CN113686300A - Conveyor belt article attitude detection system and method - Google Patents
Conveyor belt article attitude detection system and method Download PDFInfo
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- CN113686300A CN113686300A CN202111053078.6A CN202111053078A CN113686300A CN 113686300 A CN113686300 A CN 113686300A CN 202111053078 A CN202111053078 A CN 202111053078A CN 113686300 A CN113686300 A CN 113686300A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
Abstract
The invention relates to the technical field of conveyors, and discloses a conveyor belt article posture detection system which comprises a host, a camera, a belt conveyor with a conveyor belt and specific color indicating components arranged on two sides of the conveyor belt and parallel to the conveyor belt, wherein: the conveyor belt is used for conveying the articles; the camera is used for shooting a first image of the shielding condition of the conveyed article on the indicating component with the specific color; the host computer is used for determining whether the posture of the article is correct according to the first image. The invention reduces the investment cost, reduces the space waste and improves the flexibility.
Description
Technical Field
The invention relates to the technical field of conveyors, in particular to a conveyor belt object posture detection system and a conveyor belt object posture detection method.
Background
When a conveyor belt is used to convey an article, it is usually necessary to detect the attitude (center position and inclination angle) of the article to ensure that the article can be conveyed according to a desired trajectory, for example, the article needs to be sealed during conveyance, and it is necessary to ensure that the opening position of the article is aligned with the sealing device position in addition to ensuring that the center position of the article is at a predetermined position.
Currently, sensors are commonly used to detect the position and angle of an article on a conveyor belt, which has the following disadvantages:
1. in order to ensure the detection precision, a plurality of sensors are required to be installed, so that the investment cost and the installation space are increased;
2. if the size of the conveyed article changes, the installation position of the sensor needs to be adjusted, so that the flexibility is not high.
Therefore, a system and a method for detecting the posture of a conveyor belt article are needed to reduce the investment cost, reduce the space waste and improve the flexibility.
Disclosure of Invention
In view of the above, there is a need for a conveyor belt article attitude detection system and method, which aims to reduce the investment cost, reduce the space waste and improve the flexibility.
In order to achieve the above object, the present invention provides a conveyor belt article posture detecting system, which includes a host, a camera, a belt conveyor with a conveyor belt, and a specific color indicating assembly disposed on both sides of the conveyor belt and parallel to the conveyor belt, wherein:
the conveyor belt is used for conveying articles;
the camera is used for shooting a first image of the shielding condition of the conveyed article on the indicating component with the specific color;
the host is used for determining whether the posture of the article is correct according to the first image.
Optionally, the specific color is a first color, the color of the conveyed article is a second color, and a color difference between the first color and the second color is within a preset color difference range.
Optionally, the transverse spacing distance between the color-specific indicating assembly and the conveyor belt is within a preset spacing distance range, and the width of the color-specific indicating assembly is within a preset width range.
Optionally, a first position point and a second position point are marked on the fixed outer frame of the conveyor belt, the first position point is a shooting end position point of the camera, and the second position point is a position point where the host executes corresponding measures according to the posture of the article.
Optionally, the length of the color-specific signaling assembly is greater than the length of the conveyed article, and the end point of the color-specific signaling assembly is flush with or exceeds the first position point.
In order to achieve the above object, the present invention further provides a conveyor belt article posture detecting system, which includes a host, a camera and a belt conveyor with a conveyor belt, wherein the conveyor belt includes a standard conveying area and specific color indication areas respectively distributed on the left and right sides of the standard conveying area, wherein:
the conveyor belt is used for conveying articles;
the camera is used for shooting a first image of the shielding condition of the conveyed article on a specific color indication area on the conveying belt;
the host is used for determining whether the posture of the article is correct or not according to the first image.
Optionally, the specific color is a first color, the color of the conveyed article is a second color, and a color difference between the first color and the second color is within a preset color difference range.
