CN110796209A - Trigger detection method, device and system - Google Patents
Trigger detection method, device and system Download PDFInfo
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- CN110796209A CN110796209A CN201810877697.9A CN201810877697A CN110796209A CN 110796209 A CN110796209 A CN 110796209A CN 201810877697 A CN201810877697 A CN 201810877697A CN 110796209 A CN110796209 A CN 110796209A
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Abstract
The embodiment of the invention provides a trigger detection method, which comprises the following steps: identifying the mark on the containing surface of the object containing table; and under the condition that the mark on the containing surface is not recognized, triggering detection equipment to detect the object on the object containing table. According to the logistics detection method provided by the embodiment of the invention, the mark is arranged on the placing surface of the object placing table in advance, when the object is not placed on the placing table, the mark can be recognized, and when the object is placed on the placing table, the mark is covered, so that if the mark arranged on the object placing table is not recognized; it means that the object is contained on the containing table, and in this case, the detection device is triggered to detect the object on the object containing table. Therefore, even if the height of the object is low, the detection equipment can be triggered to detect the object, and the occurrence of missed detection is reduced.
Description
Technical Field
The present invention relates to the field of logistics technologies, and in particular, to a method, an apparatus, and a system for trigger detection.
Background
A detection device is generally disposed on the logistics sorting line, and is used for detecting the volume and weight of an object or detecting a series of logistics information such as bar codes and characters on the surface of the object.
In the prior art, a photoelectric sensor is generally used as a trigger, when an object passes through the photoelectric sensor, the photoelectric sensor detects the change of an optical signal due to the shielding of the object, so as to generate an electric signal, and the electric signal is used for triggering a detection device to detect the object.
Generally, for an optical signal, if a change of the optical signal that can be detected by a photoelectric sensor needs to be changed greatly in a cross-sectional area of the optical signal, in other words, in the above scheme, an object needs to have a larger cross-sectional area to enable the cross-sectional area of the optical signal that is blocked by the object to be large enough, so that the photoelectric sensor can detect the change of the optical signal, and thus trigger a detection device to detect the object, whereas if the cross-sectional area of the object is smaller, the blocking capability of the optical signal is weaker, and the photoelectric sensor cannot detect the change of the optical signal, and thus cannot trigger the detection device to detect the object. Therefore, the scheme can cause more missed detection situations.
Disclosure of Invention
The embodiment of the invention aims to provide a logistics detection method, a logistics detection device and a logistics detection system, so as to reduce the occurrence of missed detection. The specific technical scheme is as follows:
the embodiment of the invention provides a trigger detection method, which comprises the following steps:
identifying the mark on the containing surface of the object containing table;
and under the condition that the mark on the containing surface is not recognized, triggering detection equipment to detect the object on the object containing table.
Optionally, the identification on the face of holding that holds the platform to the object is discerned, includes:
acquiring an image containing the mark on the containing surface;
identifying the acquired image;
and if the mark is not recognized in the acquired image, judging that the mark on the containing surface is not recognized.
Optionally, the identifier is a preset bar code; the sign on the face of holding to the object holds the platform discerns, include:
scanning a preset bar code on the containing surface;
and if the preset bar code is not scanned, judging that the mark on the containing surface is not recognized.
Optionally, the triggering detection device detects the object on the object containing table, including:
judging whether the object on the object containing table is the detected object or not;
and if the object on the object containing table is not the detected object, triggering detection equipment to detect the object on the object containing table.
Optionally, the determining whether the object on the object containing table is the detected object includes:
acquiring a state identifier of the detection equipment; the state identification comprises: a triggered identity or an un-triggered identity;
judging whether the state identifier is an un-triggered identifier;
and if the object is not the triggered mark, judging that the object on the object containing table is not the detected object.
Optionally, in a case where it is determined that the object on the object containing table is not the detected object, the method further includes:
and setting the state identifier as a triggered identifier, or triggering the detection equipment to set the state identifier as a triggered identifier.
Optionally, in the case that the identifier on the containing surface is identified, the method further includes:
judging whether the detection result of the object placed on the object placing table at the last time is output;
and if not, controlling the detection equipment to output the detection result of the object contained at the latest time.
Optionally, the determining whether the detection result of the object on the object containing table is output includes:
acquiring a state identifier of the detection equipment; the state identification comprises: a triggered identity or an un-triggered identity;
judging whether the state identifier is a triggered identifier or not;
and if the object is the triggered mark, judging that the detection result of the object placed on the object placing table at the last time is not output.
Optionally, in a case where it is determined that the detection result of the object placed on the object placing table last time is not output, the method further includes:
and setting the state identifier as an un-triggered identifier, or triggering the detection equipment to set the state identifier as an un-triggered identifier.
Optionally, in the case that the identifier on the containing surface is not recognized, the method further includes:
judging whether the difference value between the current moment and the moment of identifying the identification for the last time is greater than a preset threshold value or not;
and if the number of the objects is larger than the preset number, executing the step of detecting the objects on the object containing table by the trigger detection equipment.
Optionally, before identifying the identifier on the placing surface of the object placing table, the method further includes:
determining an area to be identified on the containing surface of the object containing table;
the sign on the face of holding to the object holds the platform discerns, include:
and identifying the identifier in the area to be identified.
The embodiment of the invention also provides a trigger detection device, which comprises:
the identification module is used for identifying the mark on the containing surface of the object containing table; triggering a triggering module under the condition that the mark on the containing surface is not recognized;
the trigger module is used for triggering the detection equipment to detect the object on the object containing table.
Optionally, the identification module is specifically configured to:
acquiring an image containing the mark on the containing surface;
identifying the acquired image;
and if the mark is not recognized in the acquired image, judging that the mark on the containing surface is not recognized.
