CN109000560A - Method, apparatus and equipment based on three-dimensional camera detection package dimensions - Google Patents
Method, apparatus and equipment based on three-dimensional camera detection package dimensions Download PDFInfo
- Publication number
- CN109000560A CN109000560A CN201810595464.XA CN201810595464A CN109000560A CN 109000560 A CN109000560 A CN 109000560A CN 201810595464 A CN201810595464 A CN 201810595464A CN 109000560 A CN109000560 A CN 109000560A
- Authority
- CN
- China
- Prior art keywords
- data
- package
- dimensional
- value
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of method, apparatus, equipment and computer readable storage mediums based on three-dimensional camera detection package dimensions, comprising: the first three-dimensional data A (x for not placing the detection platform region of package to be detected is obtained using three-dimensional camerai,yi,zi)；The second three-dimensional data B (x in the detection platform region after placing package to be detected is obtained using three-dimensional cameraj,yj,zj)；To z in the first three-dimensional dataiWith z in the second three-dimensional datajDifference processing is done, the height value of package to be detected is calculated according to difference data；Z in the second three-dimensional data is determined according to height valuejValue interval, the three-dimensional data in value interval is projected to X-Y axis and is formed by plane；The data fit object rectangle for being formed by plane using X-Y axis is projected to obtains the length value and width value of package to be detected according to target rectangle size.Using method, apparatus provided by the present invention, equipment and computer readable storage medium, detection accuracy can be improved while guaranteeing package dimensions detection efficiency.
Description
Technical field
The present invention relates to package volume field of measuring technique, detect package dimensions based on three-dimensional camera more particularly to one kind
Method, apparatus, equipment and computer readable storage medium.
Background technique
With the rapid development of logistics, requirements at the higher level are proposed to the volume detection of package.
Currently based on the inclusion enclave volume detection system of two-dimensional camera in the image for acquiring package to be detected using binocular camera
When information, it is necessary first to be focused to camera, the speed for detecting package is slower.It is collected when binocular camera is unfocused
The image quality for wrapping up image is poor, and the outer surface generally wrapped up goes out to be pasted with a large amount of adhesive tape, can will be radiated at package surface
Light reflex to imaging sensor, it is unintelligible to will also result in imaging sensor acquired image；When binocular camera is collected
When the fogging image of several packages to be detected, multiple image is difficult to interact, to be difficult to reconstruct the three of package to be detected
Dimension face shape；Therefore, the package volume detection system based on two-dimensional camera is difficult to using in actual production.
In summary as can be seen that how to improve detection accuracy while guaranteeing package dimensions detection efficiency is to have at present
Problem to be solved.
Summary of the invention
The object of the present invention is to provide it is a kind of by the three-dimensional camera detection method, apparatus of package dimensions, equipment and based on
Calculation machine readable storage medium storing program for executing, solved the inclusion enclave volume detection system detection accuracy based on two-dimensional camera in the prior art it is low, effect
The slow problem of rate.
In order to solve the above technical problems, the present invention provides a kind of method based on three-dimensional camera detection package dimensions, comprising:
The the first three-dimensional data A (x for not placing the detection platform region of package to be detected is obtained using three-dimensional camerai,yi,zi)；Using institute
State the second three-dimensional data B (x in the detection platform region that three-dimensional camera obtains after placing the package to be detectedj,yj,zj)；To institute
State Z axis data z in the first three-dimensional dataiWith Z axis data z in second three-dimensional datajDifference processing is done, in order to according to difference
The height value of the package to be detected is calculated in Value Data；According to the height value, z in second three-dimensional data is determinedj
Value interval, using the three-dimensional data in the value interval as data for projection, projection to X-Y axis is formed by plane；
Target rectangle is fitted using the data that X-Y axis is formed by plane are projected to, according to the size of the target rectangle, is obtained
The length value and width value of the package to be detected.
