CN110332895B - Method, system and equipment for detecting length and width information of cuboid package - Google Patents
Method, system and equipment for detecting length and width information of cuboid package Download PDFInfo
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- 238000012216 screening Methods 0.000 claims abstract description 68
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F17/00—Methods or apparatus for determining the capacity of containers or cavities, or the volume of solid bodies
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/06—Topological mapping of higher dimensional structures onto lower dimensional surfaces
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The application discloses a cuboid parcel length and width information detection method, which comprises the following steps: projecting the three-dimensional data to a two-dimensional plane to obtain a two-dimensional projection data point; determining a screening area corresponding to each initial data point; taking the number of the two-dimensional projection data points in each screening area as screening number, and determining the two-dimensional projection data points corresponding to the screening areas with the screening number larger than a threshold value as effective data points; and determining the length and width information of the to-be-detected package according to each effective data point. The method and the device determine the two-dimensional projection data points corresponding to the screening areas with the screening number larger than the threshold value as effective data points, and determine the length and width information of the package to be detected according to each effective data point, so that noise points are removed, and the detection precision of the length and width information of the cuboid package is greatly improved. The application also provides a system and equipment for detecting the length and width information of the cuboid package and a computer readable storage medium, and the system and the equipment have the beneficial effects.
Description
Technical Field
The present application relates to the field of volume detection, and in particular, to a method, a system, a device, and a computer-readable storage medium for detecting information about the length and width of a cuboid package.
Background
With the development of image sensor technology, three-dimensional cameras are increasingly widely used. The three-dimensional camera emits modulated near-infrared light or laser through the modulated light source, the modulated near-infrared light or laser is reflected after meeting an object to be measured, and distance information of the object to be measured can be obtained by calculating the time difference or phase difference of the transmission light and the reflected light transmitted between the three-dimensional camera and the object to be measured.
In a modern logistics system, detection of length and width information of cuboid packages on a conveying belt by using a three-dimensional camera is in common use. However, the conveyor belts with different colors and surface materials can generate noise points for the three-dimensional data returned by the three-dimensional camera, and the noise points greatly influence the detection accuracy of the length and width information of the cuboid package. At present, no effective method for removing noise points caused by a conveyor belt exists, and the method becomes an important factor for restricting the application of a three-dimensional camera to the detection of the length and width information of the cuboid package.
Therefore, how to improve the detection accuracy of the length and width information of the cuboid package is a technical problem which needs to be solved by the technical personnel in the field at present.
Disclosure of Invention
The application aims to provide a method, a system, equipment and a computer readable storage medium for detecting the length and width information of a cuboid package, which are used for improving the detection precision of the length and width information of the cuboid package.
In order to solve the technical problem, the application provides a method for detecting the length and width information of a cuboid package, which comprises the following steps:
acquiring three-dimensional data of a package to be detected on a conveyor belt through a three-dimensional camera, and projecting the three-dimensional data to a two-dimensional plane to obtain a two-dimensional projection data point;
taking each two-dimensional projection data point as an initial data point, and determining a screening area corresponding to each initial data point;
taking the number of the two-dimensional projection data points in each screening area as screening number, and determining the two-dimensional projection data points corresponding to the screening area with the screening number larger than a threshold value as effective data points;
and determining the length and width information of the to-be-detected package according to each effective data point.
Optionally, the taking each two-dimensional projection data point as a starting data point and determining a screening region corresponding to each starting data point includes:
determining the distance between adjacent discrete points in a two-dimensional plane of the conveyor belt according to the resolution of the three-dimensional camera and the distance between the three-dimensional camera and the conveyor belt;
and determining a screening area corresponding to each starting data point according to the distance between the adjacent discrete points.
Optionally, projecting the three-dimensional data onto a two-dimensional plane to obtain a two-dimensional projection data point, including:
and projecting the three-dimensional data with the height value within a preset range to the two-dimensional plane point to obtain the two-dimensional projection data point.
Optionally, after determining the length and width information of the parcel to be detected according to each valid data point, the method further includes:
and outputting the length and width information of the to-be-detected package to a preset position.
The application also provides a cuboid parcel length and width information detection's system, and this system includes:
the projection module is used for acquiring three-dimensional data of the packages to be detected on the conveyor belt through the three-dimensional camera and projecting the three-dimensional data to a two-dimensional plane to obtain two-dimensional projection data points;
the first determining module is used for taking each two-dimensional projection data point as an initial data point and determining a screening area corresponding to each initial data point;
the second determining module is used for taking the number of the two-dimensional projection data points in each screening area as screening number, and determining the two-dimensional projection data points corresponding to the screening area with the screening number larger than a threshold value as effective data points;
and the third determining module is used for determining the length and width information of the to-be-detected package according to each effective data point.
Optionally, the first determining module includes:
the first determining sub-module is used for determining the distance between adjacent discrete points in a two-dimensional plane where the conveyor belt is located according to the resolution of the three-dimensional camera and the distance between the three-dimensional camera and the conveyor belt;
and the second determining submodule is used for determining a screening area corresponding to each starting data point according to the distance between the adjacent discrete points.
Optionally, the projection module includes:
and the projection submodule is used for projecting the three-dimensional data with the height value within a preset range to the two-dimensional plane point to obtain the two-dimensional projection data point.
Optionally, the method further includes:
and the output module is used for outputting the length and width information of the to-be-detected package to a preset position.
This application still provides a cuboid parcel length and width information check out test set, and this cuboid parcel length and width information check out test set includes:
a memory for storing a computer program;
and the processor is used for realizing the steps of the method for detecting the length and width information of the cuboid package when the computer program is executed.
The present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the method for detecting information about length and width of a rectangular parallelepiped package according to any one of the above.
The application provides a cuboid parcel length and width information detection method, including: acquiring three-dimensional data of a package to be detected on a conveyor belt through a three-dimensional camera, and projecting the three-dimensional data to a two-dimensional plane to obtain a two-dimensional projection data point; taking each two-dimensional projection data point as an initial data point, and determining a screening area corresponding to each initial data point; taking the number of the two-dimensional projection data points in each screening area as screening number, and determining the two-dimensional projection data points corresponding to the screening areas with the screening number larger than a threshold value as effective data points; and determining the length and width information of the to-be-detected package according to each effective data point.
According to the technical scheme provided by the application, each two-dimensional projection data point is used as an initial data point, and a screening area corresponding to each initial data point is determined; the method comprises the steps of taking the number of two-dimensional projection data points in each screening area as a screening number, determining the two-dimensional projection data points corresponding to the screening area with the screening number larger than a threshold value as effective data points, determining the two-dimensional projection data points corresponding to the screening area with the screening number smaller than or equal to the threshold value as noise points caused by a conveyor belt, and finally determining length and width information of a package to be detected according to each effective data point, so that the noise points are removed, and the detection accuracy of the length and width information of the cuboid package is greatly improved. The application also provides a system, equipment and computer readable storage medium for detecting the length and width information of the cuboid package, which have the beneficial effects and are not repeated herein.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a method for detecting information about length and width of a cuboid package according to an embodiment of the present application;
FIG. 2 is a data diagram of a three-dimensional data projection onto a two-dimensional plane;
FIG. 3 is a fitted rectangle obtained using the prior art;
FIG. 4 is a fitted rectangle obtained by the technical solution provided in the present application;
FIG. 5 is a flow chart of an actual representation of S102 in the method for detecting information about the length and width of a cuboid package provided in FIG. 1;
fig. 6 is a structural diagram of a system for detecting information of length and width of a cuboid package according to an embodiment of the present application;
FIG. 7 is a block diagram of another cuboid package length and width information detection system according to an embodiment of the present disclosure;
fig. 8 is a structural diagram of a cuboid package length and width information detection device according to an embodiment of the present application.
Detailed Description
The core of the application is to provide a method, a system and equipment for detecting the length and width information of the cuboid package and a computer readable storage medium, which are used for improving the detection precision of the length and width information of the cuboid package.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a flowchart of a method for detecting length and width information of a cuboid package according to an embodiment of the present disclosure.
The method specifically comprises the following steps:
s101: acquiring three-dimensional data of a package to be detected on a conveyor belt through a three-dimensional camera, and projecting the three-dimensional data to a two-dimensional plane to obtain a two-dimensional projection data point;
in modern logistics systems, volume measurement of parcels on a conveyor belt using a three-dimensional camera is in common use. However, the conveyor belts with different colors and surface materials can generate noise points for the three-dimensional data returned by the three-dimensional camera, and the noise points greatly influence the detection accuracy of the length and width information of the cuboid package. At present, no effective method for removing noise points caused by a conveyor belt exists, which becomes an important factor for restricting the application of a three-dimensional camera to the detection of the length and width information of a cuboid package, so that the application provides a volume detection method for solving the problems;
optionally, the projecting the three-dimensional data onto the two-dimensional plane to obtain the two-dimensional projection data point may specifically be:
projecting the three-dimensional data with the height value within a preset range to a two-dimensional plane point to obtain a two-dimensional projection data point;
the projection of the three-dimensional data with the height value within the preset range onto the two-dimensional plane to obtain the two-dimensional projection data point aims to determine the base area of the package according to the two-dimensional projection data point, and then calculate the volume of the package according to the base area and the height value within the preset range.
S102: taking each two-dimensional projection data point as an initial data point, and determining a screening area corresponding to each initial data point;
referring to fig. 2, fig. 2 is a data diagram of three-dimensional data projected onto a two-dimensional plane, as can be seen from fig. 2, data points representing a package to be tested are relatively dense, and noise points are disordered and sparse, so that in the present application, each two-dimensional projected data point is used as an initial data point, a screening area corresponding to each initial data point is determined, and dense points in each two-dimensional projected data point are screened out to be used as effective data points to calculate a package volume, so as to reduce the influence of the noise points and improve the accuracy of detecting the length and width information of the cuboid package.
S103: taking the number of the two-dimensional projection data points in each screening area as screening number, and determining the two-dimensional projection data points corresponding to the screening areas with the screening number larger than a threshold value as effective data points;
optionally, the determining manner of the threshold mentioned here may be determined by a user according to personal experience, or may be a uniform threshold downloaded by a system connected to a cloud.
S104: and determining the length and width information of the to-be-detected package according to each effective data point.
Optionally, the length and width information of the to-be-detected package can be obtained by fitting each effective data point through a convex hull function.
Optionally, after determining the length and width information of the to-be-measured package according to each valid data point, the volume of the to-be-measured package can be calculated according to the preset height value and the length and width information of the to-be-measured package;
wherein, the preset height value is the height value in the preset range mentioned in the step S101;
referring to fig. 3 and 4, fig. 3 is a fitting rectangle chart obtained by the prior art; FIG. 4 is a fitted rectangle obtained by the technical solution provided in the present application; according to the technical scheme, the length and the width of the package to be detected can be determined after the noise points are removed, and the detection accuracy of the length and the width information of the cuboid package is greatly improved.
Optionally, after the length and width information of the to-be-detected package is determined according to each effective data point, the length and width information of the to-be-detected package can be output to a preset position, so that a user can record the length and width information of the to-be-detected package conveniently.
Based on the technical scheme, the method for detecting the length and width information of the cuboid package, provided by the application, comprises the steps of taking each two-dimensional projection data point as an initial data point, and determining a screening area corresponding to each initial data point; the method comprises the steps of taking the number of two-dimensional projection data points in each screening area as a screening number, determining the two-dimensional projection data points corresponding to the screening area with the screening number larger than a threshold value as effective data points, determining the two-dimensional projection data points corresponding to the screening area with the screening number smaller than or equal to the threshold value as noise points caused by a conveyor belt, and finally determining length and width information of a package to be detected according to each effective data point, so that the noise points are removed, and the detection accuracy of the length and width information of the cuboid package is greatly improved.
With respect to step S102 of the previous embodiment, the step of taking each two-dimensional projection data point as a starting data point and determining a screening region corresponding to each starting data point may also be specifically the step shown in fig. 5, which is described below with reference to fig. 5.
Referring to fig. 5, fig. 5 is a flowchart illustrating an actual representation manner of S102 in the method for detecting information about length and width of a cuboid package provided in fig. 1.
