CN118071928A - Material pile model building method and device, medium and electronic equipment - Google Patents
Material pile model building method and device, medium and electronic equipment Download PDFInfo
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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Abstract
The application discloses a method, a device, a medium and electronic equipment for building a material pile model, wherein the method comprises the following steps: scanning the ship from above the ship to obtain a first point cloud; filtering abnormal points of the first point cloud to obtain a second point cloud; and building a stockpile model according to the second point cloud. The application can build a stockpile model with higher accuracy.
Description
Technical Field
The application relates to the technical field of stockpile models, in particular to a method and a device for establishing a stockpile model, a medium and electronic equipment.
Background
In the port industry, bulk cargo and containers are loaded and unloaded mainly by using a multipurpose ship unloader, and in actual operation, the ship unloader is usually controlled manually to operate, but the manual control has the defects of poor operation environment and safety risk.
In order to solve the problem of manual control ship unloader, generally adopt unmanned control's mode, when carrying out unmanned control, firstly adopt 3D radar to scan the stock pile, obtain the scanning result, secondly, establish the stock pile model according to the scanning result, finally, according to the stock pile model, control the grab bucket and snatch the stock pile, but when bulk cargo operation, its material type is more, in addition, other dysmorphism thing exist in the cabin for the stock pile is difficult to establish accurate stock pile model, and the error that the stock pile model produced can directly influence the accuracy that the grab bucket snatched the material.
Disclosure of Invention
The embodiment of the application provides a method, a device, a medium and electronic equipment for building a material pile model, which can build the material pile model with higher accuracy.
Other features and advantages of the application will be apparent from the following detailed description, or may be learned by the practice of the application.
According to a first aspect of an embodiment of the present application, there is provided a method for building a stack model, including:
Scanning the ship from above the ship to obtain a first point cloud;
filtering abnormal points of the first point cloud to obtain a second point cloud;
and building a stockpile model according to the second point cloud.
In some embodiments of the present application, based on the foregoing solution, the filtering the outliers of the first point cloud includes:
Acquiring a distance threshold;
Calculating the distance between the current point and the nearest neighbor point in the first point cloud to obtain a target distance;
and comparing the target distance with a distance threshold value, and judging whether the current point is an abnormal point or not according to a comparison result.
In some embodiments of the present application, based on the foregoing solution, the comparing the target distance with the distance threshold, and determining whether the current point is an outlier according to the comparison result includes:
when the target distance is greater than a distance threshold, the current point is an abnormal point;
And when the target distance is smaller than or equal to a distance threshold value, the current point is not an abnormal point.
According to a second aspect of the embodiment of the present application, there is provided a stack model building apparatus, including:
The scanning equipment scans the ship from above the ship to obtain a first point cloud;
and the controller filters abnormal points of the first point cloud to obtain a second point cloud, and establishes a stockpile model according to the second point cloud.
In some embodiments of the application, based on the foregoing, the scanning device includes:
The support table is arranged at the lower end of the cab;
The upper end of the support is rotationally connected with the supporting table through a first rotating shaft, the first rotating shaft is distributed along the horizontal direction and is parallel to the arm support, the lower end of the support is rotationally connected with a scanning device through a second rotating shaft, the second rotating shaft is distributed along the horizontal direction, and the second rotating shaft is vertical to the first rotating shaft;
The driving device comprises a first driving piece for driving the first rotating shaft and a second driving piece for driving the second rotating shaft.
In some embodiments of the present application, based on the foregoing scheme, the method further includes:
And the data transmission device is used for transmitting the scanning data of the scanning device to the controller.
In some embodiments of the present application, based on the foregoing scheme, the data transmission apparatus includes:
a switch for receiving scan data of the scanning device;
the data sending end is connected with the switch and used for sending the scanning data;
the data receiving end is connected with the controller and is used for receiving the scanning data sent by the data sending end.
In some embodiments of the present application, based on the foregoing solution, the controller and the data receiving end are connected through an optical fiber.
According to a third aspect of embodiments of the present application, there is provided a computer readable storage medium having stored thereon a computer program comprising executable instructions which, when executed by a processor, implement a method according to any of the embodiments of the first aspect described above.
According to a fourth aspect of an embodiment of the present application, there is provided an electronic device including: one or more processors; and a memory for storing executable instructions of the processor, which when executed by the one or more processors, cause the one or more processors to implement the method of any embodiment of the first aspect.
The beneficial effects of the application are as follows:
By filtering abnormal points of the first point cloud, points corresponding to abnormal objects in the first point cloud are removed, a second point cloud which does not contain the abnormal points is obtained, a material pile model with higher accuracy can be built based on the second point cloud, and further the accuracy of grabbing materials by the grab bucket is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is evident that the drawings in the following description are only some embodiments of the present application and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:
FIG. 1 shows a flow chart of a method of building a stack model in an embodiment of the application;
FIG. 2 shows a block diagram of a stack modeling apparatus in an embodiment of the application;
FIG. 3 is a schematic diagram of a computer-readable storage medium shown according to an embodiment of the present application;
fig. 4 is a schematic diagram showing a system structure of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the application may be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.
