Material pile point cloud data interpolation method, device, equipment and medium

Abstract

The invention relates to the technical field of warehouse logistics, and discloses a material pile point cloud data interpolation method, device and equipment and a medium, and the method comprises the steps: carrying out the denoising and standardization processing of the material pile point cloud data; performing ordered two-dimensional array conversion based on the maximum value, the minimum value, the row conversion parameter and the column conversion parameter; hole point location recording is carried out in the row direction and the column direction, a hole point location set is formed, segmentation is carried out through a clustering segmentation method, and a plurality of hole point location clusters are obtained. And setting a neighborhood radius threshold value, performing reference point traversal in a neighborhood range, calculating a quasi-interpolation point z value according to a distance weight relationship, an average value and equal dimensions, and performing data interpolation and reference point set iteration from the edge to the center until the interpolation of a plurality of hole point location clustering bodies is completed. Point cloud data hole repairing of the material pile is achieved, the surface contour of the material pile is perfected, the influence of shadow generated by sensor visual angle shielding or light interference is eliminated, and material pile stocktaking and material taking and placing unmanned operation is more accurate.

Description

technical field [0001] The invention relates to the field of warehousing and logistics, in particular to a method, equipment, equipment and medium for interpolating point cloud data of a stockpile. Background technique [0002] Raw and fuel in the steel industry is the main cost of production. The accurate management of material inventory is of great significance to guide production and operation. Improving the accuracy of raw and fuel inventory has always been a difficult problem for iron and steel enterprises. With the rapid development of intelligence, stockpiling inventory is gradually being upgraded from manual estimation to intelligent counting based on laser scanners, which eliminates the influence of human subjective factors and improves the accuracy of stockpiling. However, due to the large span of raw fuel stacking areas Influenced by factors such as the shadow surface generated by the stacking height and the reflectivity of the material, there are holes in the sta...

AI Technical Summary

Problems solved by technology

[0003] In view of the above existing problems in the prior art, the present invention proposes a stockpile point cloud data interpolation method, equipment, equipment and media, mainly to solve the problem that the stockpile data obtained by the laser scanner has holes, which leads to the reduction of inventory accuracy.

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