Optionally, the width of the specific color indication area is within a preset width range.
Optionally, a first position point and a second position point are marked on the fixed outer frame of the conveyor belt, the first position point is a shooting end position point of the camera, and the second position point is a position point where the host executes corresponding measures according to the posture of the article.
In order to achieve the above object, the present invention further provides a conveyor belt article posture detecting method, which is applied to the conveyor belt article posture detecting system, and the conveyor belt article posture detecting method includes:
controlling a camera to shoot a first image of the shielding condition of the conveyed article on a specific color indicating component or a specific color indicating area;
and determining whether the posture of the article is correct according to the first image.
Optionally, the shooting is finished when the conveyed article passes through the first position point, and corresponding measures are executed according to the posture of the article when the conveyed article passes through the second position point.
Optionally, the determining whether the posture of the article is correct according to the first image includes:
acquiring vertex coordinates of the outside edge of the specific color indicating assembly or the specific color indicating area in the first image;
converting the first image into a second image of an upper visual angle according to the acquired vertex coordinates;
analyzing the intersection condition of the article conveyed in the second image and the specific color indicating assembly or the specific color indicating area;
and determining whether the posture of the article is correct or not according to the intersection condition.
Optionally, if the intersection condition is that the conveyed article intersects with the specific color indication component or the specific color indication area and does not extend beyond the specific color indication component or the specific color indication area, the determining whether the posture of the article is correct according to the intersection condition includes:
acquiring an intersection area of the article conveyed in the second image and the specific color indicating assembly or the specific color indicating area;
determining the center position and the inclination angle of the conveyed article according to the intersection area;
judging whether the distance difference between the central position and the standard position is greater than a distance threshold value or not, and judging whether the angle difference between the inclination angle and the standard angle is greater than an angle threshold value or not;
and if the distance difference is judged to be larger than the distance threshold value or the angle difference is judged to be larger than the angle threshold value, determining that the posture of the article is wrong.
Optionally, if the intersection condition is that the conveyed article does not intersect with the specific color indicating component or the specific color indicating area, the posture of the article is determined to be correct.
Optionally, if the intersection condition is that the conveyed article intersects with the specific color indicating assembly or the specific color indicating area and extends to the outside of the specific color indicating assembly or the specific color indicating area, determining that the posture of the article is wrong.
Compared with the prior art, the method and the device have the advantages that the first image of the shielding condition of the conveyed object on the specific color indicating component or the specific color indicating area is shot through the camera, and whether the posture of the object is correct or not is determined according to the first image, so that the investment cost is reduced, the space is saved, the method and the device are suitable for posture detection of multi-size objects, and the flexibility is improved.
Drawings
FIG. 1 is a schematic diagram of a first embodiment of a conveyor article attitude detection system according to the invention;
fig. 2 is a schematic structural diagram of a conveyor belt article posture detecting system according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. 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.
It should be noted that the description relating to "first", "second", etc. in the present invention is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a conveyor belt article posture detecting system according to a first embodiment of the present invention. In this embodiment, the conveyor belt article posture detecting system 100 includes a main machine 1, a camera 2, a belt conveyor with a conveyor belt 3, and specific color indicating components 4 arranged on both sides of the conveyor belt 3 and parallel to the conveyor belt 3, wherein:
the conveyor belt 3 is used for conveying an article 5;
the camera 2 is used for shooting a first image of the shielding condition of the conveyed article 5 on the specific color indicating assembly 4;
the host 1 is configured to determine whether the attitude of the article 5 is correct based on the first image.
In this embodiment, the belt conveyor transports the article 5 to a predetermined position by means of the conveyor belt 3, and the color-specific indicating assembly 4 may be a stationary bar-shaped table top.
The specific color is a first color and the color of the conveyed article 5 is a second color, the difference in color between the first color and the second color being within a predetermined range of color differences (e.g., greater than 12).
