CN113894061B - Automatic cargo sorting method and system - Google Patents
Automatic cargo sorting method and system Download PDFInfo
- Publication number
- CN113894061B CN113894061B CN202111236603.8A CN202111236603A CN113894061B CN 113894061 B CN113894061 B CN 113894061B CN 202111236603 A CN202111236603 A CN 202111236603A CN 113894061 B CN113894061 B CN 113894061B
- Authority
- CN
- China
- Prior art keywords
- image
- label
- shooting
- obtaining
- terminal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/3412—Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Image Analysis (AREA)
Abstract
The application relates to a method and a system for automatically sorting cargoes, wherein the method comprises the steps of receiving a position feedback signal uploaded by a position feedback terminal arranged on a conveying belt; based on the received position feedback signal, sending a shooting instruction to a shooting terminal deployed on the conveyor belt; receiving a shooting image sent by a shooting terminal according to a shooting instruction; obtaining a first relative position of the packing box image on the shooting image according to the shooting image; obtaining a label image matched with a preset label template and a second relative position of the label image on the packaging box image according to the packaging box image; obtaining a positioning instruction according to the first relative position and the second relative position; and sending a positioning instruction to an adjusting terminal arranged on the conveyor belt, wherein the adjusting terminal is used for adjusting the position of the goods packing box so that the bar code scanner scans the label on the goods packing box. The application has the effect of reducing the workload of technicians.
Description
Technical Field
The application relates to the technical field of cargo sorting, in particular to a method and a system for automatically sorting cargoes.
Background
Currently, the goods are often packaged in rigid cartons to reduce damage to the goods during transportation.
In the related art, a paper box filled with goods can be conveyed to a packaging area through a conveying belt, a technician in the packaging area can package the goods in the packaging paper box through an adhesive tape, then labels can be attached to the packaging paper box, and the conveying belt conveys the labeled paper box to a bar code scanner. The bar code scanner scans the bar code on the label and sends the bar code to the computer, and the computer selects prestored goods types corresponding to the bar code, and each goods type corresponds a conveying channel, and conveying channel can be the conveyer belt, and the computer can place the goods of different goods types on the conveying channel that corresponds through robotic arm, and each conveying channel can place the goods in the corresponding storage area.
In carrying out the present application, the inventors have found that at least the following problems exist in this technology:
in order for the bar code scanner to scan the bar code on the carton, a technician is required to manually move the carton so that the bar code is aligned with the bar code scanner, thereby increasing the technician's workload.
Disclosure of Invention
In order to solve the problem that manual moving of cartons for alignment scanning causes an increase in the workload of technicians, the application provides a method and a system for automatically sorting cargoes.
In a first aspect, the present application provides a method for automatically sorting cargoes, which adopts the following technical scheme:
a method of automatically sorting goods, comprising the steps of:
receiving a position feedback signal uploaded by a position feedback terminal arranged on a conveying belt;
based on the received position feedback signal, sending the shooting instruction to a shooting terminal arranged on a conveying belt;
receiving a shooting image sent by a shooting terminal according to the shooting instruction;
according to the shooting image, a packing box image and a first relative position of the packing box image on the shooting image are obtained;
obtaining a label image matched with a preset label template and a second relative position of the label image on the packaging box image according to the packaging box image;
obtaining a positioning instruction according to the first relative position and the second relative position;
and sending the positioning instruction to an adjusting terminal arranged on the conveyor belt, wherein the adjusting terminal is used for adjusting the position of the goods packaging box so as to enable the bar code scanner to scan the label on the goods packaging box.
Through adopting above-mentioned technical scheme, the conveyer belt carries the packing box to position feedback terminal department, when position feedback terminal senses the packing box, position feedback terminal sends position feedback signal to the computer, after the computer received position feedback signal, send shooting instruction to shooting terminal, shooting terminal can shoot the packing box, the computer gathers the tag image that obtains of shooting, and according to shooting image and tag image, obtain first relative position and second relative position, the computer sends the instruction of positioning to the adjustment terminal, make the adjustment terminal can rotate the packing box, so that the bar code scanner can scan the label of packing box, reduce the condition of manual adjustment packing box position, thereby reduced technical staff's work load.
Optionally, the shooting terminal includes a first shooting terminal, and the first shooting terminal is used for acquiring a top view image of the packaging box;
the method for obtaining the position adjustment instruction according to the first relative position and the second relative position comprises the following steps:
establishing a space rectangular coordinate system, and obtaining a label coordinate position of a label image and a center point position of a packaging box image according to the first relative position and the second relative position;
in the space rectangular coordinate system, according to a preset scannable area position, the label coordinate position and the center point position, obtaining a movement angle required by the rotation of the label image to the scannable area position;
and obtaining a positioning instruction according to a preset positioning template and the movement angle.
By adopting the technical scheme, the computer can reduce the outline of the image of the packaging box in equal proportion and draw the outline in a space rectangular coordinate system, and then the center point position and the label coordinate position of the outline of the label image can be obtained. The scannable area is preset in the space rectangular coordinate system, and a computer can calculate the movement angle required by the outline of the label image to move to the scannable area. And the computer obtains a positioning instruction according to the movement angle and the positioning template, and the position of the packing box can be adjusted through the adjusting terminal.
