CN114298077A - Code scanning identification positioning method and system based on 2D vision and storage medium - Google Patents
Code scanning identification positioning method and system based on 2D vision and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of product code scanning identification and positioning, and discloses a code scanning identification and positioning method, a code scanning identification and positioning system and a storage medium based on 2D vision, wherein the method comprises the steps of obtaining picture information of a material to be sorted, and reading content information of a bar code corresponding to the material to be sorted; determining the positioning information of the material to be sorted according to the picture information; binding the positioning information and the content information of the same material to be sorted; sorting is performed based on the positioning information and the content information. Therefore, the sorting efficiency can be improved, and the sorting precision is improved.
Description
Technical Field
The invention relates to the technical field of product code scanning, identification and positioning, in particular to a code scanning, identification and positioning method and system based on 2D vision and a storage medium.
Background
In the material letter sorting line, need sort the epaxial material, wherein, each bag material all has own unique serial number, for more effective management material, needs to carry out the trail record to subsequent processing such as letter sorting or vanning of all materials. At present, the mode of sign indicating number letter sorting is swept in the manual work of mostly adopting, and at the actual letter sorting in-process, remove to sweep the inefficiency, with high costs of sign indicating number letter sorting through the manual work mode, and it is great to receive the human factor to influence, and the error rate is higher, and is visible, and current letter sorting effect is relatively poor.
Disclosure of Invention
The invention provides a code scanning identification positioning method and system based on 2D vision and a storage medium, and aims to solve the problem of poor sorting effect in the prior art.
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, the invention provides a code scanning, identifying and positioning method based on 2D vision, which is applied to a code scanning, identifying and positioning system based on 2D vision, wherein the positioning system comprises a camera, a lamp box, a material inlet, an industrial personal computer and a robot, the camera is arranged on the lamp box, the lamp box is arranged above the material inlet, the camera is connected with the industrial personal computer, and the industrial personal computer is in communication connection with the robot, and the method comprises the following steps:
acquiring picture information of a material to be sorted, and reading content information of a bar code corresponding to the material to be sorted;
determining the positioning information of the material to be sorted according to the picture information;
binding the positioning information and the content information of the same material to be sorted;
sorting based on the positioning information and the content information.
Optionally, before the obtaining of the picture information of the material to be sorted, the method further includes:
receiving a trigger signal from the pipeline;
the picture information of the materials to be sorted is obtained, and the method comprises the following steps:
and responding to the trigger signal, and acquiring picture information of the material to be sorted.
Optionally, the content information of the barcode corresponding to the material includes an ID, a name, and a use of the material.
Optionally, the determining, according to the picture information, the positioning information of the material to be sorted includes:
establishing a camera coordinate system and a robot coordinate system, and determining a mapping relation between the camera coordinate system and the robot coordinate system;
determining the positioning information of the materials to be sorted in the camera coordinate system according to the picture information;
and determining the positioning information of the material to be sorted in the robot coordinate system according to the mapping relation and the positioning information of the material to be sorted in the camera coordinate system.
Optionally, before the obtaining of the picture information of the material to be sorted, the method further includes:
determining the identification range of the camera according to the size of the light box;
and performing ambient light shielding and diffuse reflection lighting processing on the camera within the identification range.
Optionally, after the obtaining of the picture information of the material to be sorted, the method further includes:
determining field of view edge information of a camera;
and filtering the view edge information in the picture information.
In a second aspect, the present application provides a 2D vision-based code scanning recognition positioning system, including: the camera is arranged on the lamp box, the lamp box is arranged above the material inlet, the camera is connected with the industrial personal computer, and the industrial personal computer is in communication connection with the robot;
the camera is used for acquiring picture information of the material to be sorted and reading content information of a bar code corresponding to the material to be sorted;
the main control unit is used for determining the positioning information of the material to be sorted according to the picture information;
the main control unit is also used for binding the positioning information and the content information of the same material to be sorted;
the robot is used for sorting based on the positioning information and the content information.
In a third aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method steps as set forth in the first aspect.
Has the advantages that:
the invention provides a code scanning identification positioning method based on 2D vision, which comprises the steps of obtaining picture information of a material to be sorted, and reading content information of a bar code corresponding to the material to be sorted; determining the positioning information of the material to be sorted according to the picture information; binding the positioning information and the content information of the same material to be sorted; sorting is performed based on the positioning information and the content information. Therefore, the sorting efficiency can be improved, and the sorting precision is improved.