Preferably, described to Z axis data z in first three-dimensional dataiWith Z axis data z in second three-dimensional dataj
Difference processing is done, in order to which the height value that the package to be detected is calculated according to difference data includes:
To Z axis data z in first three-dimensional dataiWith Z axis data z in second three-dimensional datajDifference processing is done,
Obtain difference data；According to the preset height maximum value and preset height minimum value of the package to be detected, the difference is screened
Valid data in data；It counts the valid data and appears in frequency in each section of Z axis, according to the frequency selection purposes
Target interval, and calculate height of the average value of whole difference datas in the target interval as the package to be detected.
Preferably, it includes: to be gone out using data that the statistics valid data, which appear in the frequency in each section of Z axis,
Existing frequency distribution function, counts the distributed number of valid data in each Z axis section, occurs to obtain the valid data
Frequency in each section of Z axis.
Preferably, described according to the height value, determine z in second three-dimensional datajValue interval, taken described
The three-dimensional data being worth in section is used as data for projection, projects and is formed by plane during to include: with the height value be to X-Y axis
Value chooses z in second three-dimensional datajValue interval, the three-dimensional data in the value interval is projected to X-Y axis institute
In the plane of formation.
Preferably, described that the one or three dimension for not placing the detection platform region of package to be detected is obtained using three-dimensional camera
According to A (xi,yi,zi) it include: utilization after the setting for the detection zone for being previously-completed three-dimensional laser camera and the setting of parameter preset
The three-dimensional laser camera obtains the first three-dimensional data A (x for not placing the detection platform region of package to be detectedi,yi,zi)。
Preferably, the data that the utilization projects to that X-Y axis is formed by plane fit target rectangle, according to described in
The size of target rectangle, the length value and width value for obtaining the package to be detected include: that the utilization projects to X-Y axis institute shape
At plane on data fit minimum rectangle, according to the side length of the minimum rectangle, obtain the length of the rectangle to be detected
Angle value and width value.
The present invention also provides a kind of devices based on three-dimensional camera detection package dimensions, comprising: three-dimensional camera, detection are flat
Platform, processor；
The three-dimensional camera is for acquiring three-dimensional data and placement of the detection platform when not placing package to be detected
Three-dimensional data when package to be detected；
The processor is used to obtain the one or three of the detection platform region for not placing package to be detected using three-dimensional camera
Dimension data A (xi,yi,zi)；Second of the detection platform region after placing the package to be detected is obtained using the three-dimensional camera
Three-dimensional data B (xj,yj,zj)；To Z axis data z in first three-dimensional dataiWith Z axis data z in second three-dimensional dataj
Difference processing is done, in order to which the height value of the package to be detected is calculated according to difference data；According to the height value and
Preset rules determine z in second three-dimensional datajValue interval, using the three-dimensional data in the value interval as throw
Shadow data, projection to X-Y axis are formed by plane；Mesh is fitted using the data that X-Y axis is formed by plane are projected to
Rectangle is marked, according to the size of the target rectangle, obtains the length value and width value of the package to be detected.
Preferably, described to Z axis data z in first three-dimensional dataiWith Z axis data z in second three-dimensional dataj
Difference processing is done, in order to which the height value that the package to be detected is calculated according to difference data includes:
To Z axis data z in first three-dimensional dataiWith Z axis data z in second three-dimensional datajDifference processing is done,
Obtain difference data；According to the preset height maximum value and preset height minimum value of the package to be detected, the difference is screened
Valid data in data；It counts the valid data and appears in frequency in each section of Z axis, according to the frequency selection purposes
Target interval, and calculate height of the average value of whole difference datas in the target interval as the package to be detected.
The present invention also provides a kind of equipment based on three-dimensional camera detection package dimensions, comprising:
Memory, for storing computer program；Processor realizes above-mentioned one kind when for executing the computer program
The step of detecting the method for package dimensions based on three-dimensional camera.
The present invention also provides a kind of computer readable storage medium, meter is stored on the computer readable storage medium
Calculation machine program, the computer program realize a kind of above-mentioned side based on three-dimensional camera detection package dimensions when being executed by processor
The step of method.