Optionally, the shooting terminal further comprises a second shooting terminal and a third shooting terminal, the second shooting terminal is used for acquiring a bottom image of the packaging box, and the third shooting terminal is used for acquiring a side view image of the packaging box;
the method for obtaining the position adjustment instruction according to the first relative position and the second relative position comprises the following steps:
if the label image matched with the label template is not acquired in the overlook image, selecting a bottom image uploaded by the second shooting terminal, a side view image uploaded by the third shooting terminal and a corresponding position mark;
obtaining a combined image according to the selected bottom image, the side view image, the corresponding position mark and the preset position sequence;
in the combined image, acquiring a label image matched with the label template and a target relative position of the label image on the combined image;
selecting a preset positioning instruction corresponding to the target relative position.
Through adopting above-mentioned technical scheme, when the computer did not acquire the tag image that matches with the tag template, the computer can be according to the bottom image of second shooting terminal and the side view image of third shooting terminal and the corresponding position identification, obtain the combination image, the computer gathers the tag image and the corresponding relative position in the combination image, the computer sends the adjustment instruction of presetting and corresponding to relative position to the adjustment terminal for the adjustment terminal can adjust the position of packing box, in order to reduce the packing box and paste the one side that the label is in the bottom of packing box or the condition that can't shoot all around.
Optionally, the selecting a preset positioning instruction corresponding to the target relative position includes the following steps:
acquiring a position identifier corresponding to the relative position of the target;
if a position mark is obtained from the combined image, selecting a preset rotation angle corresponding to the position mark;
obtaining a positioning instruction according to a preset second positioning template and the rotation angle;
if two position identifiers are obtained from the combined image, comparing the rotation angles corresponding to the two position identifiers to obtain a target position identifier corresponding to the smaller rotation angle;
and obtaining a positioning instruction according to a preset second positioning template and a rotation angle corresponding to the target position mark.
Through adopting above-mentioned technical scheme, the computer obtains the position identification that the target relative position corresponds, and when the computer obtained a position identification, one of them shooting terminal shot the label, and the packing box did not take place the skew promptly, and the computer can obtain target positioning instruction according to preset turned angle, and the adjustment terminal can be according to target positioning instruction to the packing box position adjustment. When the computer obtains two position identifiers, two shooting terminals shoot labels, namely, the packing box is offset, the computer can obtain the rotation angles corresponding to the two position identifiers, selects the corresponding target position identifier with smaller corresponding rotation angle, and then obtains a target positioning instruction according to the positioning template and the rotation angle corresponding to the target position identifier, so that the position of the packing box can be adjusted.
Optionally, after the sending of the positioning instruction to the adjustment terminal disposed on the conveyor belt, the method further includes the following steps:
judging whether holes or cracks exist on the overlook image and the combined image;
if the hole or the crack exists, obtaining the damage area of the hole or the crack and the image area corresponding to the damage surface;
and outputting repackaging prompt information if the ratio of the damaged area to the image area exceeds a preset defective threshold.
By adopting the technical scheme, the computer judges whether holes and cracks exist on the packaging box, and the damage area and the image area of the holes or the cracks are obtained. When the computer obtains that the ratio of the damaged area to the image area exceeds the defective threshold, the computer outputs repackaging prompt information so that an operator can repackage the goods.
Optionally, the obtaining the damaged area of the hole or the crack includes the following steps:
acquiring each hole or crack on the overlook image and the combined image;
and if the target holes or cracks on the overlook image and the combined image are not matched with the preset regular outline, selecting the target holes or cracks to obtain the damaged area.
By adopting the technical scheme, the computer compares each hole on the acquired image with the regular outline, when the regular outline is not matched with the target hole, the computer selects the target hole or the crack to obtain the damaged area, the situation that the computer counts the reserved holes or the vent holes on the packing box into the damaged area is reduced, and the accuracy of judging the damage degree of the packing box is improved.
Optionally, if the ratio of the damaged area to the image area exceeds a preset defective threshold, a repackaging prompt message is output, including the following steps:
receiving a serial number corresponding to the label image uploaded by a bar code scanner;
selecting the goods type corresponding to the serial number;
selecting a pre-stored inferior threshold value corresponding to the cargo type;
and outputting repackaging prompt information if the ratio of the damaged area to the image area exceeds a defective threshold.
Through adopting above-mentioned technical scheme, the computer sets for different inferior thresholds according to different goods types, and the computer can select corresponding inferior threshold according to the goods type that obtains the label serial number and correspond, compares with inferior threshold according to the ratio of damaged area and image area again, and then realizes adopting different packing damage standard to different goods types to reduce the condition that fragile goods damaged in the transportation because the packing is damaged.