Drawings
FIG. 1 is a flowchart of a 2D vision-based code scanning recognition positioning method according to a preferred embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a 2D vision-based code scanning recognition positioning system according to a preferred embodiment of the present invention;
FIG. 3 is a second flowchart of a 2D vision-based code scanning identification positioning method according to the preferred embodiment of the present invention;
fig. 4 is a third flowchart of a 2D vision-based code scanning identification positioning method according to a preferred embodiment of the present invention.
Reference numerals:
1. a camera; 2. a light box; 3. and a feeding port.
Detailed Description
The technical solutions of the present invention are described clearly and completely below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be understood that the code scanning identification and positioning method based on 2D vision in the embodiment of the present application can be applied to different pipelines, and can adapt to an identification environment.
Please refer to fig. 1-4, the embodiment of the present application provides a 2D vision-based code scanning identification and positioning method, which is applied to a 2D vision-based code scanning identification and positioning system, the positioning system includes a camera 1, a lamp box 2, a material inlet 3, an industrial personal computer and a robot, the camera is arranged on the lamp box, the lamp box is arranged above the material inlet, the camera is connected with the industrial personal computer, the industrial personal computer is in communication connection with the robot, the method includes:
acquiring picture information of a material to be sorted, and reading content information of a bar code corresponding to the material to be sorted;
determining the positioning information of the material to be sorted according to the picture information;
binding the positioning information and the content information of the same material to be sorted;
sorting is performed based on the positioning information and the content information.
The code scanning identification positioning method based on the 2D vision can improve the sorting efficiency and improve the sorting precision. In addition, in this implementation, when discerning the material, can discern multiple material, realization material sorting that can be better.
Optionally, before obtaining the picture information of the material to be sorted, the method further includes:
receiving a trigger signal from the pipeline;
obtain the picture information of waiting to sort the material, include:
and responding to the trigger signal, and acquiring picture information of the material to be sorted.
In this optional embodiment, the trigger information may be an instruction or a trigger level, which is only an example and is not limited herein.
Particularly, because treat the letter sorting material in the reality, often equidistant depositing, consequently, the assembly line can interval fixed time and send trigger signal to the camera, like this, can realize just acquireing the picture information of material when material transmission arrives the material mouth, and when not having the material, the camera does not gather the picture, can avoid appearing the condition of shooing unnecessary picture, reduces subsequent calculated amount.
Optionally, the content information of the barcode corresponding to the material includes an ID, a name, and a use of the material. This is by way of example only and not by way of limitation.
Optionally, determining the positioning information of the material to be sorted according to the picture information includes:
establishing a camera coordinate system and a robot coordinate system, and determining a mapping relation between the camera coordinate system and the robot coordinate system;
determining the positioning information of the materials to be sorted in the camera coordinate system according to the picture information;
and determining the positioning information of the material to be sorted in the robot coordinate system according to the mapping relation and the positioning information of the material to be sorted in the camera coordinate system.
In this alternative embodiment, the conversion of the pixel coordinates of the camera to the coordinates in the real position is first calculated: the method is characterized in that an object with a known size is placed under a camera, the distance between the object and the camera is equal to the distance between the material and the camera, the camera is used for photographing the object, the proportional relation between a pixel coordinate system and a real coordinate system can be obtained according to the size and occupied pixels of the object, and the pixel coordinate can be converted into a real position coordinate through the proportional relation. The display position coordinates are subsequently used as coordinates in the camera coordinate system.
The transformation of the camera coordinates into an intermediate coordinate system is then calculated: setting an intermediate coordinate system, and measuring the coordinates of the origin of the intermediate coordinate system in the camera coordinate system to obtain the offset of the intermediate coordinate system and the camera coordinate system. And after visually recognizing the position of the material under the camera coordinate system, adding the coordinate with the offset of the middle coordinate system to obtain the coordinate of the material under the middle coordinate system.
Finally, the transformation from the intermediate coordinate system to the robot coordinate system is calculated: the robot or other vision-using device can convert the coordinates in the intermediate coordinate system to the robot coordinate system by measuring the offset of the intermediate coordinate system from its own coordinate system in the same manner as described above.
In this way, the whole calculation process from the pixel position, the real position (camera coordinate system), the intermediate coordinate system to the robot coordinate system can be realized. It should be noted that, for a device in which the camera and the robot are placed together, since the positions of the two are generally fixed, the camera coordinate system can be directly converted into the robot coordinate system.
Optionally, before obtaining the picture information of the material to be sorted, the method further includes:
determining the identification range of the camera according to the size of the lamp box;
and performing ambient light shielding and diffuse reflection lighting processing on the camera within the identification range.
In this way, the influence degree of light receiving in the shooting process can be reduced by performing ambient light shielding and diffuse reflection lighting processing on the camera in the recognition range.
Optionally, after obtaining the picture information of the material to be sorted, the method further includes:
determining field of view edge information of a camera;
and filtering the visual field edge information in the picture information.
In the optional embodiment, the materials to be sorted can be quickly identified by filtering the information of the edge of the field of view in the picture information.
In other feasible implementation modes, the surface light source can be used for replacing a lamp box type lighting, and the cost and the installation requirement can be reduced.
In another possible embodiment, the multi-camera positioning can be added, and the multi-camera positioning is mainly used for the condition that the linear speed of the production line is too fast, and the missed grabbing can be caused due to the untimely recognition processing. When this occurs, it may be considered to increase the multi-camera positioning.
In another possible embodiment, the visual recognition may be biased when the stacking degree of the materials is large, and if the incoming materials are in a serious stacking state, the 3D camera and the processing flow may be added according to actual situations.
The embodiment of the present application further provides a 2D vision-based code scanning identification and positioning system, including: the camera is arranged on the lamp box, the lamp box is arranged above the material inlet, the camera is connected with the industrial personal computer, and the industrial personal computer is in communication connection with the robot;
the camera is used for acquiring picture information of the material to be sorted and reading content information of a bar code corresponding to the material to be sorted;
the main control unit is used for determining the positioning information of the material to be sorted according to the picture information;
the main control unit is also used for binding the positioning information and the content information of the same material to be sorted;
the robot is used for sorting based on the positioning information and the content information.
The 2D vision-based code scanning identification and positioning system can implement the embodiments of the 2D vision-based code scanning identification and positioning method, and can achieve the same beneficial effects, and the details are not repeated here.
Embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the method steps as described above. The readable storage medium can implement the embodiments of the code scanning identification and positioning method based on 2D vision, and can achieve the same beneficial effects, which are not described herein again.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (8)
1. The utility model provides a sweep sign indicating number discernment positioning method based on 2D vision, is applied to sweeping sign indicating number discernment positioning system based on 2D vision, positioning system includes camera, lamp house, comes material mouth, industrial computer and robot, the camera is located on the lamp house, the lamp house is located the top of coming the material mouth, the camera with the industrial computer is connected, the industrial computer with the robot communication is connected, its characterized in that, the method includes:
acquiring picture information of a material to be sorted, and reading content information of a bar code corresponding to the material to be sorted;
determining the positioning information of the material to be sorted according to the picture information;
binding the positioning information and the content information of the same material to be sorted;
sorting based on the positioning information and the content information.
2. The 2D vision-based code scanning, identifying and positioning method according to claim 1, wherein before obtaining the picture information of the material to be sorted, the method further comprises:
receiving a trigger signal from the pipeline;
the picture information of the materials to be sorted is obtained, and the method comprises the following steps:
and responding to the trigger signal, and acquiring picture information of the material to be sorted.
3. The 2D vision-based code scanning, identifying and positioning method as claimed in claim 1, wherein the content information of the bar code corresponding to the material includes ID, name and purpose of the material.
4. The 2D vision-based code scanning identification and positioning method according to claim 1, wherein the determining the positioning information of the material to be sorted according to the picture information comprises:
establishing a camera coordinate system and a robot coordinate system, and determining a mapping relation between the camera coordinate system and the robot coordinate system;
determining the positioning information of the materials to be sorted in the camera coordinate system according to the picture information;
and determining the positioning information of the material to be sorted in the robot coordinate system according to the mapping relation and the positioning information of the material to be sorted in the camera coordinate system.
5. The 2D vision-based code scanning, identifying and positioning method according to claim 1, wherein before obtaining the picture information of the material to be sorted, the method further comprises:
determining the identification range of the camera according to the size of the light box;
and performing ambient light shielding and diffuse reflection lighting processing on the camera within the identification range.
6. The 2D vision-based code scanning, identifying and positioning method according to claim 1, wherein after obtaining the picture information of the material to be sorted, the method further comprises:
determining field of view edge information of a camera;
and filtering the view edge information in the picture information.
7. A sweep code discernment positioning system based on 2D vision, characterized by, includes: the camera is arranged on the lamp box, the lamp box is arranged above the material inlet, the camera is connected with the industrial personal computer, and the industrial personal computer is in communication connection with the robot;
the camera is used for acquiring picture information of the material to be sorted and reading content information of a bar code corresponding to the material to be sorted;
the main control unit is used for determining the positioning information of the material to be sorted according to the picture information;
the main control unit is also used for binding the positioning information and the content information of the same material to be sorted;
the robot is used for sorting based on the positioning information and the content information.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method steps of any one of claims 1 to 6.
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- 2021-12-15 CN CN202111537418.2A patent/CN114298077A/en active Pending
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Application publication date: 20220408 |