The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
Fig. 1 is a flowchart of a method for building a pile model according to an embodiment of the present application, referring to fig. 1, the present application provides a method for building a pile model, at least including steps S1 to S3, and the detailed description is as follows:
In step S1, a ship is scanned from above the ship to obtain a first point cloud.
Specifically, the first point cloud may be understood as original data, and may include abnormal points, which may be points corresponding to the profile.
In step S2, abnormal points of the first point cloud are filtered to obtain a second point cloud.
Specifically, abnormal points of the first point cloud are filtered, model errors caused by the abnormal points can be avoided, and when the abnormal points of the first point cloud are filtered, the filtering can be performed through 3D point cloud software.
In step S3, a stockpile model is built from the second point cloud.
Specifically, the second point cloud does not comprise abnormal points, so that the accuracy of the stockpile model is higher.
Optionally, the building a stockpile model according to the second point cloud includes:
And rotating and translating the second point cloud to match with the three-dimensional coordinates of the actual space, and reconstructing a three-dimensional model to obtain a stockpile model.
Optionally, the method further comprises:
Obtaining a material pile elevation map according to the material pile model;
And (5) rasterizing the stockpile elevation map to obtain a stockpile grille map.
Specifically, according to the pile grid diagram, the grab bucket grabs the highest point of the pile.
Optionally, the filtering the outliers of the first point cloud includes:
Acquiring a distance threshold;
Calculating the distance between the current point and the nearest neighbor point in the first point cloud to obtain a target distance;
and comparing the target distance with a distance threshold value, and judging whether the current point is an abnormal point or not according to a comparison result.
Specifically, the distance threshold may be set according to practical situations, such as a ship type, and the neighboring point may be understood as a point closest to the current point in the first point cloud.
Optionally, the comparing the target distance with the distance threshold, and determining whether the current point is an abnormal point according to the comparison result includes:
when the target distance is greater than a distance threshold, the current point is an abnormal point;
And when the target distance is smaller than or equal to a distance threshold value, the current point is not an abnormal point.
Specifically, when the current point is an abnormal point, filtering the current point from the first point cloud, wherein the current point is not the abnormal point, namely, when the current point is a normal point, the current point is reserved in the first point cloud.
Fig. 2 shows a block diagram of a stack modeling apparatus according to an embodiment of the present application, referring to fig. 2, according to a second aspect of the embodiment of the present application, there is provided a stack modeling apparatus 100, including:
The scanning device 101 scans the ship from above the ship to obtain a first point cloud;
the controller 102 filters out abnormal points of the first point cloud to obtain a second point cloud, and establishes a stockpile model according to the second point cloud.
Optionally, the scanning device includes:
The support table is arranged at the lower end of the cab;
The upper end of the support is rotationally connected with the supporting table through a first rotating shaft, the first rotating shaft is distributed along the horizontal direction and is parallel to the arm support, the lower end of the support is rotationally connected with a scanning device through a second rotating shaft, the second rotating shaft is distributed along the horizontal direction, and the second rotating shaft is vertical to the first rotating shaft;
The driving device comprises a first driving piece for driving the first rotating shaft and a second driving piece for driving the second rotating shaft.
Specifically, when a material pile model building device is applied to a ship unloader, the working process is as follows:
Firstly, a ship is stopped on a stacking head, and a ship unloader runs to a ship stopping position; secondly, the ship unloader puts down the pitching mechanism to a position parallel to the large arm of the ship unloader, and a cab of the ship unloader runs from a road measurement anchor point to the upper part of the ship; and the first driving piece drives the first rotating shaft to rotate, drives the scanning device to swing, scans the ship to obtain the outline and the size of the ship, and simultaneously scans the stockpiles in the ship cabin to obtain the bulk cargo points.
Optionally, the first driving member and the second driving member are servo motors.
For example, the ship is parked on the stacking head, at this time, the length direction of the ship is perpendicular to the arm support direction, the width direction of the ship is parallel to the arm support direction, the first driving member drives the first rotating shaft to rotate and drives the scanning device to swing along the length direction of the ship, the second driving member drives the second rotating shaft to rotate and drives the scanning device to swing along the width direction of the ship, the initial scanning direction of the scanning device is a vertical direction, and in the swinging process of the scanning device, the scanning direction of the scanning device is from top to bottom or from obliquely above to obliquely below.
Optionally, the scanning device is a camera or a laser radar.
Optionally, the method further comprises:
And the data transmission device is used for transmitting the scanning data of the scanning device to the controller.
In some embodiments of the present application, based on the foregoing scheme, the data transmission apparatus includes:
a switch for receiving scan data of the scanning device;
the data sending end is connected with the switch and used for sending the scanning data;
the data receiving end is connected with the controller and is used for receiving the scanning data sent by the data sending end.
Optionally, the switch is provided in a control box provided on a land-side girder.
Optionally, the data transmitting end is arranged outside the land-side girder.
Optionally, the data transmitting end is a wireless transmitting end, and the data receiving end is a wireless receiving end.
Optionally, the data receiving end is provided on a land-side ground.
Optionally, the controller and the data receiving end are connected through an optical fiber.
Based on the same inventive concept, as a third aspect, the present application also provides a computer-readable storage medium having stored thereon a program product capable of implementing the above-described one of the stack model building methods of the present specification. In some possible embodiments, the various aspects of the application may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the application as described in the "exemplary methods" section of this specification, when said program product is run on the terminal device.
Referring to fig. 3, a program product 200 for implementing the above-described method according to an embodiment of the present application is described, which may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
On the other hand, the application also provides electronic equipment capable of realizing the method.
Those skilled in the art will appreciate that the various aspects of the application may be implemented as a system, method, or program product. Accordingly, aspects of the application may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" system.
An electronic device 300 according to this embodiment of the application is described below with reference to fig. 4. The electronic device 300 shown in fig. 4 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present application.
As shown in fig. 4, the electronic device 300 is embodied in the form of a general purpose computing device. Components of electronic device 300 may include, but are not limited to: the at least one processing unit 310, the at least one memory unit 320, and a bus 330 connecting the various system components, including the memory unit 320 and the processing unit 310.
Wherein the storage unit stores program code that is executable by the processing unit 310 such that the processing unit 310 performs the steps according to various exemplary embodiments of the present application described in the above-mentioned "example methods" section of the present specification.
The storage unit 320 may include a readable medium in the form of a volatile storage unit, such as a Random Access Memory (RAM) 321 and/or a cache memory 322, and may further include a Read Only Memory (ROM) 323.
The storage unit 320 may also include a program/utility 324 having a set (at least one) of program modules 325, such program modules 325 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
Bus 330 may be one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.
The electronic device 300 may also communicate with one or more external devices 400 (e.g., keyboard, pointing device, bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 300, and/or any device (e.g., router, modem, etc.) that enables the electronic device 300 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 350. Also, electronic device 300 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 360. As shown, the network adapter 360 communicates with other modules of the electronic device 300 over the bus 330. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 300, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software that is executed by a processor, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or a combination of any of these. In addition, each functional unit may be integrated in one processing unit, each unit may exist alone physically, or two or more units may be integrated in one unit.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be 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 interfaces, units or modules, or may be in electrical or other forms.
The units described as separate components may or may not be physically separate, and components as control devices may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in whole or in part 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 or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A method of building a stack model, comprising:
Scanning the ship from above the ship to obtain a first point cloud;
filtering abnormal points of the first point cloud to obtain a second point cloud;
and building a stockpile model according to the second point cloud.
2. The method for building a pile model according to claim 1, wherein the filtering abnormal points of the first point cloud includes:
Acquiring a distance threshold;
Calculating the distance between the current point and the nearest neighbor point in the first point cloud to obtain a target distance;
and comparing the target distance with a distance threshold value, and judging whether the current point is an abnormal point or not according to a comparison result.
3. The method for building a stack model according to claim 2, wherein comparing the target distance with the distance threshold, and determining whether the current point is an abnormal point according to the comparison result, comprises:
when the target distance is greater than a distance threshold, the current point is an abnormal point;
And when the target distance is smaller than or equal to a distance threshold value, the current point is not an abnormal point.
4. A stack model building apparatus, comprising:
The scanning equipment scans the ship from above the ship to obtain a first point cloud;
and the controller filters abnormal points of the first point cloud to obtain a second point cloud, and establishes a stockpile model according to the second point cloud.
5. The stack modeling apparatus of claim 4, wherein the scanning device comprises:
The support table is arranged at the lower end of the cab;
The upper end of the support is rotationally connected with the supporting table through a first rotating shaft, the first rotating shaft is distributed along the horizontal direction and is parallel to the arm support, the lower end of the support is rotationally connected with a scanning device through a second rotating shaft, the second rotating shaft is distributed along the horizontal direction, and the second rotating shaft is vertical to the first rotating shaft;
The driving device comprises a first driving piece for driving the first rotating shaft and a second driving piece for driving the second rotating shaft.
6. The stack modeling apparatus of claim 4, further comprising:
And the data transmission device is used for transmitting the scanning data of the scanning device to the controller.
7. The stack modeling apparatus of claim 6, wherein the data transmission device comprises:
a switch for receiving scan data of the scanning device;
the data sending end is connected with the switch and used for sending the scanning data;
the data receiving end is connected with the controller and is used for receiving the scanning data sent by the data sending end.
8. The stack modeling apparatus of claim 7, wherein the controller and the data receiving end are connected by an optical fiber.
9. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program comprises executable instructions which, when executed by a processor, implement the method of any of claims 1-3.
10. An electronic device, comprising: one or more processors; a memory for storing executable instructions for the processor, which when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410225408.2A CN118071928A (en) | 2024-02-29 | 2024-02-29 | Material pile model building method and device, medium and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410225408.2A CN118071928A (en) | 2024-02-29 | 2024-02-29 | Material pile model building method and device, medium and electronic equipment |
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| CN118071928A true CN118071928A (en) | 2024-05-24 |
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| CN202410225408.2A Pending CN118071928A (en) | 2024-02-29 | 2024-02-29 | Material pile model building method and device, medium and electronic equipment |
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| CN (1) | CN118071928A (en) |
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