In a second aspect, the present application provides a system for automatically sorting goods, which adopts the following technical scheme:
a system for automated sorting of goods, comprising:
the first receiving module is used for receiving the position feedback signals uploaded by the position feedback terminals arranged on the conveyor belt;
the first sending module is used for sending the shooting instruction to a shooting terminal arranged on the conveying belt based on the received position feedback signal;
the second receiving module is used for receiving the shooting image sent by the shooting terminal according to the shooting instruction;
the first obtaining module is used for obtaining a packing box image and a first relative position of the packing box image on the shooting image according to the shooting image;
the second obtaining module is used for obtaining a label image matched with a preset label template and a second relative position of the label image on the packaging box image according to the packaging box image;
the third obtaining module is used for obtaining a positioning instruction according to the first relative position and the second relative position;
the second sending module is used for sending the positioning instruction to an adjusting terminal arranged on the conveyor belt, and the adjusting terminal is used for adjusting the position of the goods packing box so that the bar code scanner scans the labels on the goods packing box.
Through adopting above-mentioned technical scheme, the computer obtains the relative position that the label image was located in the image, can be through the overall position of adjustment terminal adjustment packing box to make the label of bar code scanner scanning packing box, reduce the condition of artificial adjustment packing box position, thereby reduced technician's work load.
In a third aspect, the present application provides an electronic device, which adopts the following technical scheme:
optionally, the electronic device includes a processor and a memory, where the memory stores at least one instruction, at least one program, a code set, or an instruction set, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement a method for automatically sorting goods according to the first aspect.
Through adopting above-mentioned technical scheme, an electronic equipment can realize above-mentioned method of automatic sorting of goods according to the relevant computer program that stores in the memory, and then improves the collaboration between the different source information when goods are automatic sorting to promote the effect of goods letter sorting speed.
In a fourth aspect, the present application provides a computer readable storage medium, which adopts the following technical scheme:
optionally, the storage medium stores at least one instruction, at least one program, a code set, or an instruction set, where the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement a method for automatically sorting goods according to the first aspect.
Through adopting above-mentioned technical scheme, can store corresponding procedure, and then improve the collaboration between the different source information when goods automatic sorting to promote the effect of goods letter sorting speed.
In summary, the present application includes at least one of the following beneficial technical effects:
the computer obtains the relative positions of the packing box image and the label image in the shot image, namely the whole position of the packing box can be adjusted through the adjustment terminal, so that the bar code scanner can scan the label of the packing box, the condition of manually adjusting the position of the packing box is reduced, and the workload of technicians is reduced;
the computer can reduce the outline of the packaging box image in equal proportion and draw the outline in a space rectangular coordinate system, and then the center point position of the outline of the packaging box image and the label coordinate position of the outline of the label image can be obtained. The scannable area is preset in the computer in a space rectangular coordinate system, and the computer can calculate the movement angle required by the outline of the label image to move to the scannable area. And the computer obtains a positioning instruction according to the movement angle and the positioning template, and the position of the packing box can be adjusted through the adjusting terminal.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a block diagram of a system for automatic sorting of goods according to an embodiment of the present application.
Fig. 2 is a flow chart of a method for automatically sorting goods according to an embodiment of the present application.
Fig. 3 is a schematic flow chart of a system for automatic sorting of goods according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of a label template according to an embodiment of the present application.
Fig. 5 is a schematic structural diagram of a rectangular coordinate system according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The embodiment of the application provides a method for automatically sorting cargoes, which can be applied to a system for automatically sorting cargoes. The framework structure of the automatic cargo sorting system can be shown in fig. 1, and the framework structure can comprise a computer, a shooting terminal and an adjusting terminal, specifically, an execution main body of the method can be the computer, the shooting terminal and the adjusting terminal assist in realizing the method, the computer can receive an image shot by the shooting terminal, generate a positioning instruction according to the position of a label in the image, and send the positioning instruction to the adjusting terminal, so that the adjusting terminal can adjust the position of a packing box after receiving the positioning instruction. Specifically, the packing box is conveyed to a shooting terminal through a conveying belt, the shooting terminal shoots the packing box to obtain an image and sends the image to a computer, and the computer receives the image and obtains the position of a label in the image. The computer obtains a positioning instruction according to the position of the label in the image and sends the positioning instruction to the adjusting terminal, and the adjusting terminal can adjust the position of the packing box after receiving the positioning instruction, so that the barcode scanner can scan the label on the packing box when the conveyer belt conveys the packing box to the barcode scanner.
The process flow shown in fig. 2 will be described in detail with reference to the specific embodiments, and the following may be included:
step 201, receiving a position feedback signal uploaded by a position feedback terminal disposed on a conveyor belt.
In an embodiment, the conveyor belt is provided with a position feedback terminal, which may be an infrared sensor. The output end of the infrared sensor can output infrared rays, and the receiving end of the infrared sensor receives the infrared rays output by the output end. When an object is arranged between the output end and the receiving end of the infrared sensor, the infrared sensor can send an electric signal (namely a position feedback signal) to the computer when the receiving end of the infrared sensor cannot receive infrared rays. Accordingly, the computer receives the position feedback signal uploaded by the position feedback terminal disposed on the conveyor belt.
Step 202, based on the received position feedback signal, a shooting instruction is sent to a shooting terminal disposed on the conveyor belt.
In an embodiment, when the computer receives the position feedback signal, the computer sends a shooting instruction to a shooting terminal disposed right above the conveyor belt, so that the shooting terminal can shoot the packing box on the conveyor belt.