Optionally, the identifier is a preset bar code; the identification module is specifically configured to:
scanning a preset bar code on the containing surface;
and if the preset bar code is not scanned, judging that the mark on the containing surface is not recognized.
Optionally, the triggering module is specifically configured to:
judging whether the object on the object containing table is the detected object or not;
and if the object on the object containing table is not the detected object, triggering detection equipment to detect the object on the object containing table.
Optionally, the triggering module is specifically configured to:
acquiring a state identifier of the detection equipment; the state identification comprises: a triggered identity or an un-triggered identity;
judging whether the state identifier is an un-triggered identifier;
and if the object is not the triggered mark, judging that the object on the object containing table is not the detected object.
Optionally, the triggering module is specifically configured to:
and under the condition that the object on the object containing table is not determined to be the detected object, setting the state identifier as a triggered identifier, or triggering the detection equipment to set the state identifier as a triggered identifier.
Optionally, the identification module is further configured to trigger the output module when the identifier on the containing surface is identified; the output module is configured to:
judging whether the detection result of the object placed on the object placing table at the last time is output;
and if not, controlling the detection equipment to output the detection result of the object contained at the latest time.
Optionally, the output module is specifically configured to:
acquiring a state identifier of the detection equipment; the state identification comprises: a triggered identity or an un-triggered identity;
judging whether the state identifier is a triggered identifier or not;
and if the object is the triggered mark, judging that the detection result of the object placed on the object placing table at the last time is not output.
Optionally, the output module is specifically configured to:
and under the condition that the detection result of the object placed on the object placing table for the last time is not output, setting the state identifier as an un-triggered identifier, or triggering the detection equipment to set the state identifier as an un-triggered identifier.
Optionally, the identification module, in the case that the identifier on the containing surface is not identified, is further configured to:
judging whether the difference value between the current moment and the moment of the last detection of the identifier is greater than a preset threshold value or not;
and if the number of the objects is larger than the preset number, executing the step of detecting the objects on the object containing table by the trigger detection equipment.
Optionally, the identification module is further configured to:
determining an area to be identified on the containing surface of the object containing table;
and identifying the identifier in the area to be identified.
The embodiment of the invention also provides trigger equipment, which comprises a processor and a memory;
a memory for storing a computer program;
and a processor for implementing any of the above-described trigger detection methods when executing the program stored in the memory.
The embodiment of the invention also provides a detection system, which comprises: the device comprises an object containing table, a trigger device and a detection device;
the trigger equipment is used for identifying the mark on the containing surface of the object containing table; sending a detection instruction to the detection device under the condition that the mark on the containing surface is not recognized;
and the detection equipment is used for detecting the object on the object containing table after receiving the detection instruction.
Optionally, the system further includes: a display;
the detection equipment is also used for sending the detection result to the display for displaying.
According to the logistics detection method and device provided by the embodiment of the invention, the mark is arranged on the placing surface of the object placing table in advance, when the object is not placed on the placing table, the mark can be recognized, and when the object is placed on the placing table, the mark is covered, so that if the mark arranged on the object placing table is not recognized; it means that the object is contained on the containing table, and in this case, the detection device is triggered to detect the object on the object containing table. Therefore, even if the height of the object is low, the detection equipment can be triggered to detect the object, and the occurrence of missed detection is reduced.
Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a trigger detection method according to an embodiment of the present invention;
fig. 2a and fig. 2b are schematic diagrams of a trigger detection apparatus provided in an embodiment of the present invention;
fig. 3 is a schematic flowchart of another trigger detection method according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a trigger detection apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a trigger detection system according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a trigger device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
A detection device is generally disposed on the logistics sorting line, and can detect the volume and weight of an object, or detect a series of logistics information such as bar codes and characters on the surface of the object.
Among the prior art, one side that the object held the platform in commodity circulation letter sorting line is provided with photoelectric sensor, and photoelectric sensor can regard as check out test set's trigger, and when the object passed through photoelectric sensor, because sheltering from of object, photoelectric sensor can detect the change of light signal to generate the signal of telecommunication, and then utilize this signal of telecommunication to trigger check out test set and detect this object.
Generally, for an optical signal, if a change of the optical signal that can be detected by a photosensor requires a larger change of a cross-sectional area of the optical signal, in other words, in the above scheme, an object needs to have a larger cross-sectional area to enable a cross-sectional area of the optical signal that is blocked by the object to be sufficiently large, so that the photosensor can detect the change of the optical signal, thereby triggering a detection device to detect the object.
Therefore, the above method sometimes causes object missing detection, for example, if the height of the passing object is relatively low and the shielding capability is relatively weak, the photoelectric sensor cannot detect the change of the optical signal when the object passes, and thus cannot generate an electrical signal, so that the detection device cannot be triggered to detect the object.
Or, if the shape of the passing object is uneven, the shielding capability is strong and weak, the photoelectric sensor may trigger the detection device many times when the object passes according to the change of the detected optical signal, which may cause the misoperation of the detection device and affect the accuracy of the logistics detection.
In order to solve the above technical problem, an embodiment of the present invention provides a trigger detection method, which may be applied to a trigger, and is used to trigger a detection device to detect an object, where the trigger may be a part of the detection device, or may be another device independent of the detection device on a logistics sorting line, and is not limited specifically.
The following generally describes a trigger detection method provided by the embodiments of the present invention.
Identifying the mark on the containing surface of the object containing table;
and under the condition that the mark on the containing surface is not recognized, triggering detection equipment to detect the object on the object containing table.
As can be seen from the above, in the logistics detection method provided by the embodiment of the invention, the mark is arranged on the placing surface of the object placing table in advance, when the object is not placed on the placing table, the mark can be recognized, and when the object is placed on the placing table, the mark is covered, so that if the mark arranged on the object placing table is not recognized; it means that the object is contained on the containing table, and in this case, the detection device is triggered to detect the object on the object containing table. Therefore, even if the height of the object is low, the detection equipment can be triggered to detect the object, and the occurrence of missed detection is reduced.