Method provided by the present invention based on three-dimensional camera detection package dimensions, detection is obtained by three-dimensional camera respectively
The second three-dimensional data when first three-dimensional data of the platform when not placing package to be detected and the placement package to be detected；It is logical
Cross in first three-dimensional data all the same to X axis coordinate and Y axis coordinate Z axis data in Z axis data and the second three-dimensional data
Difference processing is done, multiple groups difference data is obtained；The height value of the package to be detected is calculated according to the difference data；According to institute
Height value is stated, determines the value interval of the Z coordinate in second three-dimensional data, the three-dimensional data in the value interval is made
For data for projection, projection to X-axis and Y-axis is formed by plane；The number being formed by using projection to X-axis and Y-axis in plane
According to target rectangle is fitted, the length value and width value of the package to be detected are obtained according to the target rectangle.Institute of the present invention
The method of the package volume detection of offer, the three-dimensional data of package dimensions to be detected is obtained using three-dimensional camera, relative to existing
Inclusion enclave volume detection system in technology based on two-dimensional camera acquires the three of several package image reconstruction packages using binocular camera
Dimension face shape does not need to be focused camera when acquiring package to be detected, does not need to interact multiple image processing yet；
Therefore the three-dimensional data of the package to be detected got is more accurate, to keep package dimensions testing result more accurate, also greatly
Detection efficiency is improved greatly.
Detailed description of the invention
It, below will be to embodiment or existing for the clearer technical solution for illustrating the embodiment of the present invention or the prior art
Attached drawing needed in technical description is briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the first specific embodiment of the method provided by the present invention that package dimensions are detected based on three-dimensional camera
Flow chart；
Fig. 2 is second of specific embodiment of the method provided by the present invention that package dimensions are detected based on three-dimensional camera
Flow chart；
Fig. 3 is frequency distribution of the valid data in each section of Z axis；
Fig. 4 is a kind of structure chart of device that package dimensions are detected based on three-dimensional camera provided in an embodiment of the present invention.
Specific embodiment
Core of the invention is to provide a kind of method, apparatus, equipment and calculating based on three-dimensional camera detection package dimensions
Machine readable storage medium storing program for executing can improve detection accuracy while guaranteeing package dimensions detection efficiency.
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiments are only a part of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Referring to FIG. 1, Fig. 1 is the first tool of the method provided by the present invention for detecting package dimensions based on three-dimensional camera
The flow chart of body embodiment；Specific steps are as follows:
Step S101: the first three-dimensional data for not placing the detection platform region of package to be detected is obtained using three-dimensional camera
A(xi,yi,zi)；
Before using three-dimensional camera acquisition three-dimensional data, the three-dimensional camera is installed on the upper of the detection platform
Side, and the central axis of the three-dimensional camera, in the detection platform, the detection platform is parallel to ground, and height is adjustable
Whole, adjusting the distance between the three-dimensional camera and the detection platform allows the field range of the three-dimensional camera to cover institute
State the maximum cuboid package that can be detected；Place the package to be detected in the upper surface of the detection platform；The packet to be detected
It wraps up in as cuboid package.
After the installation for completing the three-dimensional camera and the detection platform, be arranged the detection zone parameter and its
The setting of his parameter.
Step S102: second of the detection platform region after placing the package to be detected is obtained using the three-dimensional camera
Three-dimensional data B (xj,yj,zj)；
Laser three-dimensional imaging technology has big pointing precision height, site density, informative, data processing highly automated
The advantages that change, product altitude figure；Therefore the detection for not placing the package to be detected using the acquisition of three-dimensional laser camera is flat
The three-dimensional data in platform region and the three-dimensional data for placing the detection platform region after the package to be detected, can be improved and treat
The detection efficiency and detection accuracy for detecting package dimensions, to accurately generate the three-dimensional information of package to be detected.