In order to prevent the conveyed article 5 from colliding against, rubbing against, and dropping into the gap between the color indicating assembly 4 and the conveyor belt 3, the color indicating assembly 4 is laterally spaced from the conveyor belt 3 by a predetermined spacing distance (for example, 0.5cm to 3.5 cm).
The width of the specific color indicating assembly 4 is within a preset width range (for example, 10 cm-20 cm), and if the width is too narrow, the analysis of the shielding condition of the article 5 in the first image on the specific color indicating assembly 4 is not facilitated; if it is too large, resources will be wasted, and the amount of data and the time for analysis will be increased.
In this embodiment, a first position point L1 and a second position point L2 are marked on the fixed outer frame of the conveyor belt 3 (the position of the outer frame of the conveyor belt 3 is fixed and does not move along with the conveyance of the conveyor belt 3), and the first position point L1 is a shooting end position point of the camera 2, and if a picture is shot, the picture can be shot when the article 5 is conveyed to the L1; if a video is taken, the capture may begin at the beginning of the entry of the article 5 into the color specific signaling component 4 and stop as the article 5 passes L1.
The second position point L2 is a position point where the host 1 performs corresponding measures according to the posture of the article 5, that is, the point L2 is a decision point, in an application scenario, a packaging device may be placed behind the point L2, and if the posture of the article 5 is analyzed incorrectly, corresponding measures need to be performed at the point L2, for example, the conveyor belt 3 is stopped, or the article 5 is picked up by using other tools, so that the time period for analyzing the first image should be less than or equal to the time for conveying the article 5 from the point L1 to the point L2. Accordingly, the positions of L1 and L2 can be calculated by first setting a specific position point (e.g., the position before the sealing apparatus) as L2, determining the analysis time of the first image, and calculating L1 from the transport speed of the transport belt 3 and the analysis time.
The length of the color-specific signaling element 4 is greater than the length of the conveyed article 5, and the end point of the color-specific signaling element 4 is flush with the first position point L1 or exceeds the first position point L1, which makes it necessary to include the article 5 and the color-specific signaling element 4 in the first image for subsequent analysis.
Preferably, the color of the specific color indicating assembly 4 may be a striking pure color (e.g., red), so as to reduce the difficulty of image recognition and reduce the requirement for the color of the conveyed article 5 (as long as the color of the article 5 is not similar to the color of the specific color indicating assembly 4); meanwhile, the color of the specific color indicating component 4 is obvious, so that the image analysis time can be reduced, and the method is suitable for projects with short transmission channels.
Fig. 2 is a schematic structural diagram of a conveyor belt article posture detecting system according to a second embodiment of the present invention. The conveyor belt article posture detection system 200 comprises a host 1, a camera 2 and a belt conveyor with a conveyor belt 30, wherein the conveyor belt 30 comprises a standard conveying area 31 and specific color indication areas 32 respectively distributed on the left side and the right side of the standard conveying area 31, and the specific color indication areas comprise:
the conveyor belt 30 is used for conveying the articles 5;
the camera 2 is used for shooting a first image of the condition that the conveyed article 5 blocks a specific color indication area 32 on the conveyor belt 30;
the host 1 is configured to determine whether the attitude of the article 5 is correct based on the first image.
Unlike the first embodiment, in the present embodiment, the specific color indication area 32 is a part of the conveyor belt 30.
The specific color is a first color and the color of the conveyed article 5 is a second color, the difference in color between the first color and the second color being within a predetermined range of color differences (e.g., greater than 12).
The width of the specific color indication area 32 is within a preset width range (for example, 10cm to 20cm), and if the width is too narrow, the analysis of the shielding condition of the article 5 in the first image on the specific color indication area 32 is not facilitated; if it is too large, resources will be wasted, and the amount of data and the time for analysis will be increased.
