CN114577123A - Package volume measuring system and method - Google Patents

Package volume measuring system and method Download PDF

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Publication number
CN114577123A
CN114577123A CN202210233531.XA CN202210233531A CN114577123A CN 114577123 A CN114577123 A CN 114577123A CN 202210233531 A CN202210233531 A CN 202210233531A CN 114577123 A CN114577123 A CN 114577123A
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Prior art keywords
point cloud
measurement
cloud image
package
regular
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CN202210233531.XA
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Chinese (zh)
Inventor
李华
潘成玉
李海滨
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Sainade Technology Co ltd
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Sainade Technology Co ltd
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Priority to CN202210233531.XA priority Critical patent/CN114577123A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/04—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
    • G01B11/043—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving for measuring length
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/04—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
    • G01B11/046—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving for measuring width
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
    • G01B11/0608—Height gauges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
    • G01B11/0691—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material of objects while moving

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention provides a parcel volume measuring system, which is used in combination with matched sorting equipment, and comprises: the package conveying device comprises a conveying belt, and at least one measured package is conveyed on the conveying belt at a constant speed; the volume measuring device is used for acquiring a point cloud image and point cloud data which are structured on the upper surface of the measuring package when the at least one measuring package moves to a measuring area, and the point cloud data of the structured point cloud image is obtained according to the volume measuring device、And calculating the measurement length a, the measurement width b, the measurement height delta h and the volume V of the measurement package according to the stored height information h0 of the conveyor belt. The invention also provides a parcel volume measuring method, which is used for identifying and measuring regular point cloud on the upper layer of a parcel through a detection algorithm, realizing the functions of dynamic parcel volume measurement, parcel positioning and the like, and has the advantages of high precision, large detection range and the like.

Description

Package volume measuring system and method
Technical Field
The invention relates to the technical field of volume measurement, in particular to a system and a method for measuring a parcel volume.
Background
In the era of rapid development of the logistics transportation industry, a large number of packages need to be posted. At present, DWS (Dimension/Weight/Scanning: volume/weighing/code Scanning) is important equipment applied in the logistics industry, and along with the improvement of the refined management operation level in the logistics industry, the equipment application rate of DWS is rapidly increased year by year. The acquisition of volume data has multiple meanings and values for different logistics application scenes, and common application scenes comprise:
(1) the charging basis is as follows: in various logistics subdivision fields such as express delivery and the like, the volume can be used as a charging basis for the blister goods;
(2) carrying out stowage optimization: because the blister goods occupy most of freight transport proportion, the stowage optimization based on the volume data has great value and is a main target of the subsequent transportation cost optimization;
(3) checking and packaging optimization of picking up goods: in the e-commerce industry, volume data is an important goods picking and rechecking basis, and can be used for packaging optimization, so that a large amount of packaging and subsequent transportation cost can be saved;
(4) warehousing management: in logistics, warehousing and even general industrial industries, the quantity of goods in and out of a warehouse is also one of basic management data;
(5) sorting and optimizing: in many automatic sorting systems (including various forms such as cross belt sorting systems and AGV), the volume information of the packages can help the systems to classify and optimize sorting, and sorting efficiency and accuracy are improved.
In the traditional logistics sorting method, generally, the volume of a package is obtained by actual measurement of express sending replacement mechanism points in various regions or estimation of irregular packages, and information of the package is required to be obtained by an express logistics transfer station, so that on one hand, the information source is inaccurate, and the actual volume and the original number have large deviation; on the other hand, the transportation cost cannot be controlled, and great economic loss is caused.
Disclosure of Invention
In view of the above, there is a need for a system and method for measuring a volume of a package that effectively solves the above problems.
The invention provides a package volume measuring system, which is matched with matched sorting equipment for use, and comprises:
the package conveying device comprises a conveying belt, and at least one measured package is conveyed on the conveying belt at a constant speed;
volume measurementA volume measuring device for acquiring the point cloud image and point cloud data regular for the measuring parcel when the at least one measuring parcel moves to the measuring area, and for calculating the volume of the measuring parcel according to the point cloud data of the regular point cloud image、The stored height information h0 of the conveyor belt calculates the measurement length a, the measurement width b, the measurement height Δ h and the volume V of the measurement package.