The trigger detection method provided by the embodiment of the present invention will be described in detail through specific embodiments.
As shown in fig. 1, a schematic flow chart of a trigger detection method provided in an embodiment of the present invention includes the following steps:
s101: the mark on the containing surface of the object containing table is identified.
The object holds the platform and is used for holding the object, and check out test set can hold the object of bench to holding at the object and detect, obtains information such as object volume, weight, perhaps can hold a series of logistics information such as bar code, the character on the object surface of bench to the object and discern, etc..
For example, as shown in fig. 2a or fig. 2b, the object holding table may be a tray, or the object holding table may also be a conveyor belt on a logistics sorting line, the holding surface is a surface of the object holding table contacting with an object to be placed, a preset identifier is provided on the holding surface, the identifier may be a certain pattern or character, or may be a two-dimensional code or a barcode, and the like, and is not limited specifically.
Specifically, in an implementation, first, the acquisition device can be controlled to acquire an image containing a mark object on the containing surface to contain a table, and then the acquired image can be identified, so as to judge whether the mark on the object containing table is identified in the acquired image.
For example, the mark arranged on the containing surface can be a bar code or a special pattern, and an image of the mark on the containing surface can be acquired through some acquisition devices, such as an industrial intelligent camera, a common camera or a visual sensor, and then the image of the mark on the containing surface acquired through the acquisition devices can be acquired, the acquired image is processed by using an image processing technology, and whether the bar code or the special pattern arranged on the containing surface is identified in the acquired image is further judged.
For example, in fig. 2a, a barcode is disposed on a tray, and a collecting device is disposed above the tray, and the collecting device can collect an image including the entire tray range.
Or, in another implementation manner, the identifier disposed on the holding surface of the object holding platform may be a preset barcode, such as a two-dimensional code, a barcode, or the like, and in this case, the preset barcode on the holding surface may be directly scanned by using the scanning device, and whether the scanning device scans the preset barcode disposed on the holding surface of the object holding platform is determined.
For example, in fig. 2b, a barcode is set on the tray, a scanning device is set above the tray, and the scanning device can scan the barcode set at any position on the tray holding surface, specifically, the scanning device can be a laser scanner or the like.
Generally, in order to adapt to the objects of different volumes transmitted in the logistics sorting line, the area of the object containing table is large, in one implementation mode, the area to be recognized on the containing surface of the object containing table can be predetermined, and when the identification on the containing surface of the object containing table is recognized, the area to be recognized only needs to be recognized.
The area to be identified may be a certain area on a preset object placing table, such as a central area of the object placing table, or an area determined after several times of identification and having a good identification effect, and the like.
If the image including the identifier on the placing surface of the object placing table is identified, in one implementation manner, after the image including the identifier on the placing surface is obtained, ROI (Region of Interest) calibration may be performed on the obtained image, and the Region to be identified is selected in the image, for example, the Region to be identified may be calibrated into various shapes such as a square frame, a circle, an ellipse, an irregular polygon, and the like, without limitation.
Because the relative position that collection equipment and object held the platform is fixed, consequently, the region on the face that holds that the object that the image that acquires corresponds holds the platform also is fixed, like this, marks through the ROI and just can determine that the object holds a certain region on the face that holds of platform to the realization treats discernment regional definite.
The area to be recognized on the containing surface of the object containing table is determined, so that the calculation amount of the object containing table when the mark on the containing surface is recognized can be reduced, and the time required by triggering the detection equipment is shortened.
S102: under the condition that the mark on the containing surface is not recognized, the object on the object containing table is detected by triggering the detection equipment.
If the mark arranged on the containing surface of the object containing platform is not recognized, the mark arranged on the containing surface of the object containing platform is shielded, namely, the object is contained on the object containing platform, and then the detection equipment can be triggered to detect the object on the object containing platform.
In an implementation mode, under the condition that the identification arranged on the containing face of the object containing platform is not identified, whether the difference value between the current moment and the moment of identifying the identification for the last time is larger than a preset threshold value or not can be further judged, if the judgment result is larger than the preset threshold value, the detection device is triggered to detect the object containing platform, and if the judgment result is not larger than the preset threshold value, the step of identifying the identification on the containing face of the object containing platform is returned. Therefore, misoperation can be avoided, and the fault tolerance of the trigger detection method provided by the embodiment of the invention is improved.
The specific numerical value of the preset threshold value can be determined according to the time required by the detection equipment for detecting the object, the preset threshold value is smaller than the time required by the detection equipment for detecting the object, so that the influence on the detection efficiency of the detection equipment is reduced, the influence is as large as possible, the effect of reducing the influence on the object detection caused by misoperation is achieved, and generally, the preset threshold value can be set to be 200-500 milliseconds.
For example, the preset threshold may be set to 300 ms, and the time when the identification was last recognized is taken as 0 time, then, after the time 0, if the mark arranged on the placing surface of the object placing table is not recognized in the continuous time of 300 milliseconds, the object is considered to be placed on the object placing table, and then the detection equipment is triggered to detect the object, if a certain time after 0, for example 200 ms after 0, within a continuous 300 ms time, a logo arranged on the loading face of the object loading table is recognized, the blocking of the mark on the placing face of the object placing table within the 200 ms may be considered to be due to a malfunction, for example, it may be that the arm of the worker brushes over the mark on the placing surface of the object placing table, etc., and thus does not trigger the detection of the object by the detection device.
Further, when triggering check out test set and holding the object of bench to the object and examining, can also judge earlier whether the object holds the object of bench and is the object that has examined, if the object holds the object of bench not the object that has examined, trigger check out test set again and hold the object of bench to the object and detect to avoid the multiple detection to same object.