Step S103: to Z axis data z in first three-dimensional dataiWith Z axis data z in second three-dimensional datajIt does
Difference processing, in order to which the height value of the package to be detected is calculated according to difference data；
Step S104: according to the height value, z in second three-dimensional data is determinedjValue interval, by the value
As data for projection, projection to X-Y axis is formed by plane three-dimensional data in section；
In the present embodiment, z in second three-dimensional data can be chosen by intermediate value of the height valuejValue area
Between, such as: zjValue interval be height value ± 10mm.For the z in second three-dimensional datajValue range is chosen, it will be described
As data for projection, projection is formed by plane three-dimensional coordinate data in value range to X-Y axis, on the one hand reduces three
Influence of laser camera itself error to testing result is tieed up, it is on the other hand, as comprehensive as possible in the data for projection to save
The dimension information of the package to be detected.
Step S105: target rectangle is fitted using the data that X-Y axis is formed by plane are projected to, according to the mesh
The size of rectangle is marked, the length value and width value of the package to be detected are obtained.
Method based on three-dimensional camera detection package dimensions provided by the present embodiment, acquires institute by three-dimensional laser camera
State three-dimensional data of detection platform region when without package and three-dimensional data when having package；Utilize collected three dimension twice
After the height value for calculating the package to be detected according to its difference, using the height value, z in second three-dimensional data is determinedj's
Value range, to obtain the length value and width value of the package to be detected of the package to be detected.Provided by the present embodiment
Package dimensions detection method, solve detection efficiency in the package volume detection method based on two-dimensional camera in the prior art it is low,
Testing result inaccuracy the problems in is dfficult to apply to actual production, provides and a kind of is guaranteeing package dimensions detection efficiency
The detection accuracy of package is improved simultaneously, and can be applied in packages system, there is good social value.
Based on the above embodiment, to Z axis data z in first three-dimensional data in the present embodimentiIt is three-dimensional with described second
Z axis data z in datajDifference processing is done, obtained difference data is screened, to obtain valid data, is had described in statistics
The frequency that effect data occur in different Z axis sections, averages to the valid data in frequency of occurrences highest section, to obtain
Obtain the height value of the package to be detected.
Referring to FIG. 2, Fig. 2 is second of tool of the method provided by the present invention for detecting package dimensions based on three-dimensional camera
The flow chart of body embodiment；Specific steps are as follows:
Step S201: after being previously-completed installation and parameter setting to three-dimensional laser camera Visionary-T, using described
The first three-dimensional data A (x in detection platform region when package to be detected is not placed in Visionary-T acquisitioni,yi,zi)；
The Visionary-T is a laser 3D camera, three-dimensional laser time flight theory is based on, using laser snapshot
(3D Snap-shot) technology static can obtain effective three-dimensional data, and pass through the output of the buses such as Ethernet.Sensor is each
By sending one group of laser dot-matrix (about 25000), by being collected into the range information and intensity value of associated laser point, then will count
Three-dimensional data is exported according to processing is carried out.Wherein, the three-dimensional data that Visionary-T is returned every time about 25000.
According to the SOPAS software that SICK company provides, the detection zone setting and other parameters for completing three-dimensional camera are set
It sets.
Step S202: the of detection platform region when placing the package to be detected using Visionary-T acquisition
Two three-dimensional data B (xj,yj,zj)；
Step S203: to Z axis data z in first three-dimensional dataiWith Z axis data z in second three-dimensional datajIt does
Difference processing, obtains multiple difference datas；
Step S204: according to the preset height maximum value and preset height minimum value of the package to be detected, described in screening
Valid data in difference data；
Step S205: utilizing data frequency of occurrences distribution map function, counts the quantity point of valid data in each Z axis section
Cloth, so that obtaining the valid data appears in frequency in each section of Z axis；
Frequency distribution of the valid data in each section of Z axis is as shown in Figure 3.
Step S206: according to the frequency selection purposes target interval, and whole difference datas in the target interval are calculated
Height value of the average value as the package to be detected；
Step S207: z in second three-dimensional data is chosen by intermediate value of the height valuejValue interval, will be described
Three-dimensional data in value interval is projected to X-Y axis and is formed by plane；
Step S208: calculating projection is formed by the discrete point in plane to X-Y axis and fits minimum rectangle, according to described
The side length of minimum rectangle obtains the length value and width value of the rectangle to be detected.
It in the present embodiment, can according to actual needs, by the way that the difference data offset differences statistical average is arranged
Range or zjValue interval, to package detection speed, detection accuracy and detection environment carry out dynamic regulation, example,
When needing faster detection rates, the smaller of the target interval setting of the height value of the package to be detected will be calculated,
Ask the calculation amount when average value of whole difference datas in the target interval that can tail off accordingly, to improve detection speed
Degree；Z in second three-dimensional data can also be chosen by intermediate value of the height value by suitably reducingjValue interval model
It encloses, then can more quickly calculate the length value and width value of the package to be detected, so as to guarantee measurement essence
While spending, accelerate detection speed.
Referring to FIG. 4, Fig. 4 is a kind of device for detecting package dimensions based on three-dimensional camera provided in an embodiment of the present invention
Structure chart；Specific device may include:
Three-dimensional camera, detection platform, processor；
The three-dimensional camera is for acquiring three-dimensional data and placement of the detection platform when not placing package to be detected
Three-dimensional data when package to be detected；
The processor is used to obtain the one or three of the detection platform region for not placing package to be detected using three-dimensional camera
Dimension data A (xi,yi,zi)；Second of the detection platform region after placing the package to be detected is obtained using the three-dimensional camera
Three-dimensional data B (xj,yj,zj)；To Z axis data z in first three-dimensional dataiWith Z axis data z in second three-dimensional dataj
Difference processing is done, in order to which the height value of the package to be detected is calculated according to difference data；According to the height value and
Preset rules determine z in second three-dimensional datajValue interval, using the three-dimensional data in the value interval as throw
Shadow data, projection to X-Y axis are formed by plane；Mesh is fitted using the data that X-Y axis is formed by plane are projected to
Rectangle is marked, according to the size of the target rectangle, obtains the length value and width value of the package to be detected.
The device based on three-dimensional camera detection package dimensions of the present embodiment is examined for realizing above-mentioned based on three-dimensional camera
The method for surveying package dimensions, therefore the specific embodiment in the device based on three-dimensional camera detection package dimensions is visible hereinbefore
Based on three-dimensional camera detection package dimensions method embodiment part, so, specific embodiment is referred to accordingly
Various pieces embodiment description, details are not described herein.
The specific embodiment of the invention additionally provides a kind of equipment based on three-dimensional camera detection package dimensions, comprising: storage
Device, for storing computer program；Processor is realized above-mentioned a kind of based on three-dimensional camera when for executing the computer program
The step of detecting the method for package dimensions.
The specific embodiment of the invention additionally provides a kind of computer readable storage medium, the computer readable storage medium
On be stored with computer program, the computer program is realized above-mentioned a kind of based on three-dimensional camera detection packet when being executed by processor
The step of wrapping up in the method for size.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other
The difference of embodiment, same or similar part may refer to each other between each embodiment.For being filled disclosed in embodiment
For setting, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part
Explanation.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Above to method, apparatus, equipment and the calculating provided by the present invention based on three-dimensional camera detection package dimensions
Machine readable storage medium storing program for executing is described in detail.Specific case used herein carries out the principle of the present invention and embodiment
It illustrates, the above description of the embodiment is only used to help understand the method for the present invention and its core ideas.It should be pointed out that for
For those skilled in the art, without departing from the principle of the present invention, if can also be carried out to the present invention
Dry improvement and modification, these improvements and modifications also fall within the scope of protection of the claims of the present invention.
