CN108981570B - Portable logistics parcel volume measuring device - Google Patents
Portable logistics parcel volume measuring device Download PDFInfo
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- CN108981570B CN108981570B CN201810766239.8A CN201810766239A CN108981570B CN 108981570 B CN108981570 B CN 108981570B CN 201810766239 A CN201810766239 A CN 201810766239A CN 108981570 B CN108981570 B CN 108981570B
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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
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Abstract
The invention discloses a portable logistics package volume measuring device. The invention mainly comprises a handheld volume measuring instrument and a noise reduction background plate, wherein the handheld volume measuring instrument comprises a depth camera and a module for measuring the size of a package, the depth camera is used for acquiring point cloud data of the package and calculating the volume of the package through the point cloud data; the noise reduction background plate is used for eliminating the interference of the background plate under a complex background and reducing the background noise of point cloud data obtained by the depth camera so that the measured parcel volume is more accurate and reliable. According to the invention, the depth camera is adopted to obtain the point cloud data of the parcel surface, so that the real-time calculation and output of the parcel volume are realized, the cuboid parcel volume can be rapidly, efficiently and accurately measured, the storage space of the warehouse can be more efficiently and reasonably utilized, and the space utilization rate of the warehouse is improved.
Description
Technical Field
The invention relates to the field of computers, in particular to a portable logistics package volume measuring device.
Background
The application scenario of the portable volume measuring instrument mainly aims at the logistics and warehousing industries. In recent years, with the rapid development of the logistics warehousing industry, how to save the logistics cost and improve the utilization rate of the warehousing space is also a focus of people's attention. The volume measuring instrument can measure the volume of an object, and if the volume of an article can be known, the space can be more efficiently utilized in the storage and transportation of the article, and the logistics efficiency is improved.
At present, the logistics and warehousing industry mainly adopts a manual measurement mode when the parcel volume is measured, and the efficiency and the accuracy of the method are low. The existing volume measuring instrument is mainly based on a laser sensor, and the whole equipment is complex, high in cost and low in speed, so that the practicability of the volume measuring instrument is not high.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a portable logistics parcel volume measuring device which is convenient and efficient and has strong practicability in the logistics industry.
The invention adopts the following technical scheme:
a portable logistics package volume measuring device.
The measuring device comprises a handheld volume measuring instrument and a noise reduction background plate, the handheld volume measuring instrument and the noise reduction background plate are wrapped and placed in front of the noise reduction background plate, and two wheels are respectively arranged at two ends of the bottom of the noise reduction background plate; the handheld volume measuring instrument comprises a depth camera and a package size measuring module.
The handheld volume measuring instrument is used for acquiring point cloud data of the packages and calculating the volume of the packages according to the point cloud data.
The package size measuring module comprises a first receiving module, a first calculating module, a second calculating module, a third calculating module and a first output module; the first receiving module is used for receiving depth information acquired by the depth camera, and the first calculating module is used for determining three-dimensional space coordinate data of a detected parcel point cloud according to the received depth information; the second calculation module is used for carrying out noise reduction pretreatment on the obtained three-dimensional space coordinate data; the third calculation module is used for performing surface segmentation on the three-dimensional space coordinate data, calculating to obtain the length L, the width B and the height H of the measured package, and calculating to obtain the volume V; the first output module is used for displaying the length L, the width B, the height H and the volume V of the measured parcel on the handheld volume measuring instrument.
The noise reduction background plate is used for eliminating the interference of a background environment in a complex background environment, and the package of the volume to be measured is placed in front of the noise reduction background plate, so that the environmental background noise can be simply and effectively reduced, and the obtained package point cloud data is more reliable and accurate.
Method for measuring parcel volume by using measuring device
The method comprises the following steps:
s1: when the background environment is complex, placing the parcel in front of a noise reduction background plate, and carrying out image acquisition on the parcel by using a depth camera on a handheld volume measuring instrument; when the background environment is simple, the parcel is placed in the original background environment, and the depth camera on the handheld volume measuring instrument is directly adopted to collect the image of the parcel;
s2: converting the image collected by the depth camera on the handheld volume measuring instrument into three-dimensional space coordinate data of the wrapped point cloud;
s3: the handheld volume measuring instrument determines the length L, the width B and the height H of a measured parcel according to the three-dimensional point cloud data, and calculates the volume of the measured parcel according to V-L-B-H, wherein V represents the volume of the measured parcel;
s4: the handheld volume measuring instrument outputs the calculated length L, width B, height H and volume V through the display screen.
The method for determining the length L, the width B and the height H of the detected parcel in step S3 is as follows:
performing three-time point cloud surface segmentation on the detected wrapped point cloud according to three-dimensional space coordinate data of the detected wrapped point cloud obtained by a depth camera, representing the point cloud data of three different surfaces M1, M2 and M3 of the detected wrapped point cloud by using a space characteristic equation, traversing all points on M1 to calculate the distance to M2, selecting the maximum value as the length L, traversing all points on M2 to calculate the distance to M3, selecting the maximum value as the width B, traversing all points on M3 to calculate the distance to the surface M1, and selecting the maximum value as the height H.
And performing filtering and noise reduction processing on the three-dimensional space coordinate data obtained in the step S2.
The invention has the beneficial effects that:
the invention can rapidly and accurately obtain the volume of the package without manual measurement by personnel, has the advantages of convenience, high efficiency and accuracy, realizes the functions of package volume measurement and real-time data output, is favorable for reasonably planning a warehouse space utilization scheme in the warehouse logistics industry and improves the space utilization rate.
Drawings
FIG. 1 is a schematic view of the apparatus of the present invention;
FIG. 2 is a schematic diagram of the main steps of the method of measuring the size of a package according to the present invention;
FIG. 3 is a schematic diagram of a module for measuring package size according to the present invention.
In the figure: hand-held type volume measuring instrument 1, parcel 2, background board 3 of making an uproar falls
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments,
the equipment for measuring the volume of the parcel in the embodiment of the invention mainly comprises a handheld volume measuring instrument 1 and a noise reduction background plate 3. The structure of the device is shown in figure 1, the device for measuring the volume of the package mainly comprises a handheld volume measuring instrument 1 and a noise reduction background plate 3, two wheels are respectively arranged at two ends of the bottom of the noise reduction background plate 3 to enable the background plate to have a moving function, the handheld volume measuring instrument comprises a depth camera and a module for measuring the size of the package, and the depth camera on the handheld volume measuring instrument acquires depth information through the time reflected by projected infrared pulses.
Fig. 2 is a schematic diagram of the main steps of a method of measuring a volume of a package, implemented according to the present invention, the steps of the measuring method being as follows:
s21: the handheld volume measuring instrument 1 is held by a measuring person, when the background environment is complex, the parcel 2 is placed in front of the noise reduction background plate 3, and the depth camera on the handheld volume measuring instrument 1 is used for collecting images of the parcel 2; when the background environment is simple, the parcel 2 is placed in the original background environment, and the depth camera on the handheld volume measuring instrument 1 is directly adopted to collect the image of the parcel 2;
s22: converting an image collected by a depth camera on the handheld volume measuring instrument into three-dimensional space coordinate data wrapping point clouds, and filtering and denoising the three-dimensional space coordinate data;
s23: the handheld volume measuring instrument determines the length L, the width B and the height H of a measured parcel according to the three-dimensional point cloud data, and calculates the volume of the measured parcel according to V-L-B-H, wherein V represents the volume of the measured parcel;
s24: the handheld volume measuring instrument outputs the calculated length L, width B, height H and volume V through the display screen.
In step S23, three-dimensional space coordinate data of the detected wrapped point cloud is obtained according to the depth camera, three-time point cloud surface segmentation is performed on the point cloud, a space feature equation is used to represent the point cloud data of three different surfaces M1, M2 and M3 of the detected wrapped point cloud, all points on M1 are traversed to calculate the distance to M2, the maximum value is selected as the length L, all points on M2 are also traversed to calculate the distance to M3, the maximum value is selected as the width B, all points on M3 are traversed to calculate the distance to the surface M1, and the maximum value is selected as the height H.
As shown in fig. 3, the package size measuring module 30 mainly includes a first receiving module 31, a first calculating module 32, a second calculating module 33, a third calculating module 34, and a first outputting module 35. The module, as software, may be provided in the above-mentioned handheld volume measuring apparatus to implement the method for measuring the volume of the package in this embodiment.
The first calculation module 32 is used for determining three-dimensional space coordinate data of the detected parcel point cloud according to the received depth information; the second calculation module 33 is configured to perform denoising preprocessing on the obtained three-dimensional space coordinate data; the third calculation module 34 is configured to perform surface segmentation on the three-dimensional space coordinate data, calculate to obtain a length L, a width B, and a height H of the measured package, and calculate to obtain a volume V; the first output module 35 is used to display the length L, the width B, the height H and the volume V of the measured package on the handheld volume measuring instrument 1.
While the principles of the invention have been described above in connection with specific embodiments, it will be understood that various components or steps may be disassembled or otherwise re-assembled in the apparatus and method of the invention. These decompositions or recombinations should be regarded as equivalents of the present invention. Also, the steps of executing the series of processes described above may naturally be executed chronologically in the order described, but need not necessarily be executed chronologically. Some steps may be performed in parallel or independently of each other.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. A method for measuring the volume of a parcel adopts a portable logistics parcel volume measuring device, the portable logistics parcel volume measuring device comprises a handheld volume measuring instrument (1) and a noise reduction background plate (3), a parcel (2) is placed in front of the noise reduction background plate (3), and two wheels are respectively arranged at two ends of the bottom of the noise reduction background plate (3); the hand-held volume measuring instrument (1) comprises a depth camera and a package size measuring module (30);
the method is characterized by comprising the following steps:
s1: when the background environment is complex, the parcel (2) is placed in front of the noise reduction background plate (3), and a depth camera on the handheld volume measuring instrument (1) is used for collecting images of the parcel (2); when the background environment is simple, the parcel (2) is placed in the original background environment, and the depth camera on the handheld volume measuring instrument (1) is directly adopted to acquire the image of the parcel (2);
s2: converting the image collected by the depth camera on the handheld volume measuring instrument into three-dimensional space coordinate data of the wrapped point cloud;
s3: the handheld volume measuring instrument determines the length L, the width B and the height H of a measured parcel according to the three-dimensional point cloud data, and calculates the volume of the measured parcel according to V-L-B-H, wherein V represents the volume of the measured parcel;
s4: the handheld volume measuring instrument outputs the calculated length L, width B, height H and volume V through the display screen;
the method for determining the length L, the width B and the height H of the detected parcel in step S3 is as follows: performing three-time point cloud surface segmentation on the detected wrapped point cloud according to three-dimensional space coordinate data of the detected wrapped point cloud obtained by the depth camera, expressing the point cloud data of three different surfaces M1, M2 and M3 of the detected wrapped point cloud by using a space characteristic equation, traversing all points on M1, calculating the distance from the points to M2, and selecting the maximum value as the length L; the distance to M3 is calculated over all points on M2, with the maximum being taken as width B, and the distance to plane M1 is calculated over all points on M3, with the maximum being taken as height H.
2. The method of claim 1, wherein the background environment in step S1 is simply that the parcel is in a single solid background environment, and the parcel is in the rest background environment, which is complex.
3. The method for measuring the parcel volume according to claim 1, wherein the three-dimensional space coordinate data obtained in step S2 is subjected to filtering and noise reduction processing.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110220456A (en) * | 2019-06-26 | 2019-09-10 | 浙江大学 | A kind of hand-held box sizes measuring device and measuring method |
| CN113034619A (en) * | 2021-04-23 | 2021-06-25 | 中科微至智能制造科技江苏股份有限公司 | Package information measuring method, device and storage medium |
| CN114577123A (en) * | 2022-03-09 | 2022-06-03 | 赛那德科技有限公司 | Package volume measuring system and method |
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| DE102015109612A1 (en) * | 2015-06-16 | 2016-12-22 | Carl Zeiss Industrielle Messtechnik Gmbh | Coordinate measuring machine and method for calibrating the same with a time-of-flight camera |
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Patent Citations (7)
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| CN104315995A (en) * | 2014-11-15 | 2015-01-28 | 中国科学院光电研究院 | TOF depth camera three-dimensional coordinate calibration device and method based on virtual multi-cube standard target |
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