In an embodiment, the photographing terminal receives a photographing instruction, and the photographing terminal can photograph a packing box on the conveying belt to obtain a photographed image. The shooting terminal sends the image to the computer, and the computer can receive the shooting image sent by the shooting terminal according to the shooting instruction.
Optionally, the computer obtains the package box image and the relative position (i.e. the first relative position) of the package box image on the photographed image according to the photographed image uploaded by the photographing terminal.
And 205, obtaining a label image matched with a preset label template and a second relative position of the label image on the packaging box image according to the packaging box image.
In an embodiment, the label template may be as shown in fig. 4, and the labeling area in the label template may be used for a shipper to fill in notes, for example, glass products are stored in a package, so as to remind the shipper of taking and putting the glass products lightly. The bar code area in the label template can be used for supplying and pasting bar codes, and an identification strip is arranged between the labeling area and the bar code area and can be black long strips. The electronic version label template is preset in the computer, when the computer receives the image, the computer can acquire one image (namely the label image) with the frame proportion consistent with the length-width ratio of the label template in the image, if the computer recognizes that the identification strip exists in the label image, the image is matched with the label template, the computer determines the relative arrangement (namely the second relative position) of the label image on the image, otherwise, the computer continues to search the image with the frame proportion consistent with the length-width ratio of the label template.
Optionally, the photographing terminal includes a first photographing terminal, and the first photographing terminal is used for acquiring a top view image of the packaging box. And establishing a space rectangular coordinate system, and obtaining the label coordinate position of the label image and the center point position of the packaging box image according to the first relative position and the second relative position. In a space rectangular coordinate system, according to a preset scannable area position, a label coordinate position and a center point position, obtaining a movement angle required by rotating a label image to the scannable area position; and obtaining a positioning instruction according to a preset positioning template and a movement angle.
In an embodiment, the photographing terminal includes a first photographing terminal, and the first photographing terminal may be a camera with a lens disposed toward the conveyor belt for photographing the top of the packaging box. The computer establishes a space rectangular coordinate system, the space rectangular coordinate system is shown in fig. 5, an X axis in the coordinate system is arranged along the length direction of the conveying belt, and a Y axis is arranged along the width direction of the conveying belt. Meanwhile, the Y axis corresponds to the infrared rays output by the infrared sensor, so that a point or a line, which is overlapped with the outside of the red line, on the packaging box is on the Y axis. The X-axis corresponds to the edge of a predetermined scannable area, which is an area in the coordinate system corresponding to the scanning area of the bar code scanner. And the computer obtains the position of the label image according to the obtained overlooking image. When the label image is in the overlook image, the label coordinate position of the label image outline and the center point position of the packaging box image outline are obtained according to the space rectangular coordinate system and the acquired overlook image. In the space rectangular coordinate system, the computer obtains a movement angle required by rotating the label image to the scannable area position by taking the center point position as the axis according to the scannable area position, the label coordinate position and the center point position. Meanwhile, the area of the packaging box is not more than twice that of the scannable area. The computer inputs the movement angle into a preset positioning template to obtain a positioning instruction. Meanwhile, the computer can also obtain the moving angle in a real-time calculation mode.
And step 206, obtaining a positioning instruction according to the first relative position and the second relative position.
In an embodiment, the computer selects a preset positioning instruction corresponding to the relative position.
Optionally, the shooting terminal further comprises a second shooting terminal and a third shooting terminal, the second shooting terminal is used for acquiring a bottom image of the packaging box, and the third shooting terminal is used for acquiring a side view image of the packaging box. In the overlooking image, if a label image matched with the label template is not obtained, selecting a bottom image uploaded by the second shooting terminal, a side view image uploaded by the third shooting terminal and a corresponding position mark; obtaining a combined image according to the selected bottom image, the side view image, the corresponding position mark and the preset position sequence; in the combined image, a label image matched with a label template and a target relative position of the label image on the combined image are obtained; selecting a preset positioning instruction corresponding to the target relative position.
In an embodiment, the conveyor belts may be made of transparent plastic material, and the second photographing terminals are disposed between the conveyor belts, and the second photographing terminals may be cameras with lenses facing upwards for photographing bottoms of the packing cases. Four third shooting terminals are arranged on the conveyor belt, when the packing box moves to the position right below the first shooting terminal, the periphery of the packing box corresponds to one third shooting terminal, and the third shooting terminal can be a camera.