In this embodiment, a first position point L1 and a second position point L2 are marked on the fixed outer frame of the conveyor 30 (the position of the outer frame of the conveyor 30 is fixed and does not move along with the conveying of the conveyor 30), and the first position point L1 is the shooting end position point of the camera 2, and if a picture is shot, the picture can be shot when the article 5 is conveyed to the L1; if a video is taken, the capture may begin at the beginning of the entry of the item 5 into the color-specific gesture area 32 and stop as the item 5 passes L1.
The second position point L2 is a position point where the host 1 performs corresponding measures according to the posture of the article 5, that is, the point L2 is a decision point, in an application scenario, a packaging device may be placed behind the point L2, and if the posture of the article 5 is analyzed incorrectly, corresponding measures need to be performed at the point L2, for example, the conveyor belt 3 is stopped, or the article 5 is picked up by using other tools, so that the time period for analyzing the first image should be less than or equal to the time for conveying the article 5 from the point L1 to the point L2. Accordingly, the positions of L1 and L2 can be calculated by first setting a specific position point (e.g., the position before the sealing apparatus) as L2, determining the analysis time of the first image, and calculating L1 based on the transport speed of the transport belt 30 and the analysis time.
Preferably, the color of the specific color indication area 32 may be a striking pure color (e.g., red), so that the difficulty of image recognition can be reduced, and the requirement for the color of the conveyed article 5 can be reduced (as long as the color of the article 5 is not similar to the color of the specific color indication area 32); meanwhile, the color of the specific color indication area 32 is obvious, so that the image analysis time can be reduced, and the method is suitable for the project with a short transmission channel.
The invention also provides a conveyor belt article posture detection method, which is applied to the conveyor belt article posture detection system 100 or the conveyor belt article posture detection system 200, and comprises the following steps:
s1, controlling the camera 2 to shoot a first image of the shielding condition of the conveyed article 5 on the specific color indicating assembly 4 or the specific color indicating area 32;
and S2, determining whether the posture of the article 5 is correct or not according to the first image.
In the present embodiment, the photographing is ended when the conveyed article 5 passes the first position point L1, and corresponding measures are performed according to the posture of the article 5 when the conveyed article 5 passes the second position point L2.
The determining whether the posture of the article 5 is correct according to the first image comprises:
a1, acquiring the vertex coordinates of the outside edge of the specific color indicating component 4 or the specific color indicating area 32 in the first image;
in this embodiment, the first image is scanned to obtain the contour of the specific color indicating component 4 or the specific color indicating region 32, the scanning can be performed from the horizontal direction and the vertical direction, the region of the specific color is found, the boundary coordinates are recorded, and the boundary coordinates are further confirmed according to the shape of the specific color indicating component 4 or the specific color indicating region 32, for example, if the specific color indicating component 4 or the specific color indicating region 32 is rectangular, the straight line where the outer side is located can be determined by using the least square method, and the coordinates of two vertexes of the outer side of the specific color indicating component 4 or the specific color indicating region 32 can be obtained according to the straight line.
A2, converting the first image into a second image of a right-above visual angle according to the acquired vertex coordinates;
the relative positions of the four vertex coordinates of the color specific component 4 or color specific region 32 are fixed, e.g., if the top left vertex coordinate is known, another three vertex coordinates may be calculated. In step a1, having determined the coordinates of the two vertices of the outer side of the specific color sketch element 4 or the specific color sketch area 32 in the first image, the first image may be converted into a second image of a directly above viewing angle based on the coordinates of the two vertices.
A3, analyzing the intersection condition of the article 5 conveyed in the second image and the specific color indicating assembly 4 or the specific color indicating area 32;
in the second image of the right-above view angle, if the conveyed article 5 does not occlude the specific color indicating member 4 or the specific color indicating region 32, the inner side edge line of the specific color indicating member 4 or the specific color indicating region 32 is fixed; if the shielding exists, the edge line of the inner side can move outwards; if the color-specific signaling element 4 or the color-specific signaling region 32 is truncated in the second image, it indicates that the article 5 has extended beyond the color-specific signaling element 4 or the color-specific signaling region 32.