The method specifically comprises the following steps:
s501: determining the distance between adjacent discrete points in a two-dimensional plane where the conveyor belt is located according to the resolution of the three-dimensional camera and the distance between the three-dimensional camera and the conveyor belt;
s502: and determining the screening area corresponding to each initial data point according to the distance between the adjacent discrete points.
The technical scheme is explained in detail by taking the influence of a green conveyor belt on the measurement of the packages as an example, and a three-dimensional laser camera with the model of 3 VIST-T CX of Germany Secker is adopted for data acquisition in the example. The specific implementation mainly comprises the following specific implementation steps:
s5021: and determining the vertical distance from the three-dimensional camera to the conveyor belt according to the volume range required to be measured by the cuboid package to be measured.
In this example, the maximum size of the parcel to be measured is: 1000mm 700mm, and a minimum dimension of 150mm 50mm, the vertical distance from the three-dimensional camera to the conveyor belt being 1.6 meters, as calculated according to the technical manual provided by seike, germany, when the distance between adjacent discrete points in the two-dimensional plane is about 10 mm.
S5022: selecting any two-dimensional projection data point as a starting data point, and constructing a circular screening area by taking the point coordinate as a circle center and 2-3 times of the distance between adjacent discrete points as a radius (about 12 mm);
the specific structural formula is as follows:
wherein (x)0,y0) As the coordinate of the center of a circle, (x)i,yi) Is the coordinate of a point on the circle, R is the radius of the circle, thetaiTo generate (x)i,yi) The desired angle, i in this case may be from 1 to 50;
s5022: counting the number of two-dimensional projection data appearing in the circular screening area, if the number is less than 3, indicating that the two-dimensional projection data point is a noise point, discarding the point, otherwise, keeping the point.
Referring to fig. 6, fig. 6 is a structural diagram of a system for detecting length and width information of a cuboid package according to an embodiment of the present application.
The system may include:
the projection module 100 is used for acquiring three-dimensional data of a package to be measured on a conveyor belt through a three-dimensional camera and projecting the three-dimensional data to a two-dimensional plane to obtain a two-dimensional projection data point;
a first determining module 200, configured to use each two-dimensional projection data point as an initial data point, and determine a screening area corresponding to each initial data point;
a second determining module 300, configured to use the number of two-dimensional projection data points in each screening area as a screening number, and determine that two-dimensional projection data points corresponding to the screening area whose screening number is greater than a threshold are valid data points;
and a third determining module 400, configured to determine length and width information of the parcel to be detected according to each valid data point.
Referring to fig. 7, fig. 7 is a block diagram of another cuboid package length and width information detection system according to an embodiment of the present disclosure.
The first determining module 200 may include:
the first determining submodule is used for determining the distance between adjacent discrete points in a two-dimensional plane where the conveyor belt is located according to the resolution of the three-dimensional camera and the distance between the three-dimensional camera and the conveyor belt;
and the second determining submodule is used for determining a screening area corresponding to each starting data point according to the distance between the adjacent discrete points.
The projection module 100 may include:
and the projection submodule is used for projecting the three-dimensional data with the height value within the preset range to a two-dimensional plane point to obtain a two-dimensional projection data point.
The system may further comprise:
and the output module is used for outputting the length and width information of the to-be-detected package to a preset position.
Since the embodiment of the system part corresponds to the embodiment of the method part, the embodiment of the system part is described with reference to the embodiment of the method part, and is not repeated here.
Referring to fig. 8, fig. 8 is a structural diagram of a cuboid package length and width information detection apparatus according to an embodiment of the present application.
The cuboid package length and width information detection apparatus 800 may have a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) 822 (e.g., one or more processors) and a memory 832, one or more storage media 830 (e.g., one or more mass storage devices) storing an application 842 or data 844. Memory 832 and storage medium 830 may be, among other things, transient or persistent storage. The program stored in the storage medium 830 may include one or more modules (not shown), each of which may include a series of instruction operations for the apparatus. Further, the central processor 822 may be provided to communicate with the storage medium 830, and execute a series of instruction operations in the storage medium 830 on the rectangular parallelepiped package length and width information detecting apparatus 800.
The cuboid package length and width information detection apparatus 800 may further comprise one or more power supplies 828, one or more wired or wireless network interfaces 850, one or more input-output interfaces 858, and/or one or more operating systems 841, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.
The steps in the method for detecting cuboid package length and width information described above in fig. 1 to 5 are implemented by a cuboid package length and width information detection apparatus based on the structure shown in fig. 8.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the apparatus and the module described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus, device and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a function calling device, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The method, system, device and computer readable storage medium for detecting the length and width information of the cuboid package provided by the present application are described in detail above. The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (8)
1. A method for detecting the length and width information of cuboid packages is characterized by comprising the following steps:
acquiring three-dimensional data of a package to be detected on a conveyor belt through a three-dimensional camera, and projecting the three-dimensional data to a two-dimensional plane to obtain a two-dimensional projection data point;
taking each two-dimensional projection data point as an initial data point, and determining a screening area corresponding to each initial data point;
taking the number of the two-dimensional projection data points in each screening area as screening number, and determining the two-dimensional projection data points corresponding to the screening area with the screening number larger than a threshold value as effective data points;
determining length and width information of the to-be-detected package according to each effective data point;
wherein, the step of taking each two-dimensional projection data point as an initial data point and determining a screening area corresponding to each initial data point comprises:
determining the distance between adjacent discrete points in a two-dimensional plane of the conveyor belt according to the resolution of the three-dimensional camera and the distance between the three-dimensional camera and the conveyor belt;
and determining a screening area corresponding to each starting data point according to the distance between the adjacent discrete points.
2. The method of claim 1, wherein projecting the three-dimensional data onto a two-dimensional plane results in two-dimensional projected data points, comprising:
and projecting the three-dimensional data with the height value within a preset range to the two-dimensional plane point to obtain the two-dimensional projection data point.
3. The method of claim 1, further comprising, after determining the length and width information of the parcel to be tested from each of the valid data points:
and outputting the length and width information of the to-be-detected package to a preset position.
4. The utility model provides a cuboid parcel length and width information detection's system which characterized in that includes:
the projection module is used for acquiring three-dimensional data of the packages to be detected on the conveyor belt through the three-dimensional camera and projecting the three-dimensional data to a two-dimensional plane to obtain two-dimensional projection data points;
the first determining module is used for taking each two-dimensional projection data point as an initial data point and determining a screening area corresponding to each initial data point;
the second determining module is used for taking the number of the two-dimensional projection data points in each screening area as screening number, and determining the two-dimensional projection data points corresponding to the screening area with the screening number larger than a threshold value as effective data points;
the third determining module is used for determining the length and width information of the to-be-detected package according to each effective data point;
wherein the first determining module comprises:
the first determining sub-module is used for determining the distance between adjacent discrete points in a two-dimensional plane where the conveyor belt is located according to the resolution of the three-dimensional camera and the distance between the three-dimensional camera and the conveyor belt;
and the second determining submodule is used for determining a screening area corresponding to each starting data point according to the distance between the adjacent discrete points.
5. The system of claim 4, wherein the projection module comprises:
and the projection submodule is used for projecting the three-dimensional data with the height value within a preset range to the two-dimensional plane point to obtain the two-dimensional projection data point.
6. The system of claim 4, further comprising:
and the output module is used for outputting the length and width information of the to-be-detected package to a preset position.
7. The utility model provides a cuboid parcel length and width information check out test set which characterized in that includes:
a memory for storing a computer program;
a processor for implementing the steps of the method for detecting the length and width information of the cuboid package according to any one of claims 1 to 3 when executing the computer program.
8. A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when executed by a processor, the computer program implements the steps of the method for detecting information about the length and width of a rectangular parallelepiped package according to any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910625102.5A CN110332895B (en) | 2019-07-11 | 2019-07-11 | Method, system and equipment for detecting length and width information of cuboid package |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910625102.5A CN110332895B (en) | 2019-07-11 | 2019-07-11 | Method, system and equipment for detecting length and width information of cuboid package |
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| Publication Number | Publication Date |
|---|---|
| CN110332895A CN110332895A (en) | 2019-10-15 |
| CN110332895B true CN110332895B (en) | 2021-07-02 |
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