When the first shooting terminal and the second shooting terminal shoot the packaging box, the four third shooting terminals shoot the periphery of the packaging box at the same time. In the overlooking image, the computer does not acquire a label image matched with the label template, and selects an image uploaded by the second shooting terminal (namely, a bottom image) and an image uploaded by the third shooting terminal (namely, a side view image), and meanwhile, the computer receives a corresponding position identifier, wherein the position identifier can be a preset serial number corresponding to each third shooting terminal and the azimuth where the second shooting terminal is located, for example: according to the conveying direction of the conveying belt, a third shooting terminal of the lens, which deviates from the output direction, is 1, a third shooting terminal of the left side is 2, a third shooting terminal of the right side is 3, a third shooting terminal of the lens, which faces the output direction, is 4, and a second shooting terminal of the bottom is 5. The computer receives the bottom image, the four side view images and the corresponding position marks, and the computer arranges the bottom image and the four side view images according to a preset position sequence, namely the sequence of each position mark, so as to obtain an image (namely a combined image) formed by combining the bottom image and the four side view images. In the combined image, a computer acquires a label image matched with a label template and a certain relative position (namely a target relative position) of the label image on the combined image, and selects a preset positioning instruction corresponding to the target relative position, and sends the positioning instruction to an adjusting terminal arranged on a conveying belt, so that the adjusting terminal can adjust the position of a packing box through the positioning instruction. When the label image is on the bottom image, the computer can send a turnover instruction to a positioning terminal arranged on the conveyor belt so that the positioning terminal turns over the packaging box, and the positioning terminal can be a mechanical arm. The conveyor belt can be provided with a bar code scanner arranged towards the packaging box, so that the position adjusting terminal can adjust the position of the packaging box for scanning by the bar code scanner at the bottom.
In the overlook image and the combined image, the computer does not acquire the label image, and the computer can prompt a technician through a display screen or a mobile terminal for prompt information of missing or damaged labels of the packaging boxes.
Optionally, a position identifier corresponding to the target relative position is acquired, and if a position identifier is acquired in the combined image, a preset rotation angle corresponding to the position identifier is selected. Obtaining a positioning instruction according to a preset second positioning template and a rotating angle, comparing the rotating angles corresponding to the two position identifiers if the two position identifiers are obtained in the combined image, obtaining a target position identifier corresponding to the smaller rotating angle, and obtaining the positioning instruction according to the preset second positioning template and the rotating angle corresponding to the target position identifier.
In an embodiment, the computer acquires a position identifier corresponding to the relative position (i.e. the target relative position) where the label image is located, and if a position identifier is acquired in the combined image, that is, one of the third shooting terminals shoots the label, the packaging box does not incline on the conveyor belt, the computer selects a preset rotation angle corresponding to the position identifier. The computer inputs the rotation angle into a preset second positioning template to obtain a positioning instruction. If two position identifiers are obtained in the combined image, namely, two adjacent third shooting terminals shoot the tag, the packing box inclines on the conveyor belt, a preset rotation angle corresponding to the position identifiers is selected by the computer, the rotation angles corresponding to the two position identifiers are compared, and the position identifier (namely, the target position identifier) corresponding to the smaller rotation angle is obtained. And the computer obtains a positioning instruction according to the second positioning template and the rotation angle corresponding to the target position mark.
Optionally, judging whether holes or cracks exist on the overlook image and the combined image, and if so, obtaining the damaged area of the holes or cracks and the image area corresponding to the damaged surface. And outputting repackaging prompt information if the ratio of the damaged area to the image area exceeds a preset defective threshold.
In an embodiment, after sending a positioning instruction to the adjustment terminal, the computer determines the outline and the crack of each hole on the top view image and the combined image, and if the outline and the crack exist, the computer obtains the damaged area of the hole or the crack and the image area corresponding to the damaged surface. When the images of the holes or the cracks obtained by the computer are in an unclosed curve, the computer selects two endpoints in the images of the holes or the cracks to connect, and the corresponding area after connection is obtained. When the ratio of the damaged area to the image area corresponding to the damaged surface exceeds a preset defective threshold, the defective threshold can be 10% of the damaged area of the packaging box, so that prompt information of packaging box to be repacked can be output to a mobile terminal of a technician, and the technician can be shown the prompt information of the packaging box to be repacked through a display screen of a computer.
Optionally, each hole or crack on the overlook image and the combined image is obtained, and if the target hole or crack on the overlook image and the combined image is not matched with the preset regular contour, the target hole or crack is selected to obtain the damaged area.
In an embodiment, the computer obtains the outline of each hole on the top view image and the combined image, and if a certain hole or crack (i.e. a target hole or crack) is not matched with a preset regular outline, the regular outline may be circular, or may be strip-shaped, or may be elliptical, and then all the target hole outlines and cracks are selected to obtain the damaged area.
Optionally, receiving the serial number corresponding to the label image uploaded by the bar code scanner, selecting the cargo type corresponding to the serial number, and selecting the pre-stored defective threshold corresponding to the cargo type. And outputting repackaging prompt information if the ratio of the damaged area to the image area exceeds the defective threshold.
In an embodiment, the computer stores a plurality of residual thresholds in advance, and each residual threshold may correspond to one cargo category, or one residual threshold may correspond to a plurality of cargo categories. The computer can obtain the maximum damage area of each cargo type under the unit packing box area according to the packing requirement of each cargo type, namely the defective threshold value corresponding to each cargo type. The computer receives the serial number corresponding to the label image uploaded by the bar code scanner, selects the cargo type corresponding to the serial number and the corresponding defective threshold, and outputs repackaged prompt information when the ratio of the damaged area to the image area exceeds the defective threshold of the corresponding cargo type.
