CN113111677B

CN113111677B - Bar code reading method, device, equipment and medium

Info

Publication number: CN113111677B
Application number: CN202110664324.5A
Authority: CN
Inventors: 邵欢; 孟森森; 周璐; 李铭; 汪鹏飞; 刘羽; 毛剑峰; 张博
Original assignee: Zhejiang Huaray Technology Co Ltd
Current assignee: Zhejiang Huaray Technology Co Ltd
Priority date: 2021-06-16
Filing date: 2021-06-16
Publication date: 2021-11-16
Anticipated expiration: 2041-06-16
Also published as: CN113111677A

Abstract

The invention discloses a method, a device, equipment and a medium for reading a bar code, wherein the distance between a central point of a 2D image acquisition device and an intersection point of a ray from the central point of the bar code to the intersection point is determined based on the intersection point of the ray and a package from the central point of the 2D image acquisition device, and a target package where the target intersection point with the minimum distance is located is bound with the bar code, so that whether the bar code belongs to a large package or a small package can be accurately determined, and the binding accuracy of the package and the bar code is improved.

Description

Bar code reading method, device, equipment and medium

Technical Field

The invention relates to the technical field of machine vision, in particular to a barcode reading method, a barcode reading device, barcode reading equipment and a barcode reading medium.

Background

In recent years, along with the wide popularization of electronic commerce, the logistics field is rapidly developed, and the requirements of the public on logistics are gradually improved, but up to now, due to the diversity of package forms, the packages are still bound with the bar codes in a large number of manual code scanning modes in the transfer process of a transfer station, so that the logistics speed is low, and the logistics cost is improved.

A barcode reading method and a barcode reading system exist in the prior art, and fig. 1 is a schematic process diagram of a barcode reading method provided in the prior art, where the process includes the following steps:

s101: the package is photographed by an image capture device.

S102: and identifying the bar code on the package according to the image acquired by the image acquisition equipment.

S103: and distinguishing the position relation of the packages according to the images acquired by the image acquisition equipment.

S104: and binding the bar code of the same package with the position relation data.

In the prior art, the bar codes on the packages are read by a machine vision technology, so that the speed in the logistics transfer process can be effectively increased, the efficiency is improved, and information is effectively provided for the follow-up mechanical hand to grab the packages; however, in the prior art, the barcode of the package is required to be located on the top surface of the package, and the image acquisition device acquires an image along the direction from the top surface to the bottom surface of the package, so that the barcode on the package is recognized, and the barcode and the position relation data are bound according to the position relation of the package.

In the actual transfer process of the parcels, when the parcels move on the conveyor belt, the bar codes are more likely to be positioned at the side surfaces of the parcels, wherein the side surfaces are two surfaces which are parallel to the moving direction of the conveyor belt and are wrapped on the rest four surfaces except the top surface and the bottom surface, although the image of the bar code can be acquired by installing an image acquisition device at the side of the package, when there is a large package and a small package moving synchronously on the conveyor belt, and the same vertical line of the moving direction of the conveyor belt passes through the large package and the small package, because the image collected by the side face comprises a large package and a small package, and partial area of the side face image of the large package is shielded by the side face image of the small package, the large package and the small package can be identified as one package in the prior art, and the condition that the identified bar code belongs to the large package or the small package cannot be determined, so that the code is missed to read the package.

Even if the bar code is determined to belong to the small parcel if the bar code is located in the outline range of the side image of the small parcel according to the outlines of the large parcel and the small parcel in the side image acquired by the image acquisition equipment, and the bar code is determined to belong to the large parcel if the bar code is located outside the outline range of the side image of the small parcel but within the outline range of the side image of the large parcel.

However, according to the scheme, only when the color of the side face of the large package is not consistent with the color of the side face of the small package, the outline of the side face image of the small package in the side face image of the large package can be identified, but when the color of the side face of the large package is completely consistent with the color of the side face of the small package, the outline of the side face image of the small package cannot be identified in the side face image of the large package, the large package and the small package can also be identified as one package, so that the condition that whether the barcode belongs to the large package or the small package cannot be determined, the code is missed to be read by the package, and the binding accuracy of the package and the barcode is low.

Disclosure of Invention

The invention provides a barcode reading method, a barcode reading device, equipment and a medium, which are used for solving the problem of low binding accuracy of a package and a barcode in the prior art.

The invention provides a barcode reading method, which comprises the following steps:

determining a bar code and bar code position information on the package according to a first image acquired by a 2D image acquisition device, and determining package size information and first position information of a package central point according to a second image acquired by a 3D image acquisition device;

according to the bar code position information and second position information of the center point of the 2D image acquisition equipment which is stored in advance, determining a ray from the center point of the 2D image acquisition equipment to the center point of the bar code, according to the package size information and the first position information, determining plane information of the side surface of the package, and according to the ray and the plane information, determining third position information of an intersection point of the ray and the side surface of the package;

and determining the distance between the center point of the 2D image acquisition equipment and the intersection point according to the second position information of the center point of the 2D image acquisition equipment and the third position information of the intersection point, and binding the target package where the target intersection point with the minimum distance is located with the bar code.

Further, after determining the parcel size information and the first position information of the parcel center point according to the second image acquired by the 3D image acquisition device, and before determining the ray from the 2D image acquisition device center point to the center point of the barcode according to the barcode position information and the second position information of the 2D image acquisition device center point stored in advance, the method further includes:

determining a mapping area of the side face of the parcel according to the parcel size information, the first position information of the parcel central point and calibration parameters of pre-stored 2D image acquisition equipment and 3D image acquisition equipment;

and according to the mapping area and the bar code position information, if the bar code is positioned in the mapping area of any parcel, executing the subsequent step of determining the ray from the center point of the 2D image acquisition equipment to the center point of the bar code according to the bar code position information and the prestored second position information of the center point of the 2D image acquisition equipment.

acquiring a first encoder value at a first image acquisition time and a second encoder value at a second image acquisition time which are sent by an encoder;

determining a first difference value of the second encoder value and the first encoder value, and determining a first target conveyor belt moving distance corresponding to the first difference value according to a pre-stored corresponding relation between the encoder value and the conveyor belt moving distance;

and determining second position information of the package central point at the first image acquisition moment according to the moving distance of the first target conveying belt and the first position information of the package central point, updating the first position information by adopting the second position information, and storing the corresponding relation between the first encoder value and the updated first position information into a package set to be matched.

Further, after determining the barcode and the barcode position information on the package according to the first image acquired by the 2D image acquisition device, and before determining the package size information and the first position information of the package center point according to the second image acquired by the 3D image acquisition device, the method further includes:

and if the bar code value is different from the bar code value to be matched, storing the corresponding relation between the bar code and the first image, the bar code value, the first encoder value and the bar code position information into the bar code set to be matched.

Further, after determining the parcel size information and the first position information of the parcel center point from the second image acquired by the 3D image acquisition device, the method further comprises:

determining fourth position information of a package central point according to a third image acquired by the 3D image acquisition equipment after the second image, and determining a spacing distance between a position corresponding to the fourth position information and a position corresponding to the first position information according to the fourth position information and the first position information;

acquiring a second encoder value at a second image acquisition time and a third encoder value at a third image acquisition time which are sent by an encoder, and determining a second target conveyor belt moving distance corresponding to a second difference value according to the second difference value between the third encoder value and the second encoder value and a corresponding relation between a pre-stored encoder value and the conveyor belt moving distance;

if the spacing distance is the same as the moving distance of the second target conveyor belt, updating first position information in the parcel set to be matched according to the fourth position information;

and if the spacing distance is different from the moving distance of the second target conveyor belt, storing the corresponding relation between the fourth position information and the third encoder value into the to-be-matched package set.

Further, the binding the target package at the target intersection point with the minimum distance to the barcode comprises:

determining target first position information corresponding to the target third position information according to the target third position information of the target intersection point with the minimum distance and the determined corresponding relation between the third position information and the first position information of each parcel to be matched;

storing the corresponding relation between the target first position information and the bar code value of the bar code in a set of packages to be matched, and deleting the bar code value, the bar code position information, the first image and the first encoder value corresponding to the bar code in the set of bar codes to be matched.

Further, the determining process of the corresponding relationship between the third location information and the first location information of each package to be matched includes:

for each parcel to be matched, determining the third position information of the intersection point of the ray and the side face of the parcel to be matched according to the ray, the first position information of the parcel to be matched and the parcel size information;

and determining the corresponding relation between the third position information of the parcel to be matched and the first position information according to the first position information of the parcel to be matched and the determined third position information of the intersection point positioned on the side surface of the parcel to be matched.

Further, the method further comprises:

judging whether the position corresponding to the first position information of the parcel is not located in a preset matching area or not according to the first position information of the parcel in the to-be-matched parcel set and the preset matching area;

and if the position corresponding to the first position information of the package is not located in the preset matching area and the package does not have a bound bar code, determining that the package is missed and outputting prompt information, controlling a conveyor belt to pause, and determining and outputting the first image corresponding to the first encoder value according to the first encoder value correspondingly stored in the first position information of the package in the package set to be matched.

Accordingly, the present invention provides a barcode reading apparatus, the apparatus comprising:

the determining module is used for determining a bar code and bar code position information on the package according to a first image acquired by the 2D image acquisition equipment, and determining package size information and first position information of a package central point according to a second image acquired by the 3D image acquisition equipment; according to the bar code position information and second position information of the center point of the 2D image acquisition equipment which is stored in advance, determining a ray from the center point of the 2D image acquisition equipment to the center point of the bar code, according to the package size information and the first position information, determining plane information of the side surface of the package, and according to the ray and the plane information, determining third position information of an intersection point of the ray and the side surface of the package;

and the binding module is used for determining the distance between the center point of the 2D image acquisition equipment and the intersection point according to the second position information of the center point of the 2D image acquisition equipment and the third position information of the intersection point, and binding the target package where the target intersection point with the minimum distance is located with the bar code.

Further, the determining module is further configured to determine a mapping area of a side surface of the package according to the second image acquired by the 3D image acquisition device, after determining package size information and first position information of a package center point, before determining a ray from the 2D image acquisition device center point to the center point of the barcode according to the barcode position information and second position information of the 2D image acquisition device center point stored in advance, and according to the package size information, the first position information of the package center point, and calibration parameters of the 2D image acquisition device and the 3D image acquisition device stored in advance; and according to the mapping area and the bar code position information, if the bar code is positioned in the mapping area of any parcel, executing the subsequent step of determining the ray from the center point of the 2D image acquisition equipment to the center point of the bar code according to the bar code position information and the prestored second position information of the center point of the 2D image acquisition equipment.

Further, the apparatus further comprises:

the acquisition module is used for acquiring a first encoder value at a first image acquisition time and a second encoder value at a second image acquisition time which are sent by an encoder before determining a ray from a center point of the 2D image acquisition equipment to the center point of the bar code according to the bar code position information and second position information of the center point of the 2D image acquisition equipment which is stored in advance after determining the parcel size information and the first position information of the parcel center point according to a second image acquired by the 3D image acquisition equipment;

the determining module is further configured to determine a first difference between the second encoder value and the first encoder value, and determine a first target conveyor belt movement distance corresponding to the first difference according to a pre-stored correspondence between the encoder value and the conveyor belt movement distance; and determining second position information of the package central point at the first image acquisition moment according to the moving distance of the first target conveying belt and the first position information of the package central point, updating the first position information by adopting the second position information, and storing the corresponding relation between the first encoder value and the updated first position information into a package set to be matched.

Further, the determining module is further configured to, after determining the barcode and the barcode position information on the package according to the first image acquired by the 2D image acquisition device, before determining the package size information and the first position information of the package center point according to the second image acquired by the 3D image acquisition device, store the corresponding relationship between the barcode and the first image, the barcode value, the first encoder value, and the barcode position information into a set of barcodes to be matched according to the read barcode value and a barcode value to be matched of each barcode to be matched in a pre-stored set of barcodes to be matched if the barcode value is different from the barcode value to be matched.

Further, the determining module is further configured to determine fourth position information of the package central point according to a third image acquired by the 3D image acquisition device after the package size information and the first position information of the package central point are determined according to a second image acquired by the 3D image acquisition device, and determine a distance between a position corresponding to the fourth position information and a position corresponding to the first position information according to the fourth position information and the first position information;

the acquisition module is further used for acquiring a second encoder value at a second image acquisition time and a third encoder value at a third image acquisition time, which are sent by the encoder;

the determining module is further configured to determine a second target conveyor belt moving distance corresponding to a second difference value according to the second difference value between the third encoder value and the second encoder value and a correspondence between a pre-stored encoder value and a conveyor belt moving distance; if the spacing distance is the same as the moving distance of the second target conveyor belt, updating first position information in the parcel set to be matched according to the fourth position information; and if the spacing distance is different from the moving distance of the second target conveyor belt, storing the corresponding relation between the fourth position information and the third encoder value into the to-be-matched package set.

Further, the binding module is specifically configured to determine, according to target third location information of a target intersection point with a minimum distance and a determined correspondence between the third location information of each package to be matched and the first location information, target first location information corresponding to the target third location information; storing the corresponding relation between the target first position information and the bar code value of the bar code in a set of packages to be matched, and deleting the bar code value, the bar code position information, the first image and the first encoder value corresponding to the bar code in the set of bar codes to be matched.

Further, the determining module is further configured to determine a corresponding relationship between the third location information and the first location information of each package to be matched, where the determining process includes: for each parcel to be matched, determining the third position information of the intersection point of the ray and the side face of the parcel to be matched according to the ray, the first position information of the parcel to be matched and the parcel size information; and determining the corresponding relation between the third position information of the parcel to be matched and the first position information according to the first position information of the parcel to be matched and the determined third position information of the intersection point positioned on the side surface of the parcel to be matched.

Further, the apparatus further comprises:

the judging module is used for judging whether the position corresponding to the first position information of the parcel is not located in the preset matching area or not according to the first position information of the parcel in the to-be-matched parcel set and the preset matching area;

and the control module is used for determining that the package is missed to read and outputting prompt information if the position corresponding to the first position information of the package is not located in the preset matching area and the package does not have a bound bar code, controlling the conveyor belt to pause, and determining and outputting the first image correspondingly stored by the first encoder value according to the first encoder value correspondingly stored by the first position information of the package in the set of packages to be matched.

Accordingly, the present invention provides an electronic device comprising a processor and a memory, the memory being configured to store program instructions, the processor being configured to implement the steps of any of the above barcode reading methods when executing a computer program stored in the memory.

Accordingly, the present invention provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of any of the above-described barcode reading methods.

The invention determines the distance between the center point of the 2D image acquisition equipment and the intersection point based on the intersection point of the ray from the center point of the 2D image acquisition equipment to the center point of the bar code and the package, and binds the target package with the target intersection point with the minimum distance with the bar code, thereby accurately determining whether the bar code belongs to a large package or a small package and improving the binding accuracy of the package and the bar code.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a schematic process diagram of a barcode reading method provided in the prior art;

fig. 2 is a schematic process diagram of a barcode reading method according to an embodiment of the present invention;

fig. 3 is a schematic diagram of an image acquired by an image acquisition device according to an embodiment of the present invention;

fig. 4 is a schematic process diagram of a complete barcode reading method according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a barcode reading apparatus according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, 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.

In order to improve the binding accuracy of a package and a barcode, the embodiment of the invention provides a barcode reading method, a barcode reading device, barcode reading equipment and a barcode reading medium.

Example 1:

fig. 2 is a schematic process diagram of a barcode reading method according to an embodiment of the present invention, where the process includes the following steps:

s201: determining a barcode and barcode position information on the package according to a first image acquired by two-dimensional (2D) image acquisition equipment, and determining package size information and first position information of a package center point according to a second image acquired by Three-dimensional (3D) image acquisition equipment.

The embodiment of the invention provides a barcode reading method applied to electronic equipment, wherein the electronic equipment can be an intelligent terminal, a PC (personal computer), a tablet computer, a server and the like, and the server can be a local server or a cloud server.

In order to improve the binding accuracy of the package and the bar code, in the embodiment of the invention, the electronic equipment firstly determines the package and the bar code on the package, and the embodiment of the invention comprises an image acquisition device which is communicated with the electronic equipment, and the image acquisition device comprises a 2D image acquisition device and a 3D image acquisition device, wherein the 2D image acquisition device is used for acquiring a two-dimensional image, and the 3D image acquisition device is used for acquiring a three-dimensional image.

Fig. 3 is a schematic diagram of an image capturing device according to an embodiment of the present invention, as shown in fig. 3, a 2D image capturing device and a 3D image capturing device are present on the frame shown in fig. 3, and the moving direction of the conveyor belt is a direction from left (left and right in the figure) to right (left and right in the figure). In the embodiment of the invention, the 2D image acquisition equipment acquires two-dimensional images on the side surfaces of the packages; the 3D image acquisition device acquires a three-dimensional image on the top surface of the package.

The 2D image acquisition equipment and the 3D image acquisition equipment are pre-calibrated image acquisition equipment, and when the 2D image acquisition equipment is calibrated, images in different postures are acquired for the checkerboards according to the existing checkerboards, and calibration is realized according to the images in different postures. When the 3D image acquisition equipment realizes calibration, image information in the images is matched according to the images respectively acquired by the 3D image acquisition equipment and the 2D image acquisition equipment, so that matching calibration is realized. Methods for calibrating 2D image acquisition equipment and 3D image acquisition equipment by electronic equipment both belong to the prior art, and are not described herein in detail in the embodiments of the present invention.

The electronic device receives a first image acquired by a 2D image acquisition device, and can determine a barcode in the first image according to the first image, wherein the barcode can be a one-dimensional barcode or a two-dimensional barcode.

According to the first image, barcode position information of a barcode on the package can be determined, because the 2D image acquisition device and the 3D image acquisition device are pre-calibrated image acquisition devices, and according to calibration parameters of the 2D image acquisition device and the 3D image acquisition device, a two-dimensional coordinate in an image coordinate system and a three-dimensional coordinate in a three-dimensional coordinate system can be converted with each other, the barcode position information can be a two-dimensional coordinate in the image coordinate system or a three-dimensional coordinate in the three-dimensional coordinate system.

The electronic device further receives a second image acquired by the 3D image acquisition device, where the second image belongs to a three-dimensional image, and may specifically be a depth image in the three-dimensional image or a point cloud image in the three-dimensional image, which is not limited in this embodiment of the present invention. And determining the parcel size information of each parcel and the first position information of the parcel center point in the second image according to the received second image.

Since the embodiment of the invention is used for determining whether the bar codes on the packages belong to large packages or small packages, the package size information of one or more packages and the first position information of the package central point are determined according to the second image, wherein if a plurality of packages exist, the plurality of packages may be positioned on a straight line perpendicular to the moving direction of the conveyor belt.

S202: according to the bar code position information and second position information of the center point of the 2D image acquisition equipment which is stored in advance, rays from the center point of the 2D image acquisition equipment to the center point of the bar code are determined, plane information of the side face of the package is determined according to the package size information and the first position information, and third position information of an intersection point of the rays and the side face of the package is determined according to the rays and the plane information.

In order to determine whether the barcode belongs to a large package or a small package, second position information of a center point of the 2D image acquisition device is also pre-stored, and according to the second position information and the determined barcode position information, a ray from the center point of the 2D image acquisition device to the center point of the barcode can be determined, wherein the ray is expressed in an equation form, and a method for determining an equation of a ray according to the 2 position information belongs to the prior art, and is not described in detail in the embodiments of the present invention.

Based on the determined parcel size information and the first location information of the parcel center point, planar information of the parcel side may be determined. Specifically, the position information of 8 corner points of a package is determined according to the package size information and the first position information of a package center point, and the plane information of each side of the package can be determined according to the position information of 8 corner points of the package, wherein the plane information of each side is represented by a plane equation, and a method for determining the plane equation of one surface according to 3 position information belongs to the prior art, and is not described in detail in the embodiment of the invention.

And according to the determined ray and the plane information of the side face of the package, determining third position information of the intersection point of the emergent ray and the side face of the package. The method for determining the third position information of the intersection point of the ray and the package side face according to the determined equation of the ray and the plane equation of the package side face belongs to the prior art, and details are not repeated here in the embodiment of the invention.

S203: and determining the distance between the center point of the 2D image acquisition equipment and the intersection point according to the second position information of the center point of the 2D image acquisition equipment and the third position information of the intersection point, and binding the target package where the target intersection point with the minimum distance is located with the bar code.

According to the second position information of the center point of the 2D image acquisition equipment and the third position information of the intersection point, the distance between the center point of the 2D image acquisition equipment and each determined intersection point can be determined according to the existing distance determination formula, the target intersection point with the minimum distance is determined, the target package where the target intersection point is located is the package to which the bar code belongs, and the target package and the bar code are bound.

In the embodiment of the invention, when the bar code is determined according to the collected first image, two conditions exist, namely the bar code is positioned on a large package and the bar code is positioned on a small package. When the bar code is positioned on the large package, the first image may or may not include the side image of the small package, and when the first image includes the side image of the small package, the bar code can be identified in the first image, so that the side of the small package does not shield the bar code positioned on the large package, and when the first image does not include the side image of the small package, the small package is positioned behind the large package, wherein the rear is in the direction opposite to the image acquisition direction. When the barcode is located on a small parcel, the large parcel is located behind the small parcel. When the bar code is positioned in the large package and the first image comprises the side image of the small package, the ray from the central point of the 2D image acquisition equipment to the central point of the bar code does not have an intersection point with the small package, and the distance between the intersection point of the large package and the central point of the 2D image acquisition equipment is the minimum, so that the large package and the bar code can be accurately bound; the bar code is positioned on the large package, the first image does not comprise a side image of the small package, and the distance between the intersection point of the large package and the central point of the 2D image acquisition equipment is the minimum, so that the large package and the bar code can be accurately bound; when the bar code is located in the small package, the distance between the intersection point of the small package and the central point of the 2D image acquisition equipment is minimum, so that the small package and the bar code can be accurately bound.

According to the embodiment of the invention, the bar code and the bar code position information on the package are determined according to the first image acquired by the 2D image acquisition equipment, and the package size information and the first position information of the package central point are determined according to the second image acquired by the 3D image acquisition equipment; according to the bar code position information and second position information of the center point of the 2D image acquisition equipment which is stored in advance, determining a ray from the center point of the 2D image acquisition equipment to the center point of the bar code, according to the package size information and the first position information, determining plane information of the side surface of the package, and according to the ray and the plane information, determining third position information of an intersection point of the ray and the side surface of the package; according to the second position information of the center point of the 2D image acquisition equipment and the third position information of the intersection point, the distance between the center point of the 2D image acquisition equipment and the intersection point is determined, and the target package where the target intersection point with the minimum distance is located is bound with the bar code.

Example 2:

in order to ensure that a time error between a first image acquisition time and a second image acquisition time is small and improve the binding accuracy between a package and a barcode, on the basis of the above embodiment, in an embodiment of the present invention, after determining package size information and first position information of a package center point according to a second image acquired by a 3D image acquisition device, before determining a ray from the 2D image acquisition device center point to a center point of the barcode according to the barcode position information and second position information of the 2D image acquisition device center point stored in advance, the method further includes:

In the embodiment of the invention, when a time error exists between the first image acquisition time and the second image acquisition time, an error exists between the bar code position information and the first position information of the package central point, so that the binding accuracy of the package and the bar code is reduced. The first image acquisition time is the time when the 2D image acquisition equipment acquires a first image, and the second image acquisition time is the time when the 3D image acquisition equipment acquires a second image.

Therefore, in order to improve the binding accuracy of the package and the bar code, after the package size information and the first position information of the package central point are determined, the three-dimensional coordinate information of 8 corner points of the package can be determined according to the determined package size information and the first position information of the package central point. And determining a mapping area of the side face of the parcel according to the three-dimensional coordinate information of 8 corner points of the parcel and calibration parameters of the pre-stored 2D image acquisition equipment and 3D image acquisition equipment.

According to the determined mapping area of the side face of the package and the bar code position information, if the bar code is located in the mapping area of any side face of the package, the same time can be determined when the 2D image acquisition equipment and the 3D image acquisition equipment acquire images, and therefore the subsequent step of determining the ray from the center point of the 2D image acquisition equipment to the center point of the bar code according to the bar code position information and the pre-stored second position information of the center point of the 2D image acquisition equipment can be executed.

Example 3:

on the basis of the above embodiments, in an embodiment of the present invention, after determining package size information and first position information of a package center point according to a second image acquired by a 3D image acquisition device, and before determining a ray from a 2D image acquisition device center point to a barcode center point according to the barcode position information and second position information of the 2D image acquisition device center point stored in advance, the method further includes:

When the speed of the conveyor belt changes and the 2D image acquisition equipment and the 3D image acquisition equipment acquire images at different moments, errors between the determined bar code position information and the first position information are increased, and the binding accuracy rate of the package and the bar code is reduced. The speed change comprises two conditions of speed increase and speed reduction, and the speed reduction is possibly reduced to 0, namely the conveyor belt stops running.

In order to avoid the above problems and improve the binding accuracy of the package and the barcode, the embodiment of the present invention may further use an encoder to record. Wherein the encoder itself is stationary, but there is a unit that moves with the conveyor belt, thus effecting the conversion of the linear displacement into an electrical signal.

Specifically, the electronic device obtains a first encoder value at a first image acquisition time and a second encoder value at a second image acquisition time, which are sent by an encoder. The encoder is in communication connection with the 2D image acquisition device and the 3D image acquisition device, so that the corresponding encoder value can be sent to the electronic device at the first image acquisition time and the second image acquisition time.

According to the first encoder value and the second encoder value, a first difference value between the second encoder value and the first encoder value can be determined, in order to determine the moving distance of the conveyor belt between the first image acquisition time and the second image acquisition time, the corresponding relation between the encoder value and the moving distance of the conveyor belt is also stored in advance, and according to the first difference value and the corresponding relation between the encoder value and the moving distance of the conveyor belt which are stored in advance, the moving distance of a first target conveyor belt corresponding to the first difference value can be determined.

The first position information is the position information of the package center point at the second image acquisition time, the moving distance of the first target conveyor belt is the moving distance of the conveyor belt at the first image acquisition time and the second image acquisition time, and the package and the conveyor belt move synchronously, so that the moving distance of the first target conveyor belt is also the moving distance of the package from the first image acquisition time to the second image acquisition time.

According to the moving distance of the first target conveyor belt and the first position information of the package central point, the second position information of the package central point at the moment of first image acquisition can be determined. Specifically, the moving direction of the conveyor belt is taken as a coordinate axis, a coordinate value in the coordinate axis direction is determined according to the first position information, a difference value between the coordinate value and the moving distance of the first target conveyor belt is determined, the coordinate value is updated according to the difference value, and a position corresponding to the position information is determined according to the updated second position information.

And updating the first position information by adopting the second position information, thereby ensuring that no error exists between the barcode position information and the package central point position information, and storing the corresponding relation between the determined first encoder value and the updated first position information into a package set to be matched.

Example 4:

to avoid repeatedly binding the same barcode, on the basis of the foregoing embodiments, in an embodiment of the present invention, after determining the barcode and the barcode position information on the package according to the first image acquired by the 2D image acquisition device, and before determining the package size information and the first position information of the package center point according to the second image acquired by the 3D image acquisition device, the method further includes:

In order to avoid repeated binding of the same barcode, in the embodiment of the present invention, a set of barcodes to be matched is pre-stored, where each barcode to be matched in the set of barcodes to be matched has a corresponding barcode value to be matched.

According to a first image acquired by 2D image acquisition equipment, a bar code and bar code position information on a parcel are determined, wherein the bar code on the parcel refers to a sub-image of a bar code area in the first image, and the bar code can be a one-dimensional bar code or a two-dimensional bar code. The barcode value of a barcode refers to a binary value generated based on information on the barcode.

Judging whether the bar code value is the same as the bar code value to be matched or not according to the read bar code value of the bar code and the bar code value to be matched of each bar code to be matched in a pre-stored bar code set to be matched, and if the bar code value is the same as any bar code value to be matched, determining that the bar code is the bar code stored in the bar code set to be matched; if the bar code value is different from each bar code value to be matched, the bar code can be determined not to be the bar code to be matched in the bar code set to be matched.

Therefore, if it is determined that the bar code value is different from the bar code value to be matched, the corresponding relationship between the bar code and the first image containing the bar code, the bar code value, the first encoder value and the bar code position information can be stored in the bar code set to be matched.

Example 5:

in order to achieve tracking of the package and avoid repeated binding, on the basis of the foregoing embodiments, in an embodiment of the present invention, after determining the package size information and the first location information of the package center point according to the second image acquired by the 3D image acquisition device, the method further includes:

In the embodiment of the invention, the 3D image acquisition equipment can continue to acquire images according to the preset acquisition time interval after acquiring the second image, and the electronic equipment can determine the fourth position information of the package central point according to the received third image acquired after the second image.

Specifically, the third image is an image acquired by the 3D image acquisition device after a set time interval of the second image acquisition time, where the set time interval is any preset time duration, and the set time interval may be a time duration corresponding to one frame, or may be a time duration of 1 second, 2 seconds, or the like.

In order to determine whether the second image and the third image are images acquired for the same package, in the embodiment of the present invention, a distance between a position corresponding to the fourth position information and a position corresponding to the first position information is determined according to the fourth position information and the first position information. And the fourth position information is the three-dimensional coordinate information of the package central point at the third image acquisition moment.

Specifically, according to the position corresponding to the fourth position information and the position corresponding to the first position information, with the moving direction of the conveyor belt as a coordinate axis, a difference value between coordinate values of the position corresponding to the fourth position information and the position corresponding to the first position information in the coordinate axis direction is determined, and the difference value is a distance between the position corresponding to the fourth position information and the position corresponding to the first position information.

And obtaining a second encoder value at the second image acquisition time and a third encoder value at the third image acquisition time which are sent by the encoder, determining a second difference value between the third encoder value and the second encoder value, and determining a second target conveyor belt moving distance corresponding to the second difference value according to the second difference value and a pre-stored corresponding relation between the encoder value and the conveyor belt moving distance. The second target conveyor travel distance is the actual distance the package travels from the second image acquisition time to the third image acquisition time because the package is moving synchronously with the conveyor.

And according to the determined spacing distance and the moving distance of the second target conveyor belt, if the spacing distance is the same as the moving distance of the second target conveyor belt, determining that the third image and the second image are the acquired images of the same parcel, and updating the first position information in the parcel set to be matched by adopting fourth position information in order to realize the tracking of the parcel.

If the separation distance is different from the moving distance of the second target conveyor belt, it can be determined that the third image and the second image are not the images of the same acquired package, and the second image is the image acquired for different packages, so that the corresponding relationship between the fourth position information and the third encoder value is stored in the package set to be matched.

Example 6:

in order to implement the binding between the target package and the barcode, on the basis of the foregoing embodiments, in an embodiment of the present invention, the binding between the target package at the target intersection with the smallest distance and the barcode includes:

In order to realize the binding of the target package and the bar code, in the embodiment of the invention, the distance between the center point of the 2D image acquisition device and each intersection point can be determined according to the second position information of the center point of the 2D image acquisition device and the third position information of each intersection point, so that the target third position information of the target intersection point with the minimum distance is determined.

In order to determine the target package where the target intersection point is located, in the embodiment of the present invention, a corresponding relationship between the third location information and the first location information of each package to be matched is determined, where there is only one first location information of a center point of each package to be matched, and there may be one or more third location information of each package to be matched, that is, a corresponding relationship between the third location information and the first location information may be a one-to-one relationship or a many-to-one relationship.

And according to the determined target third position information and the determined corresponding relationship between the third position information and the first position information of each parcel to be matched, determining the target first position information of the target parcel in which the target third position information is located.

In order to realize the binding of the target parcel and the bar code, the corresponding relation between the target first position information and the bar code value of the bar code is established and stored in the parcel set to be matched. And simultaneously, in order to update the bar code set to be matched, the bar code value, the bar code position information, the first image and the first encoder value of the bar code are deleted in the bar code set to be matched. The set of barcodes to be matched comprises the corresponding relation between each barcode to be matched of an unbound parcel and a barcode value, barcode position information, a first image and a first encoder value.

In order to determine the corresponding relationship between the third location information and the first location information of each package to be matched, in an embodiment of the present invention, the determining process of the corresponding relationship between the third location information and the first location information of each package to be matched includes:

In order to determine the corresponding relationship between the third position information and the first position information of each parcel to be matched, in the embodiment of the invention, for each parcel to be matched, a plane equation of the side face of the parcel to be matched is determined according to the first position and the parcel size information of the parcel to be matched. The method for determining the third position information of the intersection point of the ray and the side face of the parcel to be matched according to the equation of the ray and the plane equation of the side face of the parcel to be matched belongs to the prior art, and the embodiment of the invention is not described herein again.

According to the first position information of the parcel to be matched and the determined third position information of the intersection point positioned on the side surface of the parcel to be matched, the corresponding relation between the third position information of the parcel to be matched and the first position information can be determined.

Preferably, in the embodiment of the present invention, because the number of parcels to be matched in the set of parcels to be matched is large, in order to improve the efficiency of determining the corresponding relation between the third position information and the first position information of each parcel to be matched, aiming at the ray determined by the bar code position information of each bar code, a first encoder value corresponding to the bar code in the bar code set to be matched is determined, determining each parcel to be matched in the parcel set to be matched, which has a corresponding relationship with the first encoding value according to the first encoder value, therefore, packages to be matched which are not possible to have intersection points with the rays in the package set to be matched can be excluded, the third position information of the intersection points is calculated only on the basis of the packages to be matched which are possible to have intersection points with the rays in the package set to be matched, that is, the third position information of the intersection is calculated based on each package to be matched having a correspondence relationship with the first encoder value. And determining third position information of the intersection point of the ray and the side surface of each package to be matched corresponding to the first encoder value based on the ray, and creating and storing the corresponding relation between the first position information and the third position information of each package to be matched corresponding to the first encoder value.

Example 7:

in order to implement processing of the missing-read code package, on the basis of the foregoing embodiments, in an embodiment of the present invention, the method further includes:

In order to realize the processing of the code-missing packages, in the embodiment of the invention, a preset matching area is created in advance, wherein the preset matching area comprises an area ranging from the head end to the position with a set distance from the tail end of the conveyor belt, namely, the packages enter the preset matching area after entering the conveyor belt. And judging whether the position corresponding to the first position information is not located in the preset matching area or not according to the first position information of the packages in the package set to be matched and the preset matching area.

Specifically, whether the coordinate value is located in the preset matching area is judged according to the coordinate value of the position corresponding to the first position information in the coordinate axis corresponding to the moving direction of the conveyor belt, and the parcel enters the preset matching area after entering the conveyor belt, so that if the coordinate value is not larger than the preset matching area, the position corresponding to the first position information is determined to be located in the preset matching area, and if the coordinate value is larger than the preset matching area, the position corresponding to the first position information is determined not to be located in the preset matching area.

And if the position corresponding to the first position information is determined not to be located in the preset matching area and the package does not have the bound bar code, namely the first position information does not have the corresponding relation with the bar code value, determining that the code is missed to read by the package.

In order to realize the processing of the code-missing packages, the prompt information of the code-missing packages is output. The prompt message may be a text prompt message output by a display screen or a voice prompt message output by a sound box, which is not limited in the embodiment of the present invention.

And in order to realize manual processing of the code missing package, the electronic equipment also controls the conveyor belt to pause, determines a first image which is correspondingly stored by the first coding quality according to a first encoder value which is correspondingly stored by the first position information in the package set to be matched, and outputs the first image, so that the code missing package is manually processed.

Example 8:

the barcode reading method according to the embodiment of the present invention is described below with a complete embodiment, and fig. 4 is a schematic process diagram of the complete barcode reading method according to the embodiment of the present invention, where the process includes the following steps:

s401: and determining the bar code and the bar code position information on the package according to the first image acquired by the 2D image acquisition equipment.

S402: and if the bar code value is different from the bar code value to be matched, storing the corresponding relation between the bar code and the first image and the bar code position information into the bar code set to be matched.

S403: and determining the package size information and the first position information of the package central point according to the second image acquired by the 3D image acquisition equipment.

S404: and determining fourth position information of the package central point according to a third image acquired by the 3D image acquisition equipment behind the second image, and determining the spacing distance between the position corresponding to the fourth position information and the position corresponding to the first position information according to the fourth position information and the first position information.

S405: and acquiring a second encoder value at the second image acquisition time and a third encoder value at the third image acquisition time which are sent by the encoder, and determining a second target conveyor belt moving distance corresponding to the second difference value according to the second difference value between the third encoder value and the second encoder value and the corresponding relation between the pre-stored encoder value and the conveyor belt moving distance.

S406: if the spacing distance is the same as the moving distance of the second target conveyor belt, updating the first position information in the package set to be matched according to the fourth position information; and if the spacing distance is different from the moving distance of the second target conveyor belt, storing the corresponding relation between the fourth position information and the third encoder value into a to-be-matched parcel set.

S407: acquiring a first encoder value at a first image acquisition time and a second encoder value at a second image acquisition time which are sent by an encoder; and determining a first difference value between the second encoder value and the first encoder value, and determining a first target conveyor belt moving distance corresponding to the first difference value according to a pre-stored corresponding relation between the encoder value and the conveyor belt moving distance.

S408: and determining second position information of the package central point at the first image acquisition moment according to the moving distance of the first target transmission belt and the first position information of the package central point, updating the first position information by adopting the second position information, and storing the corresponding relation between the first encoder value and the updated first position information into a package set to be matched.

S409: determining a mapping area of the side face of the parcel according to the parcel size information, the first position information of the parcel central point and calibration parameters of pre-stored 2D image acquisition equipment and 3D image acquisition equipment; and according to the mapping area and the barcode position information, if the barcode is located in the mapping area of any parcel, performing S412.

S410: according to the barcode position information and the second position information of the center point of the pre-stored 2D image acquisition equipment, determining a ray from the center point of the 2D image acquisition equipment to the center point of the barcode, according to the package size information and the first position information, determining plane information of the side surface of the package, and according to the ray and the plane information, determining third position information of an intersection point of the ray and the side surface of the package.

S411: and determining the distance between the center point of the 2D image acquisition equipment and the intersection point according to the second position information of the center point of the 2D image acquisition equipment and the third position information of the intersection point.

S412: and determining target first position information corresponding to the target third position information according to the target third position information of the target intersection point with the minimum distance and the determined corresponding relation between the third position information and the first position information of each parcel to be matched.

S413: and storing the corresponding relation between the target first position information and the bar code value of the bar code in a to-be-matched package set, and deleting the bar code value, the bar code position information, the first image and the first encoder value corresponding to the bar code in the to-be-matched bar code set.

S414: and judging whether the position corresponding to the first position information of the package is not located in the preset matching area or not according to the first position information of the package in the package set to be matched and the preset matching area.

S415: and if the position corresponding to the first position information of the package is not located in the preset matching area and the package does not have a bound bar code, determining that the package is missed and outputting prompt information, controlling the conveyor belt to pause, and determining a first image corresponding to the first encoder value and outputting the first image according to a first encoder value corresponding to the first position information of the package in the set of packages to be matched.

Example 9:

fig. 5 is a schematic structural diagram of a barcode reading apparatus according to an embodiment of the present invention, and based on the foregoing embodiments, the barcode reading apparatus according to another embodiment of the present invention includes:

the determining module 501 is configured to determine a barcode and barcode position information on a package according to a first image acquired by a 2D image acquisition device, and determine package size information and first position information of a package center point according to a second image acquired by a 3D image acquisition device; according to the bar code position information and second position information of the center point of the 2D image acquisition equipment which is stored in advance, determining a ray from the center point of the 2D image acquisition equipment to the center point of the bar code, according to the package size information and the first position information, determining plane information of the side surface of the package, and according to the ray and the plane information, determining third position information of an intersection point of the ray and the side surface of the package;

a binding module 502, configured to determine a distance between the center point of the 2D image acquisition device and the intersection point according to the second position information of the center point of the 2D image acquisition device and the third position information of the intersection point, and bind the target package where the target intersection point with the smallest distance is located with the barcode.

Further, the apparatus further comprises:

Example 10:

fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and on the basis of the foregoing embodiments, an electronic device according to an embodiment of the present invention is further provided, where the electronic device includes a processor 601, a communication interface 602, a memory 603, and a communication bus 604, where the processor 601, the communication interface 602, and the memory 603 complete communication therebetween through the communication bus 604;

the memory 603 has stored therein a computer program which, when executed by the processor 601, causes the processor 601 to perform the steps of:

Further, the processor 601 is further configured to, after determining the parcel size information and the first position information of the parcel center point according to the second image acquired by the 3D image acquisition device, before determining the ray from the 2D image acquisition device center point to the center point of the barcode according to the barcode position information and the second position information of the 2D image acquisition device center point stored in advance, the method further includes:

Further, the processor 601 is further configured to, after determining the barcode and the barcode position information on the package according to the first image acquired by the 2D image acquisition device, before determining the package size information and the first position information of the package center point according to the second image acquired by the 3D image acquisition device, the method further includes:

Further, the processor 601 is further configured to, after determining the parcel size information and the first location information of the parcel center point from the second image acquired by the 3D image acquisition device, further include:

Further, the processor 601 is specifically configured to bind the target package where the target intersection point with the minimum distance is located with the barcode, including:

Further, the process of determining the corresponding relationship between the third location information and the first location information of each package to be matched by the processor 601 specifically includes:

Further, the processor 601 is further configured to determine whether a position corresponding to the first position information of the package is not located in a preset matching area according to the first position information of the package in the set of packages to be matched and the preset matching area;

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 602 is used for communication between the above-described electronic apparatus and other apparatuses.

The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Alternatively, the memory may be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor, including a central processing unit, a Network Processor (NP), and the like; but may also be a Digital instruction processor (DSP), an application specific integrated circuit, a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like.

Example 11:

on the basis of the foregoing embodiments, an embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program, where the computer program is executed by a processor to perform the following steps:

Further, the method further comprises:

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. A barcode reading method, characterized in that the method comprises:

determining the distance between the center point of the 2D image acquisition equipment and the intersection point according to the second position information of the center point of the 2D image acquisition equipment and the third position information of the intersection point, and binding a target package where the target intersection point with the minimum distance is located with the bar code;

after determining the parcel size information and the first position information of the parcel center point according to the second image acquired by the 3D image acquisition device, and before determining the ray from the 2D image acquisition device center point to the center point of the barcode according to the barcode position information and the second position information of the 2D image acquisition device center point stored in advance, the method further comprises the following steps:

according to the mapping area and the bar code position information, if the bar code is located in the mapping area of any parcel, a subsequent step of determining a ray from the center point of the 2D image acquisition equipment to the center point of the bar code according to the bar code position information and second position information of the center point of the 2D image acquisition equipment, which is stored in advance, is executed;

determining fifth position information of the package central point at the first image acquisition moment according to the moving distance of the first target transmission belt and the first position information of the package central point, updating the first position information by adopting the fifth position information, and storing the corresponding relation between the first encoder value and the updated first position information into a package set to be matched.

2. The method of claim 1, wherein after determining the barcode and barcode location information on the package based on the first image captured by the 2D image capture device, and before determining the package size information and the first location information of the package center point based on the second image captured by the 3D image capture device, the method further comprises:

3. The method of claim 2, wherein after determining the parcel size information and the first location information for the parcel center point from the second image acquired by the 3D image acquisition device, the method further comprises:

4. The method of claim 3, wherein binding the target package with the barcode at the target intersection with the smallest distance comprises:

5. The method according to claim 4, wherein the determining of the corresponding relationship between the third location information and the first location information of each package to be matched comprises:

6. The method of claim 4, further comprising:

judging whether the position corresponding to the first position information of the parcel is not located in a preset matching area or not according to the first position information of the parcel in the to-be-matched parcel set and the preset matching area, wherein the preset matching area comprises an area within a range from the head end of a conveyor belt to a position with a set distance from the tail end;

7. A barcode reading apparatus, characterized in that the apparatus comprises:

the binding module is used for determining the distance between the center point of the 2D image acquisition equipment and the intersection point according to the second position information of the center point of the 2D image acquisition equipment and the third position information of the intersection point, and binding a target package where the target intersection point with the minimum distance is located with the bar code;

the determining module is further configured to determine a mapping area of a side surface of a parcel according to the parcel size information, the first position information of the parcel center point, and calibration parameters of a pre-stored 2D image collecting device and a pre-stored 3D image collecting device, before determining a ray from the 2D image collecting device center point to the barcode center point according to the barcode position information and the pre-stored second position information of the 2D image collecting device center point after determining the parcel size information and the first position information of the parcel center point according to the second image collected by the 3D image collecting device; according to the mapping area and the bar code position information, if the bar code is located in the mapping area of any parcel, a subsequent step of determining a ray from the center point of the 2D image acquisition equipment to the center point of the bar code according to the bar code position information and second position information of the center point of the 2D image acquisition equipment, which is stored in advance, is executed;

wherein the apparatus further comprises:

the acquisition module is used for acquiring a first encoder value at a first image acquisition moment and a second encoder value at a second image acquisition moment which are sent by an encoder before determining a ray from a center point of the 2D image acquisition equipment to the center point of the bar code according to the bar code position information and second position information of the center point of the 2D image acquisition equipment which is stored in advance after determining the parcel size information and the first position information of the parcel center point according to the second image acquired by the 3D image acquisition equipment;

the determining module is further configured to determine a first difference between the second encoder value and the first encoder value, and determine a first target conveyor belt movement distance corresponding to the first difference according to a pre-stored correspondence between the encoder value and the conveyor belt movement distance; determining fifth position information of the package central point at the first image acquisition moment according to the moving distance of the first target transmission belt and the first position information of the package central point, updating the first position information by adopting the fifth position information, and storing the corresponding relation between the first encoder value and the updated first position information into a package set to be matched.

8. An electronic device, comprising: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus;

the memory has stored therein a computer program which, when executed by the processor, causes the processor to perform the steps of the barcode reading method of any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that it stores a computer program which, when being executed by a processor, carries out the steps of the barcode reading method according to any one of claims 1 to 6.