In one or more embodiments, the volume measuring device includes a camera and a package size measuring module, the camera is used for collecting point cloud images of the measurement packages, converting the point cloud images into point cloud data, transmitting the point cloud data of the regular point cloud images to the package size measuring module when the point cloud images of the measurement packages are judged to be regular, and the package size measuring module calculates the measurement length a, the measurement width b and the point cloud height H of the measurement packages according to the received point cloud data of the regular point cloud images.
In one or more embodiments, the camera further comprises:
the point cloud image acquisition module is used for acquiring a point cloud image of the measurement package and converting the point cloud image into point cloud data;
the point cloud image detection module is used for judging whether the point cloud image acquired by the point cloud image acquisition module is regular as yes or false;
the point cloud image adjusting module is used for adjusting the point cloud image according to the judgment result that the point cloud image is judged to be regular as yes or false by the point cloud image detecting module;
and the point cloud image output module is used for transmitting the point cloud data of the regular point cloud image of the measurement package, which is acquired by the point cloud image acquisition module in real time, to the size measurement module when the judgment signal of the point cloud image adjustment module is yes.
In one or more embodiments, when the point cloud image detection module judges that the point cloud image is normalized to the yes signal, the point cloud image adjustment module does not start point cloud image adjustment according to the judgment signal;
the point cloud image detection module judges that the point cloud image is regular as a false signal, the point cloud image adjustment module starts automatic adjustment of the point cloud image, the point cloud image acquisition module receives the adjusted point cloud image in real time, the point cloud image detection module judges that the adjusted point cloud image is regular as yes or false according to the received adjusted point cloud image, and the point cloud image adjustment module stops automatic adjustment of the point cloud image when the adjusted point cloud image is judged to be regular as yes.
In one or more embodiments, the point cloud image acquisition module acquires an image of the upper surface of the measurement package, and when the point cloud image of the upper surface of the measurement package is regular, the judgment result of the point cloud image detection module is a yes signal; and when the point cloud image on the upper surface of the measuring package is irregular, the judgment result of the point cloud image detection module is a false signal.
In one or more embodiments, the package size measurement module comprises:
the first receiving module is used for receiving the point cloud data of the regular point cloud image of the measurement package obtained by the point cloud image output module;
the first calculation module is used for calculating the measurement length a, the measurement width b and the point cloud height H of the measurement package according to the point cloud data of the regular point cloud image of the measurement package acquired by the first receiving module;
the second calculation module is used for calculating the measurement height delta H by using a formula delta H-H0 according to the point cloud height H calculated by the first calculation module and the stored height information H0 of the conveying belt;
and a third calculation module, which calculates the volume of the measurement parcel according to the formula V, wherein the measurement length is a multiplied by the measurement width b multiplied by the measurement height delta h.
The invention also provides a method for measuring the volume of the package, which comprises the following steps:
acquiring point cloud images and point cloud data which are regular in measurement package;
and calculating the measurement length a, the measurement width b, the measurement height delta h and the volume V of the measurement package according to the point cloud data of the regular point cloud image and the stored height information h0 of the conveying belt.
In one or more embodiments, the method for acquiring the point cloud image and the point cloud data of the measurement parcel regular includes:
carrying out point cloud image acquisition on the measurement package, and converting the point cloud image into point cloud data;
judging whether the point cloud image is regular as yes or false;
when the judgment result is yes signal, or,
and when the judgment result is a false signal, automatically adjusting the point cloud image of the measurement package until the judgment result is a yes signal, and converting the collected point cloud image with regular measurement package into point cloud data. Preferably, the method for judging whether the point cloud image is regular as yes or false comprises the following steps: when the point cloud image on the upper surface of the measurement package is regular, the judgment result is yes signal; and when the upper surface of the measured parcel is irregular, the judgment result is a false signal.
In one or more embodiments, the method for calculating the measurement length a, the measurement width b, the measurement height Δ h and the volume V of the measurement parcel according to the point cloud data of the structured point cloud image and the stored height information h0 of the conveying belt comprises:
calculating the measurement length a, the measurement width b and the point cloud height H of the measurement package according to the obtained point cloud data of the regular point cloud image;
calculating the measuring height delta H of the measured parcel according to the calculated point cloud height H and the stored height information H0 of the conveying belt by using a calculation formula delta H-H0;
the volume V of the measurement package is calculated according to the volume calculation formula V, i.e. the measurement length a × the measurement width b × the measurement height Δ h.