Accordingly, in order to reduce the influence of overlong cracks on the cartons on the strength of the cartons, a crack length template is preset in a computer aiming at different lengths and widths of different types of packaging boxes. And the computer obtains the length of the crack and the length and width of the damaged surface according to the obtained overlook image, the obtained bottom image and the obtained crack in the overlook image, and obtains a crack length threshold according to the length of the damaged area and the crack length template. And outputting repackaging prompt information if the length of the crack exceeds the crack length threshold.
In addition, in order to judge whether the bar code is damaged or printed by mistake, if the ratio of the damaged area to the image area is not exceeding the residual threshold value of the corresponding goods type, the computer obtains the serial number of the serial number according to the serial number corresponding to the label image. If the number of the serial numbers is inconsistent with the number of the preset serial number templates, outputting prompt information of label damage or printing errors, so that the adjustment terminal does not adjust the positions of the packaging boxes with label damage or printing errors.
And step 207, sending a positioning instruction to an adjustment terminal arranged on the conveyor belt, wherein the adjustment terminal is used for adjusting the position of the goods packing box so as to enable the bar code scanner to scan the label on the goods packing box.
In an embodiment, the computer sends a positioning instruction to an adjustment terminal disposed on the conveyor belt, where the adjustment terminal may be a mechanical arm or a positioning terminal, and the adjustment terminal is used to adjust a position of the packaging box, so that the barcode scanner can scan a label on the packaging box.
Based on the same technical conception, the embodiment of the application also discloses a system for automatically sorting cargoes, the system for automatically sorting cargoes comprises a computer, a position feedback terminal, a first shooting terminal, a third shooting terminal and an adjusting terminal, as shown in fig. 3, the computer comprises:
a first receiving module 301, configured to receive a position feedback signal uploaded by a position feedback terminal disposed on a conveyor belt;
the first sending module 302 is configured to send a shooting instruction to a shooting terminal deployed on the conveyor belt based on the received position feedback signal;
a second receiving module 303, configured to receive, according to a shooting instruction, a shooting image sent by a shooting terminal;
a first obtaining module 304, configured to obtain, according to the captured image, a package box image and a first relative position of the package box image on the captured image;
a second obtaining module 305, configured to obtain, according to the package box image, a tag image matched with a preset tag template and a second relative position of the tag image on the package box image;
a third obtaining module 306, configured to obtain a positioning instruction according to the first relative position and the second relative position;
and the second sending module 307 is configured to send a positioning instruction to an adjustment terminal disposed on the conveyor belt, where the adjustment terminal is configured to adjust a position of the cargo package, so that the barcode scanner scans the label on the cargo package.
Optionally, the establishing module is used for establishing a space rectangular coordinate system, and obtaining a label coordinate position of the label image and a center point position of the packaging box image according to the first relative position and the second relative position;
a fourth obtaining module, configured to obtain, in a space rectangular coordinate system, a movement angle required for the rotation of the label image to the scannable area position according to a preset scannable area position, a label coordinate position and a center point position;
and a fifth obtaining module, configured to obtain a positioning instruction according to a preset positioning template and a movement angle.
Optionally, the first selecting module is configured to select, in the top view image, a bottom image uploaded by the second shooting terminal, a side view image uploaded by the third shooting terminal, and a corresponding position identifier if a tag image matched with the tag template is not obtained;
a sixth obtaining module, configured to obtain a combined image according to the selected bottom image, the side view image, the corresponding position identifier, and the preset position sequence;
the first acquisition module is used for acquiring a label image matched with the label template and a target relative position of the label image on the combined image in the combined image;
the second selecting module is used for selecting a preset positioning instruction corresponding to the target relative position.
Optionally, the second obtaining module is configured to obtain a location identifier corresponding to the target relative location;
the third selecting module is used for selecting a preset rotation angle corresponding to the position mark if the position mark is acquired from the combined image;
a seventh obtaining module, configured to obtain a positioning instruction according to a preset second positioning template and a rotation angle;
the comparison module is used for comparing the rotation angles corresponding to the two position identifiers if the two position identifiers are obtained from the combined image, so as to obtain a target position identifier corresponding to the smaller rotation angle;
and an eighth obtaining module for obtaining a positioning instruction according to the preset second positioning template and the rotation angle corresponding to the target position mark.
Optionally, the judging module is used for judging whether holes or cracks exist on the overlook image and the combined image;
the calculation module is used for obtaining the damage area of the hole or the crack and the image area corresponding to the damage surface if the hole or the crack exists;
and the output module is used for outputting repackaged prompt information if the ratio of the damaged area to the image area exceeds a preset defective threshold.
Optionally, a third obtaining module is configured to obtain each hole or crack on the top view image and the combined image;
and the fourth selecting module is used for selecting the target holes or cracks to obtain the damaged area if the target holes or cracks on the overlook image and the combined image are not matched with the preset regular outline.
Optionally, the third receiving module is used for receiving the serial number corresponding to the label image uploaded by the bar code scanner;
a fifth selecting module, configured to select a cargo type corresponding to the serial number;
a sixth selecting module, configured to select a pre-stored inferior threshold value corresponding to a cargo type;
and the output module is also used for outputting repackaged prompt information if the ratio of the damaged area to the image area exceeds the inferior threshold value.
The embodiment of the application also discloses an electronic device, which comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute the method for automatically sorting cargoes.