In one implementation manner, whether the object on the object containing table is the detected object or not can be judged through the identification of each object.
For example, a preset unique identification may be set for each object in advance, when the detection device detects the object, the detection device may identify the identification of the object, record the identification of the object in an identification storage file of the detection device, and when it is determined whether the object on the object holding table is the detected object, the identification of the object may be found from the identification storage file of the detection device, if found, it is determined that the object is the detected object, and if not found, it is determined that the object is not the detected object.
Or, in another implementation manner, whether the object on the object containing table is the detected object may be determined by the status identifier of the detection device.
For example, the state identifier of the detection device may be a triggered identifier or an un-triggered identifier, the state identifier when the detection device does not detect the object in the initial state is an un-triggered identifier, and the state identifier when the detection device detects the object after being triggered is a triggered identifier.
When judging whether the object that the object held the bench is for having detected the object, can acquire check out test set's state sign earlier, judge whether the check out test set's that acquires state sign is not trigger marking, if do not trigger marking, then show that object holds the bench and does not hold the object before, check out test set has not been triggered, and current object holds the bench and has held the object, can judge that the object holds the bench object and has not been detected before, that is to say, this object is not the detected object, can detect this object.
Furthermore, under the condition that the object on the object containing table is judged not to be the detected object, the state identifier of the detection device can be set as the triggered identifier, and repeated detection of the object in the following process is reduced. Specifically, the state identifier of the detection device may be stored in the detection device or may also be stored in the trigger device, if the state identifier of the detection device is stored in the detection device, the detection device may be triggered to set the state identifier as the triggered identifier, and if the state identifier of the detection device is stored in the trigger device, the state identifier may be directly set as the triggered identifier.
If the obtained state identifier of the detection device is the triggered identifier, the object storage table is indicated to have already stored the object, the detection device is triggered, the object is not moved away from the object storage table at present, and it can be determined that the object on the object storage table has been detected before, that is, the object is the detected object, so that the object is not detected any more, meanwhile, the state identifier of the detection device is still the triggered identifier, and subsequent repeated detection of the object is reduced.
After triggering check out test set and holding the object on the platform to the object and detecting, can further export the testing result of this object, be convenient for to the statistics and the analysis of the testing result of each object. Wherein, can hold the bench object to the object after detecting, output testing result immediately, also can leave the object and hold the platform after confirming the object, output testing result again, be convenient for hold the bench object time at the object, adjust in real time and update the testing result of object.
If after confirming that the object has left the object and hold the platform, output testing result again, then, in an implementation, can detect out the setting after judging that the object holds the sign on the platform, further judge whether the object holds the testing result of the last object that holds of bench and has exported, if not export, then control check out test set output object holds the testing result of the last object that holds of bench, reduce the omission of the testing result of output.
In one implementation mode, whether the detection result of the object placed on the object placing table for the last time is output or not can be judged through the identification of each object.
For example, a preset unique identification may be set for each object in advance, when the detection device outputs a detection result of the object, the detection device may output the identification of the object at the same time, when it is determined whether the detection result of the object placed on the object placing table last time has been output, the identification of the object may be searched for from the output detection result, if found, it is determined that the detection result of the object has been output, and if not found, it is determined that the detection result of the object has not been output.
Or, in another implementation manner, whether the detection result of the object on the object containing table is output or not can be judged through the state identifier of the detection device.
For example, the state identifier of the detection device may be a triggered identifier or an un-triggered identifier, the state identifier when the detection device does not detect the object in the initial state is an un-triggered identifier, and the state identifier when the detection device detects the object after being triggered is a triggered identifier.
When judging that the object holds the testing result of the last object that holds of bench whether output, can acquire check out test set's state sign earlier, judge whether the check out test set's that acquires state sign is for having triggered the sign, if having triggered the sign, then show that the object holds the bench and has held the object before, check out test set has been triggered, and current object holds the bench from the object and removes, can judge that the object holds the last object's that holds testing result is not exported.
Further, under the condition that the detection result of the object which is placed on the object placing table for the last time is not output, the state identification of the detection equipment can be set to be an un-triggered identification, and repeated output of the detection result is reduced. Specifically, the state identifier of the detection device may be stored in the detection device or may also be stored in the trigger device, if the state identifier of the detection device is stored in the detection device, the detection device may be triggered to set the state identifier as an un-triggered identifier, and if the state identifier of the detection device is stored in the trigger device, the state identifier may be directly set as the un-triggered identifier.
If the state sign of the check out test set who obtains is the not trigger mark, then indicate that this previous object holds the platform and does not hold the object, check out test set has not been triggered, and current object holds the bench and also does not have the object, can judge that this previous object holds the test result of the last object that holds of bench and has exported, simultaneously, the state sign that keeps check out test set still is not trigger mark.
In one implementation, as shown in fig. 2a or fig. 2b, a display may be provided, and the detection result of the object is displayed on the display, so that the user can observe the detection result of the object conveniently.
In one implementation, each time the status identifier of the detection device is converted from an un-triggered identifier to a triggered identifier, the start of a triggering period is indicated, and each time the status identifier of the detection device is converted from a triggered identifier to an un-triggered identifier, the end of a triggering period is indicated, and each triggering period corresponds to the detection of one object on the object containing table, that is, counting of the number of triggering periods can be performed.
As can be seen from the above, in the logistics detection method provided by the embodiment of the invention, the mark is arranged on the placing surface of the object placing table in advance, when the object is not placed on the placing table, the mark can be recognized, and when the object is placed on the placing table, the mark is covered, so that if the mark arranged on the object placing table is not recognized; it means that the object is contained on the containing table, and in this case, the detection device is triggered to detect the object on the object containing table. Therefore, even if the height of the object is low, the detection equipment can be triggered to detect the object, and the occurrence of missed detection is reduced.
As shown in fig. 3, a schematic flow chart of another trigger detection method provided in the embodiment of the present invention includes the following steps:
s301: identifying the mark on the containing surface of the object containing table; if the mark on the containing surface is not recognized, S302 is performed, and if the mark on the containing surface is recognized, S304 is performed.
The object holds the platform and is used for holding the object, and check out test set can hold the object of bench to holding at the object and detect, obtains information such as object volume, weight, perhaps can hold a series of logistics information such as bar code, the character on the object surface of bench to the object and discern, etc..
For example, the object holds the platform and can be check out test set's tray, also can be the conveyer belt on the commodity circulation letter sorting line, holds the face and holds the one side of bench and the object contact of placing for the object promptly, is provided with predetermined sign on holding the face, and this sign can be certain pattern, characters, also can be two-dimensional code, bar code, etc. specifically do not do the injecing.
Wherein, judge whether the mode of discerning the sign that sets up on the face that holds of platform is held to the object can be to the image that contains the sign that the face that holds of platform holds of object that obtains carry out image recognition, judge whether discern the sign that sets up on the face that holds of platform is held to the object in the image that obtains, also can directly scan the sign that holds on the face that holds of platform to the object, judge whether scan the sign that sets up on the face that holds of platform is held to the object, do not specifically prescribe a limit.
Specifically, in an implementation, first, the acquisition device can be controlled to acquire an image containing a mark object on the containing surface to contain a table, and then the acquired image can be identified, so as to judge whether the mark on the object containing table is identified in the acquired image.
For example, the mark arranged on the containing surface can be a bar code or a special pattern, and an image of the mark on the containing surface can be acquired through some acquisition devices, such as an industrial intelligent camera, a common camera or a visual sensor, and then the image of the mark on the containing surface acquired through the acquisition devices can be acquired, the acquired image is processed by using an image processing technology, and whether the bar code or the special pattern arranged on the containing surface is identified in the acquired image is further judged.
Or, in another implementation manner, the identifier disposed on the holding surface of the object holding platform may be a preset barcode, such as a two-dimensional code, a barcode, or the like, and in this case, the preset barcode on the holding surface may be directly scanned by using the scanning device, and whether the scanning device scans the preset barcode disposed on the holding surface of the object holding platform is determined.
Generally, in order to adapt to the objects of different volumes transmitted in the logistics sorting line, the area of the object containing table is large, in one implementation mode, the area to be recognized on the containing surface of the object containing table can be predetermined, and when the identification on the containing surface of the object containing table is recognized, the area to be recognized only needs to be recognized.
The area to be identified may be a certain area on a preset object placing table, such as a central area of the object placing table, or an area determined after several times of identification and having a good identification effect, and the like.
If the image including the identifier on the placing surface of the object placing table is identified, in one implementation manner, after the image including the identifier on the placing surface is obtained, ROI (Region of Interest) calibration may be performed on the obtained image, and the Region to be identified is selected in the image, for example, the Region to be identified may be calibrated into various shapes such as a square frame, a circle, an ellipse, an irregular polygon, and the like, without limitation.
Because the relative position that collection equipment and object held the platform is fixed, consequently, the region on the face that holds that the object that the image that acquires corresponds holds the platform also is fixed, like this, marks through the ROI and just can determine that the object holds a certain region on the face that holds of platform to the realization treats discernment regional definite.
The area to be recognized on the containing surface of the object containing table is determined, so that the calculation amount of the object containing table when the mark on the containing surface is recognized can be reduced, and the time required by triggering the detection equipment is shortened.
S302: acquiring a state identifier of the detection device, judging whether the state identifier is an un-triggered identifier, and if so, executing S303.
S303: triggering the detection equipment to detect the object on the object containing table.
Before triggering check out test set and holding the object of bench to the object and detecting, can judge earlier whether the object holds the object of bench and whether be for having detected the object, if the object holds the object of bench and not have detected the object, trigger check out test set again and hold the object of bench to the object and detect to avoid detecting many times to same object.
Specifically, whether the object on the object containing table is the detected object can be judged through the state identification of the detection device.
For example, the state identifier of the detection device may be a triggered identifier or an un-triggered identifier, the state identifier when the detection device does not detect the object in the initial state is an un-triggered identifier, and the state identifier when the detection device detects the object after being triggered is a triggered identifier.
When judging whether the object that the object held the bench is for having detected the object, can acquire check out test set's state sign earlier, judge whether the check out test set's that acquires state sign is not trigger marking, if do not trigger marking, then show that object holds the bench and does not hold the object before, check out test set has not been triggered, and current object holds the bench and has held the object, can judge that the object holds the bench object and has not been detected before, that is to say, this object is not the detected object, can detect this object.
Furthermore, under the condition that the object on the object containing table is judged not to be the detected object, the state identifier of the detection device can be set as the triggered identifier, and repeated detection of the object in the following process is reduced. Specifically, the state identifier of the detection device may be stored in the detection device or may also be stored in the trigger device, if the state identifier of the detection device is stored in the detection device, the detection device may be triggered to set the state identifier as the triggered identifier, and if the state identifier of the detection device is stored in the trigger device, the state identifier may be directly set as the triggered identifier.
If the obtained state identifier of the detection device is the triggered identifier, the object storage table is indicated to have already stored the object, the detection device is triggered, the object is not moved away from the object storage table at present, and it can be determined that the object on the object storage table has been detected before, that is, the object is the detected object, so that the object is not detected any more, meanwhile, the state identifier of the detection device is still the triggered identifier, and subsequent repeated detection of the object is reduced.
In an implementation manner, under the condition that the identification arranged on the object containing table is not detected, whether the difference value between the current moment and the moment of detecting the identification last time is larger than a preset threshold value or not can be further judged, if the judgment result is larger than the preset threshold value, the detection device is triggered to detect the object containing table, and if the judgment result is not larger than the preset threshold value, the step of detecting the object containing table is returned. Therefore, misoperation can be avoided, and the fault tolerance of the trigger detection method provided by the embodiment of the invention is improved.
The specific numerical value of the preset threshold value can be determined according to the time required by the detection equipment for detecting the object, the preset threshold value is smaller than the time required by the detection equipment for detecting the object, so that the influence on the detection efficiency of the detection equipment is reduced, the influence is as large as possible, the effect of reducing the influence on the object detection caused by misoperation is achieved, and generally, the preset threshold value can be set to be 200-500 milliseconds.
For example, the preset threshold may be set to 300 ms, and the time when the identification was last recognized is taken as 0 time, then, after the time 0, if the mark arranged on the placing surface of the object placing table is not recognized in the continuous time of 300 milliseconds, the object is considered to be placed on the object placing table, and then the detection equipment is triggered to detect the object, if a certain time after 0, for example 200 ms after 0, within a continuous 300 ms time, a logo arranged on the loading face of the object loading table is recognized, the blocking of the mark on the placing face of the object placing table within the 200 ms may be considered to be due to a malfunction, for example, it may be that the arm of the worker brushes over the mark on the placing surface of the object placing table, etc., and thus does not trigger the detection of the object by the detection device.
S304: if yes, acquiring a state identifier of the detection device, judging whether the state identifier is a triggered identifier, and if yes, executing S305.
S305: and controlling the detection equipment to output the detection result of the object on the object containing table, and setting the state identifier of the detection equipment as an un-triggered identifier.
After triggering check out test set and holding the object on the platform to the object and detecting, can further export the testing result of this object, be convenient for to the statistics and the analysis of the testing result of each object.
Wherein, can output the testing result again after confirming that the object has left the object and hold the platform. Specifically, whether the detection result of the object on the object containing table is output or not can be judged through the state identification of the detection device.
For example, the state identifier of the detection device may be a triggered identifier or an un-triggered identifier, the state identifier when the detection device does not detect the object in the initial state is an un-triggered identifier, and the state identifier when the detection device detects the object after being triggered is a triggered identifier.
When judging whether the object holds the testing result of the last object that holds of bench, can acquire the state sign of check out test set earlier, judge whether the state sign of the check out test set who acquires is trigger mark, if trigger mark, then show that the object holds the bench and has held the object before, check out test set has been triggered, and current object holds the bench from the object and removes, can judge that the testing result of the object that the object held the bench is not exported.
Further, under the condition that the detection result of the object which is placed on the object placing table for the last time is not output, the state identification of the detection equipment can be set to be an un-triggered identification, and repeated output of the detection result is reduced. Specifically, the state identifier of the detection device may be stored in the detection device or may also be stored in the trigger device, if the state identifier of the detection device is stored in the detection device, the detection device may be triggered to set the state identifier as an un-triggered identifier, and if the state identifier of the detection device is stored in the trigger device, the state identifier may be directly set as the un-triggered identifier.
If the state sign of the check out test set who obtains is not the trigger mark, then indicate that this previous object holds the platform and does not hold the object, check out test set is not triggered, and current object holds the bench and also does not have the object, can judge that this previous object holds the testing result of the bench object and has exported, simultaneously, keep check out test set's state sign still for not triggering the sign.
In one implementation, each time the status identifier of the detection device is converted from an un-triggered identifier to a triggered identifier, the start of a triggering period is indicated, and each time the status identifier of the detection device is converted from a triggered identifier to an un-triggered identifier, the end of a triggering period is indicated, and each triggering period corresponds to the detection of one object on the object containing table, that is, counting of the number of triggering periods can be performed.
As can be seen from the above, in the logistics detection method provided by the embodiment of the invention, the mark is arranged on the placing surface of the object placing table in advance, when the object is not placed on the placing table, the mark can be recognized, and when the object is placed on the placing table, the mark is covered, so that if the mark arranged on the object placing table is not recognized; it means that the object is contained on the containing table, and in this case, the detection device is triggered to detect the object on the object containing table. Therefore, even if the height of the object is low, the detection equipment can be triggered to detect the object, and the occurrence of missed detection is reduced.
As shown in fig. 4, which is a schematic structural diagram of a trigger detection apparatus provided in an embodiment of the present invention, the apparatus includes:
the identification module 401 is used for identifying the mark on the containing surface of the object containing table; triggering a triggering module 402 in the event that no identification on the face is identified;
the triggering module 402 is configured to trigger a detection device to detect an object on the object containing table.
In an implementation manner, the identifying module 401 is specifically configured to:
acquiring an image containing the mark on the containing surface;
identifying the acquired image;
and if the mark is not recognized in the acquired image, judging that the mark on the containing surface is not recognized.
In one implementation, the identifier is a preset bar code; the identification module 401 is specifically configured to:
scanning a preset bar code on the containing surface;
and if the preset bar code is not scanned, judging that the mark on the containing surface is not recognized.
In an implementation manner, the triggering module 402 is specifically configured to:
judging whether the object on the object containing table is the detected object or not;
and if the object on the object containing table is not the detected object, triggering detection equipment to detect the object on the object containing table.
In an implementation manner, the triggering module 402 is specifically configured to:
acquiring a state identifier of the detection equipment; the state identification comprises: a triggered identity or an un-triggered identity;
judging whether the state identifier is an un-triggered identifier;
and if the object is not the triggered mark, judging that the object on the object containing table is not the detected object.
In an implementation manner, the triggering module 402 is specifically configured to:
and under the condition that the object on the object containing table is not determined to be the detected object, setting the state identifier as a triggered identifier, or triggering the detection equipment to set the state identifier as a triggered identifier.
In one implementation, the identifying module 401 is further configured to trigger the output module 403 when the identifier on the containing surface is identified; the output module 403 is configured to:
judging whether the detection result of the object placed on the object placing table at the last time is output;
and if not, controlling the detection equipment to output the detection result of the object contained at the latest time.
In an implementation manner, the output module 403 is specifically configured to:
acquiring a state identifier of the detection equipment; the state identification comprises: a triggered identity or an un-triggered identity;
judging whether the state identifier is a triggered identifier or not;
and if the object is the triggered mark, judging that the detection result of the object placed on the object placing table at the last time is not output.
In an implementation manner, the output module 403 is specifically configured to:
and under the condition that the detection result of the object placed on the object placing table for the last time is not output, setting the state identifier as an un-triggered identifier, or triggering the detection equipment to set the state identifier as an un-triggered identifier.
In one implementation, the identifying module 401, in a case that the identifier on the containing surface is not identified, is further configured to:
judging whether the difference value between the current moment and the moment of the last detection of the identifier is greater than a preset threshold value or not;
and if the number of the objects is larger than the preset number, executing the step of detecting the objects on the object containing table by the trigger detection equipment.
In one implementation, the identifying module 401 is further configured to:
determining an area to be identified on the containing surface of the object containing table;
and identifying the identifier in the area to be identified.
As can be seen from the above, in the logistics detection device provided by the embodiment of the invention, the mark is arranged on the placing surface of the object placing table in advance, when the object is not placed on the placing table, the mark can be recognized, and when the object is placed on the placing table, the mark is covered, so that if the mark arranged on the object placing table is not recognized; it means that the object is contained on the containing table, and in this case, the detection device is triggered to detect the object on the object containing table. Therefore, even if the height of the object is low, the detection equipment can be triggered to detect the object, and the occurrence of missed detection is reduced.
As shown in fig. 5, an embodiment of the present invention further provides a trigger detection system, where the system includes: an object holding table (not shown in the drawings), a triggering device 501 and a detecting device 502, wherein the object holding table may be a part of the detecting device 502 or may be a device independent of the detecting device 502, and the triggering device 501 and the detecting device 502 may be two independent devices or may be an integrally arranged device, which is not limited specifically.
The trigger device 501 is used for identifying the mark on the containing surface of the object containing table; and sending a detection instruction to the detection equipment under the condition that the mark on the containing surface is not recognized.
In one implementation, the trigger device 501 may perform any one of the above trigger detection methods.
The detection device 502 is configured to detect the object on the object containing table after receiving the detection instruction.
In one implementation, the system further comprises: a display 503;
the detection device 502 is further configured to send a detection result to the display 504 for displaying.
In addition, in one implementation, the system further includes: the acquisition device (not shown in the figure) can acquire an image containing the object containing table and send the acquired image to the trigger device 501, and then the trigger device 501 can identify the acquired image, judge whether the preset bar code exists in the image according to an identification result, and if not, send a detection instruction to the detection device 502.
Alternatively, the system may further include: and the scanning device (not shown in the figure) can scan the object containing table and send the scanning result to the triggering device 501, and then the triggering device 501 can judge whether the preset bar code is scanned by the scanning device, and if not, sends a detection instruction to the detection device 502.
As can be seen from the above, in the logistics detection system provided by the embodiment of the invention, the mark is arranged on the placing surface of the object placing table in advance, when the object is not placed on the placing table, the mark can be recognized, and when the object is placed on the placing table, the mark is covered, so that if the mark arranged on the object placing table is not recognized; it means that the object is contained on the containing table, and in this case, the detection device is triggered to detect the object on the object containing table. Therefore, even if the height of the object is low, the detection equipment can be triggered to detect the object, and the occurrence of missed detection is reduced.
An embodiment of the present invention further provides a trigger device, as shown in fig. 6, including a processor 601 and a memory 602, where:
a memory 602 for storing a computer program;
the processor 601, when executing the program stored in the memory 602, implements the following steps:
identifying the mark on the containing surface of the object containing table;
and under the condition that the mark on the containing surface is not recognized, triggering detection equipment to detect the object on the object containing table.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.
As can be seen from the above, in the logistics detection method provided by the embodiment of the invention, the mark is arranged on the placing surface of the object placing table in advance, when the object is not placed on the placing table, the mark can be recognized, and when the object is placed on the placing table, the mark is covered, so that if the mark arranged on the object placing table is not recognized; it means that the object is contained on the containing table, and in this case, the detection device is triggered to detect the object on the object containing table. Therefore, even if the height of the object is low, the detection equipment can be triggered to detect the object, and the occurrence of missed detection is reduced.
It is noted that, herein, relational terms such as first and second, and the like may be 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.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus embodiment and the system embodiment, since they are substantially similar to the method embodiment, the description is relatively simple, and reference may be made to some descriptions of the method embodiment for relevant points.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (24)
1. A method of trigger detection, the method comprising:
identifying the mark on the containing surface of the object containing table;
and under the condition that the mark on the containing surface is not recognized, triggering detection equipment to detect the object on the object containing table.
2. The method of claim 1, wherein the identifying the mark on the object receiving surface of the object receiving platform comprises:
acquiring an image containing the mark on the containing surface;
identifying the acquired image;
and if the mark is not recognized in the acquired image, judging that the mark on the containing surface is not recognized.
3. The method of claim 1, wherein the identifier is a preset bar code; the sign on the face of holding to the object holds the platform discerns, include:
scanning a preset bar code on the containing surface;
and if the preset bar code is not scanned, judging that the mark on the containing surface is not recognized.