The invention designs a parcel volume measuring system which is flexibly matched with matched sorting equipment for use, analyzes and judges irregular point cloud images of measured parcels and automatically corrects distortion by a camera centerline laser 3D detection algorithm so as to automatically process the irregular point cloud images of the measured parcels into regular point cloud images, calculates the volume of the measured parcels according to the point cloud data of the regular point cloud images, realizes the functions of dynamic parcel volume measurement, parcel positioning and the like, and has the advantages of high precision, large detection range and the like.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a block diagram of one embodiment of a parcel volume measurement system according to the present invention;
FIG. 2 is a functional block diagram of one embodiment of the package volume measurement system of FIG. 1;
FIG. 3 is a functional block diagram of one embodiment of a system and method for parcel volume measurement according to the present invention;
FIG. 4 is a schematic block diagram of a method of calculating a volume of a measurement parcel from point cloud data of a structured point cloud image in accordance with the present invention;
FIG. 5 is a functional block diagram of step S1 in FIG. 4;
FIG. 6 is a schematic block diagram of step S12 in FIG. 5;
fig. 7 is a schematic block diagram of the calculation of the measured parcel volume in step S2 of fig. 4.
Detailed Description
To further explain the technical means and effects of the present invention adopted to achieve the predetermined objects, the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments.
The invention provides a parcel volume measuring system, which is flexibly matched with matched sorting equipment for use, as shown in figures 1-3, the system comprises:
the package conveying device comprises a conveying belt, and at least one measured package is conveyed on the conveying belt at a constant speed;
and the volume measuring device is used for acquiring point cloud images and point cloud data which are regular in measuring package when at least one measuring package moves to a measuring area on the conveying belt, and calculating the measuring height delta h, the measuring length a, the measuring width b and the volume V of the measuring package according to the point cloud data of the regular point cloud images and the stored height information h0 of the conveying belt.
The volume measuring device provided by the invention comprises a camera and a package size measuring module, and referring to fig. 1 and fig. 2, the camera collects the depth information of a measuring package to acquire a point cloud image of the measuring package and converts the point cloud image into point cloud data (point cloud coordinate information), the camera can also judge whether the point cloud image of the measuring package is regular or not, and transmits the point cloud data of the regular point cloud image to the package size measuring module when the point cloud image of the measuring package is regular as yes, and the package size measuring module calculates the measuring length a, the measuring width b and the point cloud height delta h of the measuring package according to the received point cloud data of the regular point cloud image.
The depth information of the measurement package collected by the camera is coordinate data of a plurality of points on the surface of the measurement package measured by a laser scanner and the corresponding laser emissivity. In this embodiment, the camera is a line laser 3D camera, the line laser 3D camera emits a laser light band to the measurement package entering the measurement area through a laser secondary body in the laser, the laser light band irradiates the measurement package to be measured and moves on the measurement package, the angle of the scattered or reflected light received by the measurement package surface is different due to the difference of the position height of the laser irradiation point, accordingly, the CDD (Charge-coupled Device, i.e. image sensor) is utilized to acquire the image position information of the measurement package surface, the position information is a spherical coordinate system established by using the laser scanner as the origin, and the three-dimensional space information (r, α, beta), and then obtaining different measured object-measuring parcel surface point information by adjusting the laser angle, and finally forming point cloud data (point cloud coordinate information) of the measuring parcel surface according to a large number of measuring parcel surface data sets and corresponding laser reflectivity. The camera can also judge in real time according to whether the collected point cloud images of the upper surfaces of the measurement packages are regular (yes or false judgment results), and output corresponding point cloud data when the point cloud images are regular so as to ensure real-time calculation and output of the measurement package volumes, so that the volumes of one or more measurement packages can be measured rapidly, efficiently and accurately, and the measurement precision is high and the detection range is large. For more detailed technical contents of identifying and acquiring the point cloud image and the point cloud data of the survey package, reference is made to the prior art, and details are not repeated here.
In an embodiment of the present invention, the camera mainly includes (refer to fig. 2):
the point cloud image acquisition module is used for acquiring a point cloud image of the measurement package and converting the point cloud image into point cloud data;
the point cloud image detection module is used for judging whether the point cloud image acquired by the point cloud image acquisition module is regular as yes or false;
the point cloud image adjusting module is used for adjusting the point cloud image according to the judgment result that the point cloud image is judged to be regular as yes or false by the point cloud image detecting module;
and the point cloud image output module is used for transmitting the point cloud data of the regular point cloud image of the measurement package, which is acquired by the point cloud image acquisition module in real time, to the size measurement module when the judgment signal of the point cloud image adjustment module is yes. In detail, as shown in fig. 2 and 6, the point cloud image acquisition module performs image acquisition on the upper surface of the measurement package, and when the point cloud image on the upper surface of the measurement package is normalized, the judgment result of the point cloud image detection module is a yes signal; and when the point cloud image on the upper surface of the measuring package is irregular, the judgment result of the point cloud image detection module is a false signal.
Further, when the point cloud image detection module judges that the point cloud image is regular as a yes signal, the point cloud image adjustment module does not start point cloud image adjustment according to the judgment signal;
the automatic adjustment method comprises the steps that when the point cloud image detection module judges that the point cloud image is regular into a false signal, the point cloud image adjustment module starts automatic adjustment of the point cloud image, the point cloud image acquisition module receives the adjusted point cloud image in real time, the point cloud image detection module judges that the adjusted point cloud image is regular into yes or false according to the received adjusted point cloud image, and until the adjusted point cloud image is judged to be regular into yes, the point cloud image adjustment module stops automatic adjustment of the point cloud image, namely, automatic adjustment of the irregular point cloud image which is wrapped by the measuring device into the regular point cloud image is stopped.
Referring again to fig. 1, the present invention provides a package volume measuring system, wherein the package size measuring module comprises:
the first receiving module is used for receiving the point cloud data of the regular point cloud image of the measurement package obtained by the point cloud image output module;
the first calculation module is used for calculating the measurement length a, the measurement width b and the point cloud height H of the measurement package according to the point cloud data of the regular point cloud image of the measurement package acquired by the first receiving module; preferably, the point cloud height value H of the measured parcel is the height of an arbitrarily selected point on the upper surface of the measured parcel.
The second calculation module is used for calculating the measurement height delta H by using a formula delta H-H0 according to the point cloud height H calculated by the first calculation module and the stored height information H0 of the conveying belt;
and a third calculation module, which calculates the volume of the measurement parcel according to the formula V, wherein the measurement length is a multiplied by the measurement width b multiplied by the measurement height delta h.
As shown in fig. 3, in an embodiment, after the collected upper surface of the measurement package is taken, the whole upper surface is converted into a point cloud image, when the measurement package is a regular surface image of a cube or a cuboid, after a conveyor belt for conveying the measurement package at a constant speed is scanned by a camera, the camera obtains and outputs a regular long (regular) square point cloud, and the package size measurement module calculates the measurement length a, the measurement width b and the point cloud height H of the measurement package according to the long (regular) square point cloud data transmitted by the receiving camera.
When the measurement package is an irregular package, the measurement package can adjust the point cloud image of the irregular measurement package through a point cloud image distortion correction technology in a camera (not limited to a line laser 3D camera), finally, a regular long (regular) square point cloud capable of covering the measurement package can be formed, and finally, the package size measurement module can calculate according to the point cloud data of the adjusted and received regular point cloud image and according to the height information H0 of the stored conveying belt, so that the measurement length a, the measurement width b, the point cloud height H, the measurement height delta H and the volume V of the measurement package can be obtained.
Specifically, two collected points which are farthest away in the up-down direction and two collected points which are farthest away in the left-right direction of the measurement parcel are taken, then the maximum rectangle or square which can cover the whole parcel is simulated according to the four collected points in the up-down direction, the left-right direction and the four collected points, and the parcel size measurement module calculates the measurement length a and the measurement width b according to the rectangle point cloud picture; the point cloud height H value is the height value of any selected point on the upper surface of the measured parcel (or the average height value of a plurality of points on the upper surface), the vertical distance delta H between the measured parcel and the surface of the conveying belt is calculated according to the stored height H0 of the conveying belt and a calculation formula delta H-H0, the volume V of the measured parcel is finally calculated through an algorithm formula V, wherein the measurement length a is multiplied by the measurement width b is multiplied by the measurement height delta H, and the process is repeated. In the preferred embodiment, the advantage of obtaining the uppermost point cloud of the measured package is that the uppermost point cloud can be used to select the highest point, and then the maximum measured height Δ h of the package can be obtained by calculating the distance between the highest point cloud and the surface of the lower conveyor belt.
