CN112633437B - Supply chain management method based on industrial interconnection - Google Patents
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Abstract
The invention relates to the field of industrial internet and supply chain management, and discloses a supply chain management method based on industrial interconnection, which is applied to an industrial interconnection material management system, wherein the industrial interconnection material management system comprises a supply chain management platform, an acceptance personnel terminal, a delivery personnel terminal and a material acceptance device, and comprises the following steps: the supply chain management platform receives the material acquisition image and the material label information sent by the material acceptance device; the label identification module acquires a material standard characteristic corresponding to the current material from a database according to the material label information; the pose normalization module is used for carrying out pose normalization processing on the material acquisition image to obtain a material acceptance image; the characteristic extraction module extracts the overall characteristics, the packaging characteristics and the extrusion characteristics of the material acceptance image and connects the overall characteristics, the packaging characteristics and the extrusion characteristics in series to obtain material acceptance characteristics; the loss analysis module calculates the material acceptance loss, and the material acceptance module obtains material acceptance data according to the material acceptance loss and sends the material acceptance data to the acceptance staff terminal.
Description
The invention is a divisional application with original application number of 202010718921.7, original application date of 07-23.2020, and original name of the invention of a material acceptance method based on industrial internet.
Technical Field
The invention relates to the field of industrial internet and supply chain management, in particular to a supply chain management method based on industrial interconnection.
Background
The industrial internet is a basic network for connecting equipment, materials, personnel and information systems, can realize comprehensive perception, reliable transmission and real-time analysis of industrial data, forms scientific decision and intelligent control, and can improve the manufacturing resource allocation and production management efficiency. As a core system of an industrial internet, intelligent production management mainly relates to acquisition, transmission, analysis, processing and decision control of important industrial data such as core parameters, equipment running states and the like in the whole production process of a product, and intelligent monitoring of the industrial production process is realized.
In the industrial internet field, when the materials are received, generally, the on-site acceptance is carried out by the acceptance personnel, the acceptance process is not only troublesome and labor-consuming, but also is long in time consumption and low in acceptance efficiency. In the existing automatic acceptance method, the material acceptance image acquired by the image acquisition equipment is too complex, so that the acceptance result is easy to be inaccurate. Especially, the influence that the different locating position and the gesture of checking and accepting the material caused the material result of checking and accepting, the material that relevant image acquisition equipment gathered promptly is checked and is accepted the image and is accompanied with the material gesture problem that changes more, and the difference of checking and accepting the material is placed position and gesture and can be leaded to the different positions of material to take place sheltering from of different degrees to lose the information at certain material position.
Disclosure of Invention
In the existing scheme, under different positions and postures, the material acceptance characteristics of the extracted acceptance materials are different, and some postures even can cause that the material acceptance characteristics of the extracted acceptance materials are greatly different from the actual material acceptance characteristics under the current scene, so that the related material acceptance data of the materials are inaccurate, and the material acceptance results are wrong.
Aiming at the defects of the prior art, the invention provides a material acceptance method based on an industrial internet, which comprises the following steps:
the distribution personnel terminal sends material arrival information to the acceptance personnel terminal, and the material arrival information comprises: material type, material name and material quantity;
the material acceptance personnel place the materials into the material acceptance device according to the arrival information of the materials;
an image sensor and a tag reader of a material acceptance device respectively acquire a material acquisition image and material tag information and send the material acquisition image and the material tag information to a supply chain management platform;
a label identification module of a supply chain management platform acquires material standard characteristics corresponding to the current material from a database according to the material label information;
the pose normalization module is used for carrying out pose normalization processing on the material acquisition image to obtain a material acceptance image;
the characteristic extraction module extracts the overall characteristic, the packaging characteristic and the extrusion characteristic of the material acceptance image and connects the overall characteristic, the packaging characteristic and the extrusion characteristic in series to obtain the material acceptance characteristic;
the loss analysis module calculates the overall loss, the packaging loss and the extrusion loss of the material according to the standard material characteristics and the acceptance material characteristics, and calculates the acceptance material loss according to the overall loss, the packaging loss and the extrusion loss;
the material acceptance module executes material acceptance according to the material acceptance loss to obtain material acceptance data, and sends the material acceptance data to the acceptance personnel terminal.
According to a preferred embodiment, the material acceptance apparatus comprises an image sensor, a conveyor belt and a label reader.
According to a preferred embodiment, the material acceptance data comprises material acceptance loss, material acceptance results, material labels and material acceptance instructions.
According to a preferred embodiment, the material arrival information is used to indicate to the material acceptance staff that the material has arrived at the target location in preparation for performing material acceptance.
According to a preferred embodiment, the material acceptance module performing material acceptance according to the material acceptance loss to obtain the material acceptance data comprises:
the material module compares the material acceptance loss with a material acceptance threshold value to obtain a material acceptance result;
when the materials do not pass the material acceptance, the material acceptance module acquires the overall loss, the packaging loss and the extrusion loss of the materials, and respectively compares the overall loss, the packaging loss and the extrusion loss with an overall loss threshold, a packaging loss threshold and an extrusion loss threshold to generate a material acceptance explanation;
the material acceptance module processes the material label, the material acceptance loss, the material acceptance result and the material acceptance description to obtain material acceptance data.
According to a preferred embodiment, calculating the material acceptance loss from bulk loss, package loss and crush loss comprises:
R＝αR1(P,Q)+βR2(P,Q)+γR3(P,Q)
wherein R is the material acceptance loss, R1(P, Q) is the bulk loss, R2(P, Q) is the loss of packaging, R3(P, Q) is the crush loss, α is the bulk loss coefficient, β is the pack loss coefficient, and γ is the crush loss coefficient.
According to a preferred embodiment, the image sensor comprises: a panoramic camera, a monocular camera, a binocular camera and a trinocular camera.
According to a preferred embodiment, the pose normalization module performs pose normalization processing on the material acquisition image to obtain a material acceptance image, and the pose normalization processing comprises the following steps:
the pose normalization module acquires first material image characteristics of a material acquisition image;
the pose normalization module acquires material pose characteristics of a material acquisition image, wherein the material pose characteristics comprise material position characteristics and material posture characteristics;
the pose normalization module removes the material pose characteristics in the material image characteristics to obtain second material image characteristics;
and the pose normalization module carries out image reconstruction according to the characteristics of the second material image to obtain a material acceptance image.
According to a preferred embodiment, the pose normalization module obtains the material pose characteristics of the material acquisition image, and comprises:
the pose normalization module acquires position errors and attitude errors of the material pose characteristics and actual pose characteristics, and obtains pose errors according to the position errors and the attitude errors;
the pose normalization module minimizes pose errors of the material pose characteristics and the actual pose characteristics.
According to a preferred embodiment, deriving the pose error from the position error and the attitude error comprises:
T＝Tloc+ηTpos
wherein T is pose error, TlocFor position errors, TposIs the attitude error, and eta is the pose balance parameter.
The invention has the following beneficial effects:
according to the material acceptance method provided by the invention, the positions and postures of the accepted materials in the collected material acceptance images are normalized, so that the influence of different placing positions and angles of the accepted materials on the material acceptance accuracy is eliminated. If the partial area of the material is blocked due to different placing postures and placing poses, part of packaging is damaged, material deformation information is lost, and errors exist between the material acceptance characteristics extracted according to the images and the material acceptance characteristics under the actual scene. The method and the device have the advantage that the influence of the material placing posture and position on the loss characteristic extraction of the relevant acceptance materials is eliminated, so that the accuracy of automatic acceptance of the materials is improved.
Drawings
Fig. 1 is a flowchart of a material acceptance method according to the present invention according to an exemplary embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
Referring to fig. 1, in one embodiment, the industrial internet-based material acceptance method of the present invention may include:
s1, the distribution personnel terminal sends material arrival information to the checking and accepting personnel terminal so that the material checking and accepting personnel can place the material in the material checking and accepting device according to the material arrival information; the material arrival information includes: material type, material name and material quantity.
Optionally, the material acceptance device comprises an image sensor, a conveyor belt and a tag reader.
Optionally, the image sensor comprises: a panoramic camera, a monocular camera, a binocular camera and a trinocular camera.
Optionally, the tag reader is configured to determine a material type and a material name of the currently accepted material according to the material tag information.
Optionally, the material arrival information is used to indicate to the material acceptance staff that the material has arrived at the target location in preparation for performing the material acceptance.
Optionally, the acceptance personnel terminal is a device with a computing function, a storage function and a communication function, which is used by the acceptance personnel of the production factory, and includes: smart mobile phones, desktop computers, notebook computers, smart watches, and smart wearable devices.
Optionally, the material acceptance staff classifies the materials according to the material types, material names and material quantities included in the material arrival information, and places the same type of materials into the corresponding material acceptance device for material acceptance.
Optionally, the material acceptance device is used for collecting material acceptance related data, and the supply chain management platform verifies the qualification degree of the placed material according to the collected material acceptance related data, namely, whether the material can pass the acceptance. It includes: the packaging qualification, the extrusion qualification and the overall qualification of the placed materials. When the material suffers strong extrusion in the transportation process, the material can be deformed and the package is damaged, and the like, when the material deformation degree and/or the package damage degree exceed the damage degree threshold value, the material is regarded as unqualified material to be inspected and accepted, and can not be inspected normally, so that the rights of consumers are guaranteed.
S2, the image sensor and the label reader of the material acceptance device respectively acquire a material acquisition image and material label information, and the material acquisition image and the material label information are sent to a supply chain management platform.
Optionally, the image sensor comprises: a panoramic camera, a monocular camera, a binocular camera and a trinocular camera.
Optionally, the material collection image is an image collected by an image sensor of the material acceptance device and used for accepting the material. The material collecting image captured by the image sensor of the material acceptance device can be an image of the acceptance material at different angles.
The material label information is used for carrying out unique identification on the material, and comprises a material number, a material name and a material type.
And S3, the label identification module of the supply chain management platform acquires the material standard characteristics corresponding to the current material from the database according to the material label information.
Each specific material has a unique material criteria characteristic.
Optionally, the material criteria characteristic is a characteristic of the material before it has not been subjected to any form of extrusion or other adverse factor and has not yet begun to be shipped. The standard material characteristics provide standard reference data for acceptance of the materials to be treated.
The standard material characteristics include standard bulk characteristics, standard packaging characteristics, and standard extrusion characteristics.
And S4, the pose normalization module performs pose normalization processing on the material acquisition image to obtain a material acceptance image.
Optionally, the pose normalization processing can eliminate the influence of the material pose on the material acceptance accuracy. In an example, the gesture and the position that the material was placed will cause the influence to the extraction of material acceptance feature, and the gesture and the position of placing of material difference can lead to the different positions of material to take place the sheltering from of different degrees to lose the information of some material positions. Namely, the extracted material acceptance characteristics of the accepted materials are different under different poses. Some poses even can lead to the material acceptance characteristics of the extracted acceptance materials and the actual characteristics of the materials under the current scene to have huge differences, which can lead to the inaccuracy of the relevant material acceptance data of the materials, the error of the material acceptance results, and the acceptance personnel need to manually inspect the materials to delay the total process of the acceptance work.
Specifically, the pose normalization module performs pose normalization processing on the material acquisition image to obtain a material acceptance image comprises the following steps:
the pose normalization module acquires first material image characteristics of a material acquisition image;
the pose normalization module acquires material pose characteristics of a material acquisition image, wherein the material pose characteristics comprise material position characteristics and material posture characteristics;
the pose normalization module removes the material pose characteristics in the material image characteristics to obtain second material image characteristics;
and the pose normalization module carries out image reconstruction according to the characteristics of the second material image to obtain a material acceptance image.
Optionally, the material pose characteristics of the material acquisition image acquired by the pose normalization module include:
the pose normalization module acquires position errors and attitude errors of the material pose characteristics and actual pose characteristics, and obtains pose errors according to the position errors and the attitude errors;
the pose normalization module minimizes pose errors of the material pose characteristics and the actual pose characteristics.
Optionally, obtaining the pose error according to the position error and the attitude error includes:
T＝Tloc+ηTpos
wherein T is pose error, TlocAs position error, TposIs the attitude error, and eta is the pose balance parameter.
Optionally, the pose normalization module performs image reconstruction on the second material image features without the material pose features to obtain a material acceptance image without the material pose influence, so as to eliminate pose errors between the overall features, the packaging features and the extrusion features of the material acceptance image extracted by the feature extraction module and the actual overall features, the packaging features and the extrusion features of the acceptance material in the current scene. The pose error is caused by different poses and positions of the material placement.
For example, when a material acceptance staff places a material in a material acceptance device, the larger the offset between the angle at which the material is placed and the front shooting visual angle of the image sensor is, the larger the influence of the material pose on the extracted material acceptance characteristics is.
Optionally, the pose normalization module performs pose normalization processing on the material acquisition image to remove the influence of the placing position and the placing posture of the material in the material acquisition image on the material acceptance accuracy. In practical situations, when the material acceptance staff places the material on the material acceptance device, the position and the direction of the placement of the material are not necessarily a standard position and an angle. Under the standard position, the material that uses the material as the center that the image sensor of material acceptance device catches gathers the image, can reduce the characteristic error of the material acceptance characteristic of drawing in gathering the image from the material. For example, under the nonstandard position, the material collection image that image sensor caught this moment can receive material structure and geometric characteristics's influence when being used for the packing to take place the material characteristics such as damage, material deformation and carry out the analysis, thereby makes the characteristic error increase of the material acceptance feature of extracting.
According to the invention, the pose normalization is carried out on the material acquisition image, so that the influence of the position and the posture of the material placement on the material acquisition image when the image sensor acquires the material acquisition image is eliminated, and the accuracy of material acceptance is improved. In addition, the invention does not need to regulate the position and the posture of the material during the material acceptance, thereby reducing the workload of the acceptance staff and improving the acceptance efficiency.
S5, the characteristic extraction module extracts the overall characteristic, the packaging characteristic and the extrusion characteristic of the material acceptance image and connects the overall characteristic, the packaging characteristic and the extrusion characteristic in series to obtain the material acceptance characteristic.
Specifically, the characteristic extraction module establishes ties global characteristic, packing characteristic and extrusion characteristic and obtains the material and checks and accept the characteristic and include:
g(x)＝{h(1)1，h(1)2…h(1)n；h(2)1，h(2)2…h(2)m；h(3)1，h(3)2…h(3)p}
wherein g (x) is a material acceptance characteristic, "; "is a characteristic series symbol, h (1)nIs the nth integral feature, n is the number of integral features, h (2)mIs the mth packaging characteristic, m is the number of the integral characteristics, h (3)pIs the p-th compression feature, and p is the number of compression features.
Optionally, the overall characteristic is an overall characteristic of the acceptance material contained in the material acceptance image, and is used for judging whether the whole of the acceptance material is missing; the extranal packing characteristic of the acceptance material that contains in the image is accepted to the material to the packing characteristic for judge whether the packing of acceptance material is intact, the extrusion characteristic is the extrusion characteristic of the acceptance material that contains in the image is accepted to the material, is used for judging whether the surface of acceptance material appears sunkenly, the protrusion etc..
Optionally, the material acceptance characteristics include an overall characteristic, a packaging characteristic and an extrusion characteristic of the accepted material, so that the loss analysis module calculates the material acceptance loss according to a plurality of characteristics of the accepted material, and the data provided by the material acceptance loss of the accepted material is more accurate.
And S6, calculating the overall loss, the packaging loss and the extrusion loss of the material by the loss analysis module according to the material standard characteristic and the material acceptance characteristic, and calculating the material acceptance loss according to the overall loss, the packaging loss and the extrusion loss.
Specifically, calculating the acceptance loss of the material according to the overall loss, the packaging loss and the extrusion loss comprises:
R＝αR1(P,Q)+βR2(P,Q)+γR3(P,Q)
wherein R is the material acceptance loss, R1(P, Q) is the bulk loss, R2(P, Q) is the loss of packaging, R3(P, Q) is extrusion loss, alpha is an integral loss coefficient, beta is a packaging loss coefficient, gamma is an extrusion loss coefficient, P represents material acceptance characteristics, and Q represents material standard characteristics.
Specifically, the overall loss calculation process includes:
R1(P,Q)＝-we logS(h(1),we)
wherein, weLog S (h (1), w) as a standard global featuree) And h (1) is an integral loss function, P represents a material acceptance characteristic, and Q represents a material standard characteristic.
Alternatively, the calculation process for the pack loss and crush loss is similar to the overall loss calculation process.
Optionally, the material acceptance loss includes an overall loss of the material, a packaging loss and an extrusion loss, wherein the overall loss, the packaging loss and the extrusion loss occupy different weights in the material acceptance loss calculation process. For example, the weight of the extrusion loss can be higher than that of the package loss, so as to reflect different influence degrees of different loss of materials on the acceptance results. For example, extrusion can cause material deformation, reduce the function and quality of the material, and have great influence on consumers. Loss of packaging can result in the appearance of the material being aesthetically undesirable to the consumer, with relatively little impact on the consumer.
Optionally, the material acceptance characteristics included in the material acceptance image may have a difference from the material standard characteristics of the material standard image. The material standard image is the material that has not been affected by any form of crushing or other adverse factor and has not yet begun to be shipped. The difference is caused by jolting, extruding or falling of the materials in the transportation process, namely, the packaging of the materials is damaged and the materials are deformed in the transportation process, so that the quality of the checked and accepted materials is reduced.
And S7, the material acceptance module executes material acceptance according to the material acceptance loss to obtain material acceptance data, and sends the material acceptance data to the acceptance staff terminal.
Specifically, the material acceptance module executes material acceptance according to the material acceptance loss to obtain material acceptance data and comprises:
the material module compares the material acceptance loss with a material acceptance threshold value to obtain a material acceptance result;
when the materials do not pass the material acceptance, the material acceptance module acquires the overall loss, the packaging loss and the extrusion loss of the materials, and compares the overall loss, the packaging loss and the extrusion loss with an overall loss threshold, a packaging loss threshold and an extrusion loss threshold respectively to generate a material acceptance explanation;
the material acceptance module processes the material label, the material acceptance loss, the material acceptance result and the material acceptance description to obtain material acceptance data.
Optionally, the material acceptance data includes material acceptance loss, material acceptance results, material labels, and material acceptance instructions.
Optionally, the material acceptance data can provide data basis for material acceptance, and the acceptance personnel judge through the material acceptance data promptly whether the acceptance material satisfies normal acceptance condition, for example, material packing damaged area, damaged degree, and the material suffers that the appearance deformation that the extrusion arouses exceeds consumer acceptable range, makes the function of material itself even influenced, and this type of material is then for not satisfying the material of normal acceptance condition.
Optionally, the material acceptance statement is a cause of material acceptance failure, which includes package acceptance failure, squeeze acceptance failure, or overall acceptance failure.
Optionally, the material acceptance instructions further comprise instructions for package breakage and instructions for material crush deformation. The material acceptance inspection module obtains a packaging damage degree according to the packaging loss and the packaging loss threshold value, obtains a material extrusion deformation degree according to the extrusion loss and the extrusion loss threshold value, and obtains a corresponding degree description according to the packaging damage degree and the material extrusion deformation degree.
Optionally, the material acceptance module sends the material acceptance data to the corresponding acceptance personnel terminal according to the device identifier.
According to the invention, the positions and postures of the checked and accepted materials in the collected material checking and accepting images are normalized, so that the influence of different placing positions and angles of the checked and accepted materials on the material checking and accepting accuracy is eliminated. If the partial area of the material is blocked due to different placing postures and placing poses, part of packaging is damaged, material deformation information is lost, and errors exist between the material acceptance characteristics extracted according to the images and the material acceptance characteristics under the actual scene. In addition, the method and the device improve the accuracy of automatic acceptance of the materials by eliminating the influence of the posture and the position of the placement of the materials on the extraction of loss characteristics of the relevant acceptance materials.
In one embodiment, the industrial interconnected material management system for executing the method comprises a supply chain management platform, an acceptance personnel terminal, a distribution personnel terminal and a material acceptance device. The supply chain management platform is in communication connection with the acceptance personnel terminal, the distribution personnel terminal and the material acceptance device respectively. The equipment that has calculation function, memory function and communication function that acceptance personnel terminal used for the acceptance personnel, it includes: smart mobile phones, desktop computers, notebook computers, smart watches, and smart wearable devices.
The equipment that has calculation function, memory function and communication function that delivery personnel terminal used for material delivery personnel, it includes: smart mobile phones, desktop computers, notebook computers, smart watches, and smart wearable devices.
The supply chain management platform comprises a tag identification module, a pose normalization module, a feature extraction module, a loss analysis module and a material acceptance module.
And the label identification module is used for acquiring the material standard characteristics corresponding to the current material from the database according to the material label information.
The pose normalization module is used for carrying out pose normalization processing on the material acquisition image to obtain a material acceptance image.
The characteristic extraction module is used for extracting the overall characteristic, the packaging characteristic and the extrusion characteristic of the material acceptance image and connecting the three characteristics in series to obtain the material acceptance characteristic.
And the loss analysis module is used for calculating the overall loss, the packaging loss and the extrusion loss of the material according to the material standard characteristic and the material acceptance characteristic, and calculating the material acceptance loss according to the overall loss, the packaging loss and the extrusion loss.
The material acceptance module is used for executing material acceptance according to the material acceptance loss to obtain material acceptance data and sending the material acceptance data to the acceptance personnel terminal.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A supply chain management method based on industrial interconnection is applied to an industrial interconnection material management system, the industrial interconnection material management system comprises a supply chain management platform, an acceptance personnel terminal, a delivery personnel terminal and a material acceptance device, wherein the supply chain management platform comprises a tag identification module, a pose normalization module, a feature extraction module, a loss analysis module and a material acceptance module, and the method comprises the following steps:
the distribution personnel terminal sends material arrival information to the checking personnel terminal, and the material checking personnel places the material into the material checking device according to the material arrival information;
an image sensor and a tag reader of a material acceptance device respectively acquire a material acquisition image and material tag information and send the material acquisition image and the material tag information to a supply chain management platform;
a label identification module of a supply chain management platform acquires material standard characteristics corresponding to the current material from a database according to the material label information, wherein the material standard characteristics comprise standard integral characteristics, standard packaging characteristics and standard extrusion characteristics;
the pose normalization module is used for carrying out pose normalization processing on the material acquisition image to obtain a material acceptance image;
the pose normalization module acquires first material image characteristics of a material acquisition image;
the pose normalization module acquires material pose characteristics of the material acquisition image, wherein the material pose characteristics comprise material position characteristics and material pose characteristics;
the pose normalization module removes the material pose characteristics in the material image characteristics to obtain second material image characteristics;
the pose normalization module carries out image reconstruction according to the characteristics of the second material image to obtain a material acceptance image;
the characteristic extraction module extracts the overall characteristic, the packaging characteristic and the extrusion characteristic of the material acceptance image and connects the overall characteristic, the packaging characteristic and the extrusion characteristic in series to obtain the material acceptance characteristic;
the loss analysis module calculates the overall loss, the packaging loss and the extrusion loss of the material according to the material standard characteristic and the material acceptance characteristic, and calculates the material acceptance loss according to the overall loss, the packaging loss and the extrusion loss;
the material acceptance module executes material acceptance according to the material acceptance loss to obtain material acceptance data, and sends the material acceptance data to the acceptance personnel terminal, wherein the material acceptance data comprises the material acceptance loss, a material acceptance result, a material label and a material acceptance instruction.
2. The method of claim 1, wherein the material acceptance device comprises an image sensor, a conveyor belt, and a label reader.
3. The method of claim 2, wherein the pose normalization module obtaining material pose features of the material acquisition image comprises:
the pose normalization module acquires position errors and attitude errors of the material pose characteristics and actual pose characteristics, and obtains pose errors according to the position errors and the attitude errors;
the pose normalization module minimizes pose errors of the material pose characteristics and the actual pose characteristics.
4. The method of claim 3, wherein deriving pose errors from the position errors and pose errors comprises:
T＝Tloc+ηTpos
wherein T is pose error, TlocFor position errors, TposIs the attitude error, and eta is the pose balance parameter.
5. The method of claim 4, wherein the material acceptance module performing material acceptance according to the material acceptance loss to obtain the material acceptance data comprises:
the material module compares the material acceptance loss with a material acceptance threshold value to obtain a material acceptance result;
when the materials do not pass the material acceptance, the material acceptance module acquires the overall loss, the packaging loss and the extrusion loss of the materials, and respectively compares the overall loss, the packaging loss and the extrusion loss with an overall loss threshold, a packaging loss threshold and an extrusion loss threshold to generate a material acceptance explanation;
the material acceptance module processes the material label, the material acceptance loss, the material acceptance result and the material acceptance description to obtain material acceptance data.
6. The method of claim 5, wherein calculating the material acceptance loss from the bulk loss, the packaging loss, and the crush loss comprises:
R＝αR1(P,Q)+βR2(P,Q)+γR3(P,Q)
wherein R is the material acceptance loss, R1(P, Q) is the bulk loss, R2(P, Q) is the loss of packaging, R3(P, Q) is the crush loss, α is the bulk loss coefficient, β is the pack loss coefficient, and γ is the crush loss coefficient;
the overall loss calculation process comprises the following steps:
R1(P,Q)＝-welogS(h(1),we)
wherein, weLog S (h (1), w) as a standard global featuree) And h (1) is an integral loss function, P represents a material acceptance characteristic, and Q represents a material standard characteristic.
7. The method according to one of claims 1 to 6, wherein the acceptance personnel terminal is a communication device used by an acceptance personnel of a production plant, comprising: smart phones, desktop computers, and notebook computers.
8. The method of claim 7, wherein the image sensor comprises: a panoramic camera, a monocular camera, a binocular camera and a trinocular camera;
the material arrival information includes: material type, material name and material quantity.
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