And A4, determining whether the posture of the article 5 is correct according to the intersection condition.
In this embodiment, if the intersection is that the conveyed article 5 intersects the specific color indication component 4 or the specific color indication area 32 and does not extend beyond the specific color indication component 4 or the specific color indication area 32, the determining whether the posture of the article 5 is correct according to the intersection includes:
b1, acquiring the intersection area of the article 5 conveyed in the second image and the specific color indicating assembly 4 or the specific color indicating area 32;
from the areas of the first and second colors in the second image, the area of intersection of the conveyed article 5 with the color specific signaling component 4 or the color specific signaling area 32 may be determined.
B2, determining the center position and the inclination angle of the conveyed article 5 according to the intersection area;
by the boundary coordinates of the intersecting region, the straight line where the boundary is located and the coordinates of the intersecting point can be obtained by using the least square method, and then the included angle between the boundary straight line and the outer side line of the specific color indicating component 4 or the specific color indicating region 32 can be calculated, and the included angle is the inclination angle.
According to the boundary straight line, the straight line intersection point and the size of the article 5, the coordinates of the other two diagonal vertexes of the article 5 can be calculated, and the middle point of the connecting line of the diagonal vertexes is the central position of the article 5.
B3, judging whether the distance difference between the central position and the standard position is greater than a distance threshold value, and judging whether the angle difference between the inclination angle and the standard angle is greater than an angle threshold value;
the standard position may be a center line of the color-specific signaling component 4 or the color-specific signaling region 32, and the standard angle may be a corresponding position angle of the packaging device. The distance threshold and the angle threshold may be specifically set according to an application scenario, and are not limited herein.
And B4, if the distance difference is judged to be larger than the distance threshold value or the angle difference is judged to be larger than the angle threshold value, determining that the posture of the article 5 is wrong.
If the distance difference is greater than the distance threshold, or the angle difference is greater than the angle threshold, the attitude error of the article 5 is indicated.
In this embodiment, if the intersection condition is that the conveyed article 5 does not intersect with the specific color indication component 4 or the specific color indication area 32, it indicates that the posture of the article 5 is correct; if the intersection condition is that the conveyed article 5 intersects with the specific color indicating assembly 4 or the specific color indicating area 32 and extends out of the specific color indicating assembly 4 or the specific color indicating area 32, the posture error of the article 5 is indicated.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (15)
1. The utility model provides a conveyer belt article gesture detecting system, its characterized in that, conveyer belt article gesture detecting system includes host computer, camera, the belt conveyor who has the conveyer belt and establishes in conveyer belt both sides and the parallel specific colour of conveyer belt and indicate the subassembly, wherein:
the conveyor belt is used for conveying articles;
the camera is used for shooting a first image of the shielding condition of the conveyed article on the indicating component with the specific color;
the host is used for determining whether the posture of the article is correct according to the first image.
2. The conveyor article pose detection system of claim 1, wherein the particular color is a first color, the color of the conveyed article is a second color, and the color difference between the first color and the second color is within a predetermined color difference range.
3. The conveyor article pose detection system of claim 1, wherein the lateral spacing distance of the color specific signaling component from the conveyor is within a preset spacing distance range, and the width of the color specific signaling component is within a preset width range.
4. The conveyor belt article attitude detection system according to claim 1, wherein a first position point and a second position point are marked on a fixed outer frame of the conveyor belt, the first position point being a camera shooting end position point, the second position point being a position point at which the host computer executes a corresponding measure according to the attitude of the article.
5. The conveyor article pose detection system of claim 4, wherein the length of the color specific signaling component is greater than the length of the conveyed article and the end point of the color specific signaling component is either flush with or beyond the first position point.