As shown in fig. 3, the camera provided by the present invention includes a point cloud image adjustment module to perform distortion correction on the irregular point cloud image of the measurement package. In detail, for irregular packages, the irregular point cloud images can be automatically processed into regular point cloud images such as squares or rectangles through automatic distortion correction of the point cloud images, and the detection range and the measurement precision of the measured packages are enlarged.
Referring to fig. 4, the present invention also provides a parcel volume measurement method, comprising:
s1, acquiring point cloud images and point cloud data which are regular in measurement package;
and S2, calculating the measurement length a, the measurement width b, the measurement height delta h and the volume V of the measurement package according to the point cloud data of the regular point cloud image and the stored height information h0 of the conveying belt.
Referring to fig. 5, the method for specifically acquiring the point cloud image and the point cloud data normalized by the measurement package further includes:
s11, carrying out point cloud image acquisition on the measurement package and converting the point cloud image into point cloud data;
s12, judging the point cloud image as yes or false;
s13, when the judgment result is yes signal, or,
and when the judgment result is a false signal, automatically adjusting the point cloud image of the measurement package until the judgment result is a yes signal, and converting the collected point cloud image which is regular in the measurement package into point cloud data so as to continuously calculate the volume of the measurement package.
In more detail, as shown in fig. 6, the method for determining whether the point cloud image is regular as yes or false further includes:
s12a, when the point cloud image of the upper surface of the measurement package is regular, the judgment result is yes signal;
and S12b, when the upper surface of the measured parcel is irregular, the judgment result is a false signal.
As shown in fig. 7, the method for calculating the measurement length a, the measurement width b, the measurement height Δ h and the volume V of the measurement parcel according to the point cloud data of the structured point cloud image and the stored height information h0 of the conveyor belt includes:
s21, calculating the measurement length a, the measurement width b and the point cloud height H of the measurement package according to the obtained point cloud data of the regular point cloud image;
s22, calculating the measuring height delta H of the measured parcel by using a calculation formula delta H-H0 according to the calculated point cloud height H and the stored height information H0 of the conveying belt;
and S23, calculating the volume V of the measuring parcel according to a volume calculation formula V, wherein the measurement length a is multiplied by the measurement width b is multiplied by the measurement height delta h.
In summary, the invention designs a parcel volume measuring system, which is flexibly used by matching with matched sorting equipment, and utilizes a camera centerline laser 3D detection algorithm to analyze, judge and automatically correct distortion of irregular point cloud images of measured parcels, so as to automatically process the irregular point cloud images of the measured parcels into regular point cloud images, and calculate the volume of the measured parcels according to the point cloud data of the regular point cloud images, thereby realizing the functions of dynamic parcel volume measurement, parcel positioning and the like, and having the advantages of high precision, large detection range and the like.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (9)

1. A package volume measurement system for use with a matched sorting apparatus, comprising:
the package conveying device comprises a conveying belt, and at least one measured package is conveyed on the conveying belt at a constant speed;
the volume measuring device is used for acquiring a point cloud image and point cloud data which are structured on the upper surface of the measuring package when the at least one measuring package moves to a measuring area, and the point cloud data of the structured point cloud image is obtained according to the volume measuring device、The stored height information h0 of the conveyor belt calculates the measurement length a, the measurement width b, the measurement height Δ h and the volume V of the measurement package.
2. The parcel volume measurement system of claim 1, wherein the volume measurement device comprises a camera and a parcel size measurement module, the camera is used for collecting point cloud images of the measurement parcels, converting the point cloud images into point cloud data, transmitting the point cloud data of the regular point cloud images to the parcel size measurement module when the point cloud images of the measurement parcels are judged to be regular, and the parcel size measurement module calculates the measurement length a, the measurement width b and the point cloud height H of the measurement parcels according to the received point cloud data of the regular point cloud images.
3. The parcel volume measurement system of claim 2, wherein the camera further comprises:
the point cloud image acquisition module is used for acquiring a point cloud image of the measurement package and converting the point cloud image into point cloud data;
the point cloud image detection module is used for judging whether the point cloud image acquired by the point cloud image acquisition module is regular as yes or false;
the point cloud image adjusting module is used for adjusting the point cloud image according to the judgment result that the point cloud image is judged to be regular as yes or false by the point cloud image detecting module;
and the point cloud image output module is used for transmitting the point cloud data of the regular point cloud image of the measuring package acquired in real time by the point cloud image acquisition module to the size measurement module when the judgment signal of the point cloud image adjustment module is yes.
4. The parcel volume measurement system of claim 3,
when the point cloud image detection module judges that the point cloud image is regular as a yes signal, the point cloud image adjustment module does not start point cloud image adjustment according to the judgment signal;
the point cloud image detection module judges that the point cloud image is regular as a false signal, the point cloud image adjustment module starts automatic adjustment of the point cloud image, the point cloud image acquisition module receives the adjusted point cloud image in real time, the point cloud image detection module judges that the adjusted point cloud image is regular as yes or false according to the received adjusted point cloud image, and the point cloud image adjustment module stops automatic adjustment of the point cloud image when the adjusted point cloud image is judged to be regular as yes.
5. The parcel volume measurement system of claim 3, wherein the point cloud image acquisition module performs image acquisition on the upper surface of the measurement parcel, and when the point cloud image on the upper surface of the measurement parcel is normalized, the point cloud image detection module determines that yes signals are obtained; and when the point cloud image on the upper surface of the measuring package is irregular, the judgment result of the point cloud image detection module is a false signal.
6. The parcel volume measurement system of claim 2, wherein the parcel size measurement module comprises:
the first receiving module is used for receiving the point cloud data of the regular point cloud image of the measurement package obtained by the point cloud image output module;
the first calculation module is used for calculating the measurement length a, the measurement width b and the point cloud height H of the measurement package according to the point cloud data of the regular point cloud image of the measurement package acquired by the first receiving module;
the second calculation module is used for calculating the measurement height delta H by using a formula delta H-H0 according to the point cloud height H calculated by the first calculation module and the stored height information H0 of the conveying belt;
and the third calculating module calculates the volume of the measurement parcel according to a formula V, wherein the formula V is that the measurement length a is multiplied by the measurement width b is multiplied by the measurement height delta h.
7. A parcel volume measurement method, comprising:
acquiring a point cloud image and point cloud data which are regular on the upper surface of the measurement package;
and calculating the measurement length a, the measurement width b, the measurement height delta h and the volume V of the measurement package according to the point cloud data of the regular point cloud image and the stored height information h0 of the conveying belt.
8. The parcel volume measuring method according to claim 6, wherein the method of acquiring the point cloud image and point cloud data for which the measurement parcel is regular comprises:
carrying out point cloud image acquisition on the measurement package, and converting the point cloud image into point cloud data;
judging whether the point cloud image is regular as yes or false;
when the judgment result is yes signal, or,
and when the judgment result is a false signal, automatically adjusting the point cloud image of the measurement package until the judgment result is a yes signal, and converting the collected point cloud image with regular measurement package into point cloud data.
9. The method for measuring the volume of the parcel according to claim 8, wherein the method for calculating the measurement length a, the measurement width b, the measurement height Δ h and the volume V of the measurement parcel according to the point cloud data of the structured point cloud image and the stored height information h0 of the conveying belt comprises:
calculating the measurement length a, the measurement width b and the point cloud height H of the measurement package according to the obtained point cloud data of the regular point cloud image;
calculating the measuring height delta H of the measured parcel according to the calculated point cloud height H and the stored height information H0 of the conveying belt by using a calculation formula delta H-H0;
the volume V of the measurement package is calculated according to the volume calculation formula V, i.e. the measurement length a × the measurement width b × the measurement height Δ h.
CN202210233531.XA 2022-03-09 2022-03-09 Package volume measuring system and method Pending CN114577123A (en)

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