4. The method according to claim 1, wherein the triggering detection device detects the object on the object containing table, comprising:
judging whether the object on the object containing table is the detected object or not;
and if the object on the object containing table is not the detected object, triggering detection equipment to detect the object on the object containing table.
5. The method according to claim 4, wherein the determining whether the object on the object holding table is the detected object comprises:
acquiring a state identifier of the detection equipment; the state identification comprises: a triggered identity or an un-triggered identity;
judging whether the state identifier is an un-triggered identifier;
and if the object is not the triggered mark, judging that the object on the object containing table is not the detected object.
6. The method according to claim 5, wherein in a case where it is determined that the object on the object containing table is not the detected object, the method further comprises:
and setting the state identifier as a triggered identifier, or triggering the detection equipment to set the state identifier as a triggered identifier.
7. The method of claim 1, wherein upon identifying the identifier on the containment surface, the method further comprises:
judging whether the detection result of the object placed on the object placing table at the last time is output;
and if not, controlling the detection equipment to output the detection result of the object contained at the latest time.
8. The method according to claim 7, wherein the judging whether the detection result of the object on the object containing table is output comprises:
acquiring a state identifier of the detection equipment; the state identification comprises: a triggered identity or an un-triggered identity;
judging whether the state identifier is a triggered identifier or not;
and if the object is the triggered mark, judging that the detection result of the object placed on the object placing table at the last time is not output.
9. The method according to claim 8, wherein in a case where it is determined that the detection result of the object placed most recently on the object placing table is not output, the method further comprises:
and setting the state identifier as an un-triggered identifier, or triggering the detection equipment to set the state identifier as an un-triggered identifier.
10. The method of claim 1, further comprising, in the absence of identifying the indicia on the face:
judging whether the difference value between the current moment and the moment of identifying the identification for the last time is greater than a preset threshold value or not;
and if the number of the objects is larger than the preset number, executing the step of detecting the objects on the object containing table by the trigger detection equipment.
11. The method according to claim 1, characterized in that before said identification of the indication on the containing face of the object containing table, it further comprises:
determining an area to be identified on the containing surface of the object containing table;
the sign on the face of holding to the object holds the platform discerns, include:
and identifying the identifier in the area to be identified.
12. A trigger detection apparatus, the apparatus comprising:
the identification module is used for identifying the mark on the containing surface of the object containing table; triggering a triggering module under the condition that the mark on the containing surface is not recognized;
the trigger module is used for triggering the detection equipment to detect the object on the object containing table.
13. The apparatus according to claim 12, wherein the identification module is specifically configured to:
acquiring an image containing the mark on the containing surface;
identifying the acquired image;
and if the mark is not recognized in the acquired image, judging that the mark on the containing surface is not recognized.
14. The apparatus of claim 12, wherein the identifier is a preset bar code; the identification module is specifically configured to:
scanning a preset bar code on the containing surface;
and if the preset bar code is not scanned, judging that the mark on the containing surface is not recognized.
15. The apparatus of claim 12, wherein the triggering module is specifically configured to:
judging whether the object on the object containing table is the detected object or not;
and if the object on the object containing table is not the detected object, triggering detection equipment to detect the object on the object containing table.
16. The apparatus of claim 15, wherein the triggering module is specifically configured to:
acquiring a state identifier of the detection equipment; the state identification comprises: a triggered identity or an un-triggered identity;
judging whether the state identifier is an un-triggered identifier;
and if the object is not the triggered mark, judging that the object on the object containing table is not the detected object.
17. The method of claim 16, wherein the triggering module is specifically configured to:
and under the condition that the object on the object containing table is not determined to be the detected object, setting the state identifier as a triggered identifier, or triggering the detection equipment to set the state identifier as a triggered identifier.
18. The apparatus of claim 12, wherein the identification module is further configured to trigger an output module if the identifier on the receiving surface is identified; the output module is configured to:
judging whether the detection result of the object placed on the object placing table at the last time is output;
and if not, controlling the detection equipment to output the detection result of the object contained at the latest time.
19. The apparatus of claim 18, wherein the output module is specifically configured to:
acquiring a state identifier of the detection equipment; the state identification comprises: a triggered identity or an un-triggered identity;
judging whether the state identifier is a triggered identifier or not;
and if the object is the triggered mark, judging that the detection result of the object placed on the object placing table at the last time is not output.
20. The method of claim 19, wherein the output module is specifically configured to:
and under the condition that the detection result of the object placed on the object placing table for the last time is not output, setting the state identifier as an un-triggered identifier, or triggering the detection equipment to set the state identifier as an un-triggered identifier.
21. The apparatus of claim 12, wherein the identification module, in the absence of identifying the identifier on the receiving surface, is further configured to:
judging whether the difference value between the current moment and the moment of the last detection of the identifier is greater than a preset threshold value or not;
and if the number of the objects is larger than the preset number, executing the step of detecting the objects on the object containing table by the trigger detection equipment.
22. The apparatus of claim 12, wherein the identification module is further configured to:
determining an area to be identified on the containing surface of the object containing table;
and identifying the identifier in the area to be identified.
23. A trigger detection system, the system comprising: the device comprises an object containing table, a trigger device and a detection device;
the trigger equipment is used for identifying the mark on the containing surface of the object containing table; sending a detection instruction to the detection device under the condition that the mark on the containing surface is not recognized;
and the detection equipment is used for detecting the object on the object containing table after receiving the detection instruction.
24. The system of claim 23, further comprising: a display;
the detection equipment is also used for sending the detection result to the display for displaying.
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Address after: 310051 room 304, B / F, building 2, 399 Danfeng Road, Binjiang District, Hangzhou City, Zhejiang Province Applicant after: Hangzhou Hikvision Robot Co.,Ltd. Address before: No.555, Qianmo Road, Binjiang District, Hangzhou City, Zhejiang Province Applicant before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. |
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