Claims (10)
1. a kind of method based on three-dimensional camera detection package dimensions characterized by comprising
The the first three-dimensional data A (x for not placing the detection platform region of package to be detected is obtained using three-dimensional camerai,yi,zi)；
The second three-dimensional data B (x in the detection platform region after placing the package to be detected is obtained using the three-dimensional cameraj,
yj,zj)；
To Z axis data z in first three-dimensional dataiWith Z axis data z in second three-dimensional datajDifference processing is done, so as to
In the height value that the package to be detected is calculated according to difference data；
According to the height value, z in second three-dimensional data is determinedjValue interval, by three dimensions in the value interval
According to as data for projection, projection to X-Y axis is formed by plane；
Target rectangle is fitted using the data that X-Y axis is formed by plane are projected to, according to the size of the target rectangle,
Obtain the length value and width value of the package to be detected.
2. the method as described in claim 1, which is characterized in that described to Z axis data z in first three-dimensional dataiWith it is described
Z axis data z in second three-dimensional datajDifference processing is done, in order to which the package to be detected is calculated according to difference data
Height value includes:
To Z axis data z in first three-dimensional dataiWith Z axis data z in second three-dimensional datajDifference processing is done, is obtained
Difference data；
According to the preset height maximum value and preset height minimum value of the package to be detected, having in the difference data is screened
Imitate data；
It counts the valid data and appears in frequency in each section of Z axis, according to the frequency selection purposes target interval, and count
Calculate height of the average value of whole difference datas in the target interval as the package to be detected.
3. method according to claim 2, which is characterized in that the statistics valid data appear in each area of Z axis
In frequency include:
Using data frequency of occurrences distribution map function, the distributed number of valid data in each Z axis section is counted, to obtain institute
It states valid data and appears in frequency in each section of Z axis.
4. method as claimed in claim 3, which is characterized in that it is described according to the height value, determine the two or three dimension
According to middle zjValue interval, using the three-dimensional data in the value interval as data for projection, projection is formed by flat to X-Y axis
Include: on face
Z in second three-dimensional data is chosen by intermediate value of the height valuejValue interval, by three in the value interval
Dimension data is projected to X-Y axis and is formed by plane.
5. method as claimed in claim 4, which is characterized in that described not place package to be detected using three-dimensional camera acquisition
The first three-dimensional data A (x in detection platform regioni,yi,zi) include:
After being previously-completed the setting of the detection zone of three-dimensional laser camera and the setting of parameter preset, the three-dimensional laser phase is utilized
Machine obtains the first three-dimensional data A (x for not placing the detection platform region of package to be detectedi,yi,zi)。
6. such as method described in any one of claim 1 to 5, which is characterized in that the utilization project to X-Y axis be formed by it is flat
Data on face fit target rectangle, according to the size of the target rectangle, obtain the package to be detected length value and
Width value includes:
The utilization projects to the data that X-Y axis is formed by plane and fits minimum rectangle, according to the minimum rectangle
Side length obtains the length value and width value of the rectangle to be detected.
7. a kind of device based on three-dimensional camera detection package dimensions characterized by comprising three-dimensional camera, detection platform, place
Manage device；
The three-dimensional camera is for acquiring three-dimensional data of the detection platform when not placing package to be detected and placing to be checked
Survey three-dimensional data when package；
The processor is used to obtain the one or three dimension for not placing the detection platform region of package to be detected using three-dimensional camera
According to A (xi,yi,zi)；Second three-dimensional in the detection platform region after placing the package to be detected is obtained using the three-dimensional camera
Data B (xj,yj,zj)；To Z axis data z in first three-dimensional dataiWith Z axis data z in second three-dimensional datajIt makes the difference
Value processing, in order to which the height value of the package to be detected is calculated according to difference data；According to the height value and preset
Rule determines z in second three-dimensional datajValue interval, using the three-dimensional data in the value interval as projection number
According to projection to X-Y axis is formed by plane；Target square is fitted using the data that X-Y axis is formed by plane are projected to
Shape obtains the length value and width value of the package to be detected according to the size of the target rectangle.
8. device as claimed in claim 7, which is characterized in that described to work as xi=xjAnd yi=yjWhen, to the one or three dimension
According to middle Z axis data ziWith Z axis data z in second three-dimensional datajDifference processing is done, in order to calculate according to difference data
The height value of the package to be detected includes: out
Work as xi=xjAnd yi=yjWhen, to Z axis data z in first three-dimensional dataiWith Z axis data in second three-dimensional data
zjDifference processing is done, difference data is obtained；
According to the preset height maximum value and preset height minimum value of the package to be detected, having in the difference data is screened
Imitate data；
It counts the valid data and appears in frequency in each section of Z axis, according to the frequency selection purposes target interval, and count
Calculate height of the average value of whole difference datas in the target interval as the package to be detected.
9. a kind of equipment based on three-dimensional camera detection package dimensions characterized by comprising
Memory, for storing computer program；
Processor is realized a kind of based on three-dimensional phase as described in any one of claim 1 to 6 when for executing the computer program
The step of method of machine testing package dimensions.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program is realized a kind of based on three-dimensional camera as described in any one of claim 1 to 6 when the computer program is executed by processor
The step of detecting the method for package dimensions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810595464.XA CN109000560B (en) | 2018-06-11 | 2018-06-11 | Method, device and equipment for detecting package size based on three-dimensional camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810595464.XA CN109000560B (en) | 2018-06-11 | 2018-06-11 | Method, device and equipment for detecting package size based on three-dimensional camera |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109000560A true CN109000560A (en) | 2018-12-14 |
| CN109000560B CN109000560B (en) | 2021-07-06 |
Family
ID=64601289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810595464.XA Expired - Fee Related CN109000560B (en) | 2018-06-11 | 2018-06-11 | Method, device and equipment for detecting package size based on three-dimensional camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109000560B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111238369A (en) * | 2020-01-19 | 2020-06-05 | 广东工业大学 | Method, system and equipment for measuring volume of double rectangular objects |
| CN115077425A (en) * | 2022-08-22 | 2022-09-20 | 深圳市超准视觉科技有限公司 | Product detection equipment and method based on structured light three-dimensional vision |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5178965A (en) * | 1992-02-14 | 1993-01-12 | Rockwell International Corporation | Uniform solder coating on roughened substrate |
| FR2785382A1 (en) * | 1998-11-03 | 2000-05-05 | Aerospatiale | System for measuring weight and dimensions of moving objects, such as for measuring dimensions of parcels moving along a conveyor belt has device for removing oscillations from weight measurement sensor |
| CN1877251A (en) * | 2005-06-07 | 2006-12-13 | 安立株式会社 | Printing solder detecting device |
| EP2335200A1 (en) * | 2008-09-30 | 2011-06-22 | Amazon Technologies, Inc. | Systems and methods for receiving shipment parcels |
| CN104525422A (en) * | 2015-01-04 | 2015-04-22 | 成都思达特电器有限公司 | Method for controlling paths of spray robot |
| CN105277120A (en) * | 2014-06-25 | 2016-01-27 | 财团法人工业技术研究院 | Object measuring system and method |
| CN106839975A (en) * | 2015-12-03 | 2017-06-13 | 杭州海康威视数字技术股份有限公司 | Volume measuring method and its system based on depth camera |
-
2018
- 2018-06-11 CN CN201810595464.XA patent/CN109000560B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5178965A (en) * | 1992-02-14 | 1993-01-12 | Rockwell International Corporation | Uniform solder coating on roughened substrate |
| FR2785382A1 (en) * | 1998-11-03 | 2000-05-05 | Aerospatiale | System for measuring weight and dimensions of moving objects, such as for measuring dimensions of parcels moving along a conveyor belt has device for removing oscillations from weight measurement sensor |