The embodiment of the application also discloses a computer readable storage medium storing a computer program capable of being loaded by a processor and executing the method for automatically sorting cargoes as described above, for example, the computer readable storage medium comprises: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the scope of protection of the application. It will be apparent that the described embodiments are merely some, but not all, of the embodiments of the present application. Based on these embodiments, all other embodiments that may be obtained by one of ordinary skill in the art without inventive effort are within the scope of protection sought herein.
Claims (10)
1. A method for automatically sorting goods, comprising the steps of:
receiving a position feedback signal uploaded by a position feedback terminal arranged on a conveying belt;
based on the received position feedback signal, sending a shooting instruction to a shooting terminal arranged on a conveying belt;
receiving a shooting image sent by a shooting terminal according to the shooting instruction;
according to the shooting image, a packing box image and a first relative position of the packing box image on the shooting image are obtained;
obtaining a label image matched with a preset label template and a second relative position of the label image on the packaging box image according to the packaging box image;
obtaining a positioning instruction according to the first relative position and the second relative position;
the position adjusting instruction is sent to an adjusting terminal arranged on a conveyor belt, and the adjusting terminal is used for adjusting the position of a goods packing box so that a bar code scanner scans labels on the goods packing box;
the method for obtaining the position adjustment instruction according to the first relative position and the second relative position comprises the following steps:
establishing a space rectangular coordinate system, and obtaining a label coordinate position of a label image and a center point position of a packaging box image according to the first relative position and the second relative position;
in the space rectangular coordinate system, according to a preset scannable area position, the label coordinate position and the center point position, obtaining a movement angle required by the rotation of the label image to the scannable area position;
and obtaining a positioning instruction according to a preset positioning template and the movement angle.
2. The method of automatic sorting of goods according to claim 1, wherein the photographing terminal comprises a first photographing terminal for acquiring a top view image of the package box.
3. The method for automatically sorting cargoes according to claim 2, wherein the shooting terminals further comprise a second shooting terminal and a third shooting terminal, the second shooting terminal is used for acquiring a bottom image of the packing box, and the third shooting terminal is used for acquiring a side view image of the packing box;
the method for obtaining the position adjustment instruction according to the first relative position and the second relative position comprises the following steps:
if the label image matched with the label template is not acquired in the overlook image, selecting a bottom image uploaded by the second shooting terminal, a side view image uploaded by the third shooting terminal and a corresponding position mark;
obtaining a combined image according to the selected bottom image, the side view image, the corresponding position mark and the preset position sequence;
in the combined image, acquiring a label image matched with the label template and a target relative position of the label image on the combined image;
selecting a preset positioning instruction corresponding to the target relative position.
4. A method for automatically sorting cargoes according to claim 3, wherein the selecting a preset positioning command corresponding to the target relative position comprises the following steps:
acquiring a position identifier corresponding to the relative position of the target;
if a position mark is obtained from the combined image, selecting a preset rotation angle corresponding to the position mark;
obtaining a positioning instruction according to a preset second positioning template and the rotation angle;
if two position identifiers are obtained from the combined image, comparing the rotation angles corresponding to the two position identifiers to obtain a target position identifier corresponding to the smaller rotation angle;
and obtaining a positioning instruction according to a preset second positioning template and a rotation angle corresponding to the target position mark.
5. A method of automatic sorting of goods according to claim 3, characterized in that after said sending of a positioning command to an adjustment terminal deployed on a conveyor belt, it further comprises the steps of:
judging whether holes or cracks exist on the overlook image and the combined image;
if the hole or the crack exists, obtaining the damage area of the hole or the crack and the image area corresponding to the damage surface;
and outputting repackaging prompt information if the ratio of the damaged area to the image area exceeds a preset defective threshold.
6. The method for automatically sorting cargoes according to claim 5, wherein the step of obtaining the damaged area of the hole or the crack comprises the steps of:
acquiring each hole or crack on the overlook image and the combined image;
and if the target holes or cracks on the overlook image and the combined image are not matched with the preset regular outline, selecting the target holes or cracks to obtain the damaged area.
7. The method according to claim 5, wherein if the ratio of the damaged area to the image area exceeds a preset defective threshold, a repackaging prompt message is output, comprising the steps of:
receiving a serial number corresponding to the label image uploaded by a bar code scanner;
selecting the goods type corresponding to the serial number;
selecting a pre-stored inferior threshold value corresponding to the cargo type;
and outputting repackaging prompt information if the ratio of the damaged area to the image area exceeds a defective threshold.
8. A system for automated sorting of goods, comprising:
the first receiving module is used for receiving the position feedback signals uploaded by the position feedback terminals arranged on the conveyor belt;
the first sending module is used for sending a shooting instruction to a shooting terminal arranged on the conveying belt based on the received position feedback signal;
the second receiving module is used for receiving the shooting image sent by the shooting terminal according to the shooting instruction;
the first obtaining module is used for obtaining a packing box image and a first relative position of the packing box image on the shooting image according to the shooting image;
the second obtaining module is used for obtaining a label image matched with a preset label template and a second relative position of the label image on the packaging box image according to the packaging box image;
the third obtaining module is used for obtaining a positioning instruction according to the first relative position and the second relative position;
the second sending module is used for sending the positioning instruction to an adjusting terminal arranged on the conveyor belt, and the adjusting terminal is used for adjusting the position of the goods packing box so as to enable the bar code scanner to scan the label on the goods packing box;
the building module is used for building a space rectangular coordinate system, and obtaining a label coordinate position of a label image and a center point position of a packaging box image according to the first relative position and the second relative position;
a fourth obtaining module, configured to obtain, in a space rectangular coordinate system, a movement angle required for the rotation of the label image to the scannable area position according to a preset scannable area position, a label coordinate position and a center point position;
and a fifth obtaining module, configured to obtain a positioning instruction according to a preset positioning template and a movement angle.
9. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program capable of being loaded by the processor and performing the method according to any of claims 1 to 7.
10. A computer readable storage medium, characterized in that a computer program is stored which can be loaded by a processor and which performs the method according to any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111236603.8A CN113894061B (en) | 2021-10-23 | 2021-10-23 | Automatic cargo sorting method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111236603.8A CN113894061B (en) | 2021-10-23 | 2021-10-23 | Automatic cargo sorting method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113894061A CN113894061A (en) | 2022-01-07 |
| CN113894061B true CN113894061B (en) | 2023-06-27 |
Family
ID=79026096
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111236603.8A Active CN113894061B (en) | 2021-10-23 | 2021-10-23 | Automatic cargo sorting method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113894061B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116486346B (en) * | 2023-06-16 | 2023-09-05 | 济南雷圣自动化技术有限公司 | Carton conveying method and device |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105956510B (en) * | 2016-04-29 | 2018-06-26 | 苏州佳世达光电有限公司 | Bar code processing method and bar code scanner |
| CN112183146A (en) * | 2019-07-13 | 2021-01-05 | 迅镭智能（广州）科技有限公司 | Bar code scanning method, device, scanning system and storage medium |
| TWI749348B (en) * | 2019-07-31 | 2021-12-11 | 方碼科技有限公司 | Barcode scanning system and barcode scanning method |
| CN112700179B (en) * | 2019-10-22 | 2023-11-07 | 菜鸟智能物流控股有限公司 | Method, device and system for tracking package and method and device for detecting package |
| CN111144322A (en) * | 2019-12-28 | 2020-05-12 | 广东拓斯达科技股份有限公司 | Sorting method, device, equipment and storage medium |
| CN111757084A (en) * | 2020-07-30 | 2020-10-09 | 北京博清科技有限公司 | Acquisition method and acquisition device for three-dimensional image and readable storage medium |
| CN112439715B (en) * | 2020-11-04 | 2022-03-25 | 杭州启隆智能科技有限公司 | Goods sorting system and method of crossed belt sorting equipment |
| CN112991456A (en) * | 2021-03-08 | 2021-06-18 | 上海闻泰信息技术有限公司 | Shooting positioning method and device, computer equipment and storage medium |
-
2021
- 2021-10-23 CN CN202111236603.8A patent/CN113894061B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113894061A (en) | 2022-01-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7363102B2 (en) | Method and apparatus for precise marking and placement of an object | |
| KR102102874B1 (en) | Automatic optical inspection system and operating method thereof | |
| US20170066597A1 (en) | Information processing device, information processing system, distribution system, information processing method, and program storage medium | |
| CN113894061B (en) | Automatic cargo sorting method and system | |
| CN106560910B (en) | Tube core defect detection method and device | |
| US20180005392A1 (en) | Item image stitching from multiple line-scan images for barcode scanning systems | |
| JP2017100796A (en) | Container orientation detection device, container processing apparatus and container orientation detection method | |
| CN113030095A (en) | Polaroid appearance defect detecting system | |
| CN114313722A (en) | Robotic labeling system and method of labeling packages | |
| CN111846465A (en) | Tobacco strip cigarette brand sorting, checking and tracing system and method | |
| JP2019105610A (en) | Distorted image inspection device and distorted image inspection method | |
| KR100520899B1 (en) | Calibrating method of marking for lazer marking system | |
| KR102617048B1 (en) | Systme for recogniting label using infrared and cisible light camera and method thereof | |
| US11518567B2 (en) | Robotic labeling system and method of labeling packages | |
| CN211810626U (en) | Production system for printing and pasting label on line | |
| JP3761313B2 (en) | Tablet appearance inspection method, tablet appearance inspection device and blister sheet packaging machine | |
| JP3604587B2 (en) | Image processing device | |
| CN111907827A (en) | Product package detection method and system | |
| US11912457B2 (en) | Robotic labeling system and method of labeling packages | |
| CN116486346B (en) | Carton conveying method and device | |
| KR100486088B1 (en) | Calibrating method of marking for lazer marking system using post vision camera | |
| WO2005119774A1 (en) | Method and apparatus for precise marking and placement of an object | |
| CN218877856U (en) | Production line system for labeling and labeling | |
| JPH11147507A (en) | Taping equipment for semiconductor device | |
| US20230306363A1 (en) | Robotic singulation system with automated routing of manually scanned packages |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |