehicle does not exceed the preset threshold, or the distance difference between the center point of the target bridge to which each of the target box hangers belongs to the target vehicle and the actual distances from each of the target vehicle exceeds the preset threshold.
In a possible implementation manner, referring to fig. 11, fig. 11 shows a schematic structural diagram of a fifth object carrying case sling determining device according to a second embodiment of the present invention, where the device further includes:
a third result output module 1101, configured to determine, after determining whether the difference between the actual distance from the center point of the target bridge crane to which each target box lift belongs and the reference distance from each target vehicle to the target vehicle exceeds the preset threshold, if there is both a target box lift exceeding the distance difference of the preset threshold and a target box lift not exceeding the distance difference of the preset threshold, whether the confidence of the target box lift not exceeding the distance difference of the preset threshold is greater than the target box lift exceeding the distance difference of the preset threshold;
a fourth result output module 1102, configured to output, as a final detection result, an actual distance from a center point of a target bridge to which the target box spreader that does not exceed the distance difference of the preset threshold value belongs to the target vehicle if the confidence coefficient of the target box spreader that does not exceed the distance difference of the preset threshold value is greater than the target box spreader that exceeds the distance difference of the preset threshold value;
And a fifth result output module 1103, configured to output, as a final detection result, an actual distance with the smallest distance value from the center point of the target bridge crane to which all the target box spreaders belong to the actual distance of the target vehicle, if the confidence coefficient of the target box spreader that does not exceed the distance difference of the preset threshold is smaller than or equal to the target box spreader that exceeds the distance difference of the preset threshold.
Example III
Based on the same application concept, referring to fig. 12, fig. 12 shows a schematic structural diagram of a computer device provided in a third embodiment of the present application, where, as shown in fig. 12, a computer device 1200 provided in the third embodiment of the present application includes:
the container spreader detection method of the first embodiment includes a processor 1201, a memory 1202 and a bus 1203, wherein the memory 1202 stores machine-readable instructions executable by the processor 1201, and when the computer device 1200 is running, the processor 1201 and the memory 1202 communicate through the bus 1203, and the machine-readable instructions are executed by the processor 1201 to perform the steps of the container spreader detection method of the first embodiment.
Example IV
Based on the same application concept, the embodiment of the present application further provides a computer readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps of the container spreader detection method in any one of the above embodiments are executed.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
The computer program product for detecting the container spreader provided by the embodiment of the invention comprises a computer readable storage medium storing program codes, wherein the instructions included in the program codes can be used for executing the method described in the foregoing method embodiment, and specific implementation can be referred to the method embodiment and will not be repeated here.
The container spreader detection device provided by the embodiment of the invention can be specific hardware on equipment or software or firmware installed on the equipment and the like. The device provided by the embodiment of the present invention has the same implementation principle and technical effects as those of the foregoing method embodiment, and for the sake of brevity, reference may be made to the corresponding content in the foregoing method embodiment where the device embodiment is not mentioned. It will be clear to those skilled in the art that, for convenience and brevity, the specific operation of the system, apparatus and unit described above may refer to the corresponding process in the above method embodiment, which is not described in detail herein.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown 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 units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments provided in the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that: like reference numerals and letters in the following figures denote like items, and thus once an item is defined in one figure, no further definition or explanation of it is required in the following figures, and furthermore, the terms "first," "second," "third," etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the corresponding technical solutions. Are intended to be encompassed within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A method of detecting a container spreader, the method comprising:
acquiring a target detection image;
determining a target box carrying sling in a target lane based on the position of each box carrying sling in the target detection image, wherein the target lane is the lane in which a target vehicle is located;
Judging whether the size and the azimuth of a radar point cloud cluster for describing a target bridge crane meet preset standards, wherein the target bridge crane is the bridge crane to which the target box carrier lifting appliance belongs, and the preset standards comprise: the positive angle between the main direction of the radar point cloud cluster and the x-axis in the vehicle system is smaller than a first threshold; the length of the radar point cloud cluster is [10,20] m, and the z coordinate value of the highest point is more than 6 m; in the continuous image frames, the difference between the convex hull vertex coordinates of the radar point cloud cluster, the center coordinates of the radar point cloud cluster and the minimum outsourcing rectangle of the radar point cloud cluster is smaller than a second threshold value;
if the size and the azimuth of the radar point cloud cluster meet the preset standard, determining the actual distance from the target box-carrying sling to the target vehicle according to the center point coordinate of the radar point cloud cluster;
judging whether the number of the target box carrying slings exceeds one;
if the number of the target box-carrying slings does not exceed one, outputting the actual distance from the target box-carrying slings to the target vehicle as a final detection result;
if the number of the target box-carrying slings exceeds one, determining a reference distance between each target box-carrying sling and the target vehicle according to the width of a rectangular boundary frame of each target box-carrying sling and the height of a central point of each target box-carrying sling;
For each target box-carrying sling, judging whether the difference value of the distance between the actual distance from the target box-carrying sling to the target vehicle and the reference distance from the target box-carrying sling to the target vehicle exceeds a preset threshold value;
and if the distance difference value does not exceed the preset threshold value, storing the reference distance as a target distance from the target box carrier lifting tool to the target vehicle.
2. The method of claim 1, wherein the determining the target box carrier in the target lane based on the position of each box carrier in the target detection image comprises:
inputting the target detection image into a trained model for identifying rectangular bounding boxes of the box-carrying slings, and determining the rectangular bounding box of each box-carrying sling in the target detection image;
and determining a target box carrying sling according to the position of the rectangular boundary box of each box carrying sling in the target detection image, wherein the target box carrying sling is the box carrying sling positioned on the lane where the target vehicle is positioned.
3. The method according to claim 1, wherein before determining whether the size and orientation of the radar point cloud used to describe the target bridge meet the preset criteria, the method comprises:
Acquiring target radar point cloud data of a target area, wherein the target area comprises the target bridge crane;
performing ground fitting on the target radar point cloud data;
and performing European clustering on the obstacle points obtained after the ground fitting to obtain a Lei Dadian cloud cluster, wherein the obstacle points are obtained by filtering the ground points obtained after the ground fitting.
4. The method of claim 1, wherein the determining the actual distance of the target carrier spreader from the target vehicle based on the center point coordinates of the radar point cloud cluster comprises:
and determining an x coordinate value of the central point of the radar point cloud cluster under a vehicle coordinate system taking the target vehicle as an origin as an actual distance from the target box carrier lifting tool to the target vehicle.
5. The method of claim 1, wherein after storing the reference distance as the target distance of the target carrier spreader to the target vehicle, the method further comprises:
judging whether the difference value of the distances between the actual distance from the center point of the target bridge crane to which each target box carrying sling belongs to the target vehicle and the reference distance from each target box carrying sling to the target vehicle exceeds the preset threshold value;
And if the distance difference between the actual distance from the center point of the target bridge to which each target box sling belongs and the reference distance from each target vehicle does not exceed the preset threshold value, or the distance difference between the actual distance from the center point of the target bridge to which each target box sling belongs and the reference distance from each target vehicle exceeds the preset threshold value, outputting the actual distance with the smallest distance value in the actual distances from the center point of the target bridge to which each target box sling belongs to the target vehicles as a final detection result.
6. The method of claim 5, wherein upon determining whether the distance differences between the center point of the target bridge to which each target carrier spreader is assigned and its respective reference distance to the target vehicle exceeds the predetermined threshold, the method further comprises:
if the target box carrying sling with the distance difference exceeding the preset threshold value and the target box carrying sling with the distance difference not exceeding the preset threshold value exist at the same time, judging whether the confidence of the target box carrying sling with the distance difference not exceeding the preset threshold value is larger than the target box carrying sling with the distance difference exceeding the preset threshold value;
If the confidence coefficient of the target box carrier lifting appliance which does not exceed the distance difference value of the preset threshold value is larger than that of the target box carrier lifting appliance which exceeds the distance difference value of the preset threshold value, outputting the actual distance from the central point of the target bridge crane to which the target box carrier lifting appliance which does not exceed the distance difference value of the preset threshold value to the target vehicle as a final detection result;
and if the confidence coefficient of the target box carrying sling which does not exceed the distance difference value of the preset threshold value is smaller than or equal to the target box carrying sling which exceeds the distance difference value of the preset threshold value, outputting the actual distance with the smallest distance value in the actual distance from the center point of the target bridge crane to which all the target box carrying sling belongs to the target vehicle as a final detection result.
7. A container spreader inspection device, the device comprising:
the image acquisition module is used for acquiring a target detection image;
the target box carrying sling determining module is used for determining a target box carrying sling positioned in a target lane based on the position of each box carrying sling in the target detection image, wherein the target lane is the lane in which the target vehicle is positioned;
the first judging module is used for judging whether the size and the azimuth of a radar point cloud cluster for describing the target bridge crane meet preset standards, wherein the target bridge crane is the bridge crane to which the target box carrying lifting appliance belongs, and the preset standards comprise: the positive angle between the main direction of the radar point cloud cluster and the x-axis in the vehicle system is smaller than a first threshold; the length of the radar point cloud cluster is [10,20] m, and the z coordinate value of the highest point is more than 6 m; in the continuous image frames, the difference between the convex hull vertex coordinates of the radar point cloud cluster, the center coordinates of the radar point cloud cluster and the minimum outsourcing rectangle of the radar point cloud cluster is smaller than a second threshold value;
The actual distance determining module is used for determining the actual distance from the target box-carrying sling to the target vehicle according to the center point coordinate of the radar point cloud cluster if the size and the azimuth of the radar point cloud cluster meet the preset standard;
the second judging module is used for judging whether the number of the target box-carrying slings exceeds one;
the first result output module is used for outputting the actual distance from the target box-carrying sling to the target vehicle as a final detection result if the number of the target box-carrying sling does not exceed one;
the reference distance determining module is used for determining the reference distance between each target box carrying sling and the target vehicle according to the width of the rectangular boundary frame of each target box carrying sling and the height of the central point of each target box carrying sling if the number of the target box carrying sling exceeds one;
the third judging module is used for judging whether the distance difference value between the actual distance from the target box carrying sling to the target vehicle and the reference distance from the target box carrying sling to the target vehicle exceeds a preset threshold value or not for each target box carrying sling;
and the target distance storage module is used for storing the reference distance as the target distance from the target box carrier lifting tool to the target vehicle if the distance difference value does not exceed the preset threshold value.
8. A computer device, comprising: a processor, a memory and a bus, said memory storing machine readable instructions executable by said processor, said processor and said memory communicating via the bus when the computer device is running, said machine readable instructions when executed by said processor performing the steps of the container spreader detection method according to any one of claims 1 to 6.
9. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when run by a processor, performs the steps of the container spreader detection method according to any one of claims 1 to 6.
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| CN116428996B (en) * | 2023-06-06 | 2023-09-01 | 北京斯年智驾科技有限公司 | Detection method and detection device for lifting appliance height |
| CN116774183B (en) * | 2023-08-23 | 2023-11-28 | 北京斯年智驾科技有限公司 | Lifting appliance position detection method, system, device and medium |
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