| CN1877251A (en) * | 2005-06-07 | 2006-12-13 | 安立株式会社 | Printing solder detecting device |
| EP2335200A1 (en) * | 2008-09-30 | 2011-06-22 | Amazon Technologies, Inc. | Systems and methods for receiving shipment parcels |
| CN105277120A (en) * | 2014-06-25 | 2016-01-27 | 财团法人工业技术研究院 | Object measuring system and method |
| CN104525422A (en) * | 2015-01-04 | 2015-04-22 | 成都思达特电器有限公司 | Method for controlling paths of spray robot |
| CN106839975A (en) * | 2015-12-03 | 2017-06-13 | 杭州海康威视数字技术股份有限公司 | Volume measuring method and its system based on depth camera |
Non-Patent Citations (1)
| Title |
|---|
| 赵兴东: "《矿用三维激光数字测量原理及其工程应用》", 31 January 2016 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111238369A (en) * | 2020-01-19 | 2020-06-05 | 广东工业大学 | Method, system and equipment for measuring volume of double rectangular objects |
| CN115077425A (en) * | 2022-08-22 | 2022-09-20 | 深圳市超准视觉科技有限公司 | Product detection equipment and method based on structured light three-dimensional vision |
| CN115077425B (en) * | 2022-08-22 | 2022-11-11 | 深圳市超准视觉科技有限公司 | Product detection equipment and method based on structured light three-dimensional vision |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109000560B (en) | 2021-07-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9317948B2 (en) | Method of and apparatus for processing graphics | |
| CN103761397B (en) | Three-dimensional model slice for surface exposure additive forming and projection plane generating method | |
| CA2506419C (en) | Visible surface determination system & methodology in computer graphics using interval analysis | |
| US20170309027A1 (en) | Method and apparatus for processing graphics | |
| CN109029250A (en) | A kind of method, apparatus and equipment based on three-dimensional camera detection package dimensions | |
| CN109000560A (en) | Method, apparatus and equipment based on three-dimensional camera detection package dimensions | |
| CN110221342A (en) | Seismic source location method, apparatus and storage medium based on three-dimensional velocity structure | |
| CN109977466A (en) | A kind of 3-D scanning viewpoint planning method, apparatus and computer readable storage medium | |
| JP2011054144A (en) | Atmospheric flow field simulation method in consideration of topographical resolution difference | |
| CN110522515A (en) | Determination method, system, electronic equipment and the storage medium of acetabular component coverage rate | |
| US20130289937A1 (en) | Computing device and method of measuring surface dimensions of objects | |
| CN103177417A (en) | GPGPU (general purpose computing on graphics processing unit) based mathematical-morphology LiDAR (Light detection and ranging) point cloud quick-filtering method | |
| CN113190515A (en) | Heterogeneous parallel computing-based urban mass point cloud coordinate transformation method | |
| CN109633570A (en) | A kind of random Chaff Clouds modeling method of quick arbitrary shape | |
| CN115120891B (en) | Dose transmission evaluation device, computer-readable storage medium and system | |
| CN109190144A (en) | A kind of arbitrary shape radioactive source radiation shield computer sim- ulation method | |
| CN108596921A (en) | Method, apparatus, equipment and the readable storage medium storing program for executing of salient region of image detection | |
| CN103315770A (en) | Target parameter processing method and system based on three-dimensional ultrasonic image | |
| US20130176311A1 (en) | System and method for generating an outer layer representation of an object | |
| CN109886910A (en) | External digital elevation model DEM modification method and device | |
| CN108629840A (en) | A kind of method, apparatus and equipment for establishing LOGO three-D profiles | |
| CN106373192B (en) | A kind of non-topological coherence three-dimensional grid block tracing algorithm | |
| CN111696152A (en) | Method, device, computing equipment, system and storage medium for detecting package stacking | |
| CN110726534B (en) | Visual field range testing method and device for visual device | |
| CN108053481A (en) | Generation method, device and the storage medium of three-dimensional point cloud normal vector |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210706 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |