The invention discloses a station yard parking position and carriage loading state detection method, which comprises the following steps that an unmanned aerial vehicle starts to cruise according to a station track sequence, and the cruise path is the center line of a station track; in the cruising process, a monocular structured light camera carried on the unmanned aerial vehicle collects depth image data according to a fixed frequency; the depth image data is loaded and sent to an analysis server through wireless communication; the analysis server fuses and splices the depth image data according to the unmanned aerial vehicle positioning information; when the unmanned aerial vehicle completes cruising of one station track, the analysis server carries out algorithm recognition on the collected depth image data and outputs the position and the loading state of the staying vehicle of the cruising station track, the detection precision of the position of the staying vehicle is improved, centimeter-level positioning is achieved, the loading state of the vehicle and whether the vehicle is empty or loaded can be accurately judged, and the safety of the unmanned aerial vehicle is improved. And judging whether the loading of the heavy vehicle is qualified.
本发明公开了一种站场停留车位置及车厢装载状态的检测方法,包括如下步骤,将无人机按照股道排序开始巡航,巡航的路径为股道的中心线;在巡航过程中,无人机上搭载的单目结构光相机按照固定频率采集深度图像数据;深度图像数据通过无线通信装载发送到分析服务器;分析服务器根据无人机定位信息对深度图像数据进行融合拼接;无人机对一条股道巡航完成时,分析服务器将采集的深度图像数据进行算法识别,输出所巡航股道的停留车位置和装载状态,提高停留车位置检测精度,实现厘米级定位,能够精确判断车辆的装载状态,空车还是重车,以及重车的装载是否合格。
Method for detecting parking position and carriage loading state of station yard
一种站场停留车位置及车厢装载状态的检测方法
2024-01-30
Patent
Electronic Resource
Chinese
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