6. The utility model provides a conveyer belt article gesture detecting system, its characterized in that, conveyer belt article gesture detecting system includes host computer, camera and has the belt conveyor of conveyer belt, the conveyer belt includes standard conveying area and distributes respectively in the specific colour of the regional left and right sides of standard conveying indicates the region, wherein:
the conveyor belt is used for conveying articles;
the camera is used for shooting a first image of the shielding condition of the conveyed article on a specific color indication area on the conveying belt;
the host is used for determining whether the posture of the article is correct or not according to the first image.
7. The conveyor article pose detection system of claim 6, wherein the particular color is a first color, the color of the conveyed article is a second color, and the color difference between the first color and the second color is within a predetermined color difference range.
8. The conveyor article pose detection system of claim 6, wherein a width of the color-specific gesture area is within a preset width range.
9. The conveyor belt article attitude detection system according to claim 6, wherein a first position point and a second position point are marked on a fixed outer frame of the conveyor belt, the first position point being a camera shooting end position point, the second position point being a position point at which the host computer executes a corresponding measure according to the attitude of the article.
10. A conveyor belt article posture detection method applied to the conveyor belt article posture detection system according to any one of claims 1 to 9, characterized by comprising:
controlling a camera to shoot a first image of the shielding condition of the conveyed article on a specific color indicating component or a specific color indicating area;
and determining whether the posture of the article is correct according to the first image.
11. The conveyor belt article posture detecting method according to claim 10, wherein the photographing is ended when the conveyed article passes the first position point, and the corresponding measure is performed according to the posture of the article when the conveyed article passes the second position point.
12. The conveyor article pose detection method of claim 10, wherein said determining from said first image whether the pose of the article is correct comprises:
acquiring vertex coordinates of the outside edge of the specific color indicating assembly or the specific color indicating area in the first image;
converting the first image into a second image of an upper visual angle according to the acquired vertex coordinates;
analyzing the intersection condition of the article conveyed in the second image and the specific color indicating assembly or the specific color indicating area;
and determining whether the posture of the article is correct or not according to the intersection condition.
13. The conveyor belt article pose detection method of claim 12, wherein if the intersection is that the conveyed article intersects a specific color indicating assembly or a specific color indicating area and does not extend beyond the specific color indicating assembly or the specific color indicating area, said determining whether the pose of the article is correct based on the intersection comprises:
acquiring an intersection area of the article conveyed in the second image and the specific color indicating assembly or the specific color indicating area;
determining the center position and the inclination angle of the conveyed article according to the intersection area;
judging whether the distance difference between the central position and the standard position is greater than a distance threshold value or not, and judging whether the angle difference between the inclination angle and the standard angle is greater than an angle threshold value or not;
and if the distance difference is judged to be larger than the distance threshold value or the angle difference is judged to be larger than the angle threshold value, determining that the posture of the article is wrong.
14. The conveyor belt article pose detection method of claim 12, wherein if the intersection is where the conveyed article does not intersect a color-specific gesture component or color-specific gesture area, determining that the pose of the article is correct.
15. The conveyor belt article posture detecting method according to claim 12, wherein if the intersecting condition is that the conveyed article intersects with the specific color indicating assembly or the specific color indicating area and extends beyond the specific color indicating assembly or the specific color indicating area, it is determined that the posture of the article is erroneous.
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| CN202111053078.6A CN113686300A (en) | 2021-09-08 | 2021-09-08 | Conveyor belt article attitude detection system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115973724A (en) * | 2023-03-20 | 2023-04-18 | 中国民航大学 | Automatic attitude adjusting method, device, equipment and medium for aviation luggage |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115973724A (en) * | 2023-03-20 | 2023-04-18 | 中国民航大学 | Automatic attitude adjusting method, device, equipment and medium for aviation luggage |
| CN115973724B (en) * | 2023-03-20 | 2023-06-27 | 中国民航大学 | Automatic attitude adjustment method, device, equipment and medium for aviation luggage |
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