CN115108117A - Cutting method, system, terminal and computer storage medium - Google Patents
Cutting method, system, terminal and computer storage medium Download PDFInfo
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- CN115108117A CN115108117A CN202210582580.4A CN202210582580A CN115108117A CN 115108117 A CN115108117 A CN 115108117A CN 202210582580 A CN202210582580 A CN 202210582580A CN 115108117 A CN115108117 A CN 115108117A
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- 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
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
- B65B69/0033—Unpacking of articles or materials, not otherwise provided for by cutting
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/001—Texturing; Colouring; Generation of texture or colour
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
Abstract
The application relates to a cutting method, a system, a terminal and a computer storage medium, wherein the cutting method comprises the following steps: acquiring image information of a target object, wherein the image information comprises image texture information, color information and depth information of pixel points in an image; determining the type and the spatial information of a target object according to the image texture information and the color information of pixel points in the image; and determining the cutting route of the target object according to the type and the space information of the target object and the depth information of the pixel points in the image. The cutting method, the cutting system, the cutting terminal and the computer storage medium can acquire the image information of the target object in the process of grabbing and moving the target object, improve the surface detection efficiency of the target object, determine the optimal cutting route according to the type and the space information of the target object and the pixel point depth information of the target object image, improve the cutting efficiency and the cutting accuracy and improve the cutting safety.
Description
Technical Field
The application belongs to the technical field of automatic production, and particularly relates to a cutting method, a cutting system, a cutting terminal and a computer storage medium.
Background
The rapid development of the warehouse logistics industry brings great convenience to the life of people. How to improve the automation level is always a hot topic of the industry. Packing and unpacking of goods are key links of warehouse logistics, and the automation level of the packing and unpacking directly influences the efficiency of the warehouse logistics.
To the link of unpacking, how to improve the surface detection efficiency, cutting efficiency and the cutting accuracy of packing box to and how to promote the cutting security, become the problem that awaits a urgent need to be solved.
Disclosure of Invention
In view of the above technical problems, the present application provides a cutting method, system, terminal and computer storage medium to improve the surface detection efficiency, cutting efficiency and cutting accuracy of a target object, and improve the cutting safety.
The application provides a cutting method, comprising the following steps: acquiring image information of a target object, wherein the image information comprises image texture information, color information and depth information of pixel points in an image; determining the type and the space information of the target object according to the image texture information and the color information of the pixel points in the image; and determining the cutting route of the target object according to the type and the space information of the target object and the depth information of the pixel points in the image.
In one embodiment, acquiring image information of a target object includes: grabbing and moving the target object; before the target object is grabbed, acquiring image information of a first surface of the target object; and acquiring image information of other surfaces of the target object in the process of moving the target object.
In an embodiment, moving the target object comprises at least one of: moving the target object to a preset height; rotating the target object by a preset angle.
In an embodiment, the step of determining the type and the spatial information of the target object according to the image texture information and the color information of the pixel points in the image includes: and comparing the image texture information and the color information of the pixel points in the image with preset model information to determine the type and the space information of the target object.
In an embodiment, the step of determining a cutting route of the target object according to the type and the spatial information of the target object and the depth information of the pixel points in the image includes: determining a cutting area corresponding to each surface of the target object according to the type and the spatial information of the target object; and determining the cutting route of the target object according to the depth information of the pixel points of the cutting area corresponding to each surface.
In an embodiment, the step of determining the cutting route of the target object according to the depth information of the pixel points of the cutting area corresponding to each surface includes: determining the flatness of the cutting area corresponding to each surface according to the depth information of the pixel points of the cutting area corresponding to each surface; if the flatness of the cutting area corresponding to the first surface of the target object is larger than a preset value, determining a cutting route of the target object according to depth information of pixel points of the cutting area with the minimum flatness; and if the flatness of the cutting area corresponding to the first surface of the target object is less than or equal to the preset value, determining the cutting route of the target object according to the depth information of the pixel points of the cutting area corresponding to the first surface.
The application also provides a cutting system, which comprises an acquisition module, an identification module and a processing module; the acquisition module is used for acquiring image information of a target object, wherein the image information comprises image texture information, color information and depth information of pixel points in an image; the identification module is used for determining the type and the space information of the target object according to the image texture information and the color information of the pixel points in the image; the processing module is used for determining the cutting route of the target object according to the type and the space information of the target object and the depth information of the pixel points in the image.
In one embodiment, the cutting system further comprises a first mechanism, a vision element, and a second mechanism; the first mechanical device is used for grabbing and moving the target object; the visual element is used for acquiring an image of a first side of the target object before the first mechanical device grabs the target object; the visual element is used for acquiring images of other surfaces of the target object in the process of moving the target object by the first mechanical device; the second mechanical device is used for cutting the target object according to the cutting route.
The application also provides a terminal, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the steps of the cutting method when executing the computer program.
The present application further provides a computer storage medium storing a computer program which, when executed by a processor, implements the steps of the above-described cutting method.
According to the cutting method, the cutting system, the cutting terminal and the computer storage medium, the image information of the target object can be acquired in the process of grabbing and moving the target object, the surface detection efficiency of the target object is improved, the optimal cutting route can be determined according to the type and the space information of the target object and the pixel point depth information of the image of the target object, the cutting efficiency and the cutting accuracy are improved, and the cutting safety is improved.
Drawings
Fig. 1 is a schematic flow chart of a cutting method according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a cutting system provided in the second embodiment of the present application;
FIG. 3 is a schematic diagram of image acquisition provided in the second embodiment of the present application;
FIG. 4 is a schematic diagram of a cutting operation provided in the second embodiment of the present application;
fig. 5 is a schematic structural diagram of a terminal according to a third embodiment of the present application.
Detailed Description
The technical solution of the present application is further described in detail with reference to the drawings and specific embodiments of the specification. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, "and/or" includes any and all combinations of one or more of the associated listed items.
Fig. 1 is a schematic flow chart of a cutting method according to an embodiment of the present application. As shown in fig. 1, the cutting method of the present application may include the steps of:
step S101: acquiring image information of a target object, wherein the image information comprises image texture information, color information and depth information of pixel points in an image;
in one embodiment, acquiring image information of a target object includes:
grabbing and moving a target object;
before a target object is grabbed, acquiring image information of a first surface of the target object;
and acquiring image information of other surfaces of the target object in the process of moving the target object.
Wherein moving the target object includes moving the target object to a preset height, and rotating at least one of the target objects by a preset angle.
Optionally, the target object is a packaging box. Taking a rectangular packing box as an example, before the packing box is grabbed, acquiring an image of the top surface of the packing box and extracting image information of the top surface; moving the packing box to a preset height (such as 1m), acquiring an image of the bottom surface of the packing box and extracting image information of the bottom surface; before the packing box moves to a preset height or moves the packing box, the packing box is rotated by a preset angle (such as 90 degrees), an image of one side face of the packing box is obtained every time the packing box rotates once, when the packing box rotates for one circle, the image obtaining of 4 side faces of the packing box is completed, and image information of 4 side faces is extracted.
Step S102: determining the type and the spatial information of a target object according to the image texture information and the color information of pixel points in the image;
optionally, comparing the image texture information of the target object and the color information of the pixel points in the image with preset model information, and determining the type and the spatial information of the target object.
Optionally, the preset model information includes image texture information of each side of different types of packaging boxes, color information of pixel points in the images, and sizes of the various types of packaging boxes in a normal state, wherein the different types of packaging boxes include packaging boxes for packaging different articles, such as fruit boxes and clothes boxes; the spatial information of the target object includes a placement state (e.g., right, upside down, side, etc.) of the target object, and size information in the placement state.
Taking a rectangular packing box as an example, if the height values of the length, the width and the height of the packing box are the largest in a front-placed state, the width values of the length, the width and the height of the packing box are the largest in a side-placed state.
Optionally, if the image texture information of each side of the target object and the color information of the pixel points in the image are matched with the image texture information of each side of any packing box in the preset model information and the color information of the pixel points in the image, it can be determined that the target object and the packing box are of the same type; further, the placing state of the target object can be determined through the corresponding relation between any surface of the target object and the surface of the packing box, and if the top surface of the target object corresponds to the bottom surface of the packing box, the target object is in an inverted state; further, according to the size of the packaging box in the normal placement state and the placement state of the target object, the size information of the target object in the placement state can be determined.
Step S103: and determining the cutting route of the target object according to the type and the space information of the target object and the depth information of the pixel points in the image.
In one embodiment, step S103 includes:
determining a cutting area corresponding to each surface of the target object according to the type and the spatial information of the target object;
and determining the cutting route of the target object according to the depth information of the pixel points of the cutting area corresponding to each surface.
Taking a rectangular packing box as an example, the cutting area corresponding to each side of the packing box is the cutting area on 4 sides adjacent to each side of the packing box; for example, the cutting areas corresponding to the top surface and the bottom surface of the packing box are respectively the cutting areas on 4 side surfaces adjacent to the top surface and the bottom surface of the packing box; the cutting areas corresponding to any side surface of the packing box are the cutting areas on the top surface, the bottom surface and 2 side surfaces of the packing box adjacent to the side surface.
Illustratively, if the rectangular packing case type is a fruit packing case, in a state of being placed, the cutting area of the top surface is an area which is 1-2cm away from the top surface on 4 side surfaces adjacent to the top surface, the cutting area of any one side surface is an area which is 2-3cm away from the side surface on 4 side surfaces adjacent to the side surface, and the cutting area of the bottom surface is an area which is 1-2cm away from the bottom surface on 4 side surfaces adjacent to the bottom surface; if the rectangular packing box is a clothes packing box, in a normal state, the cutting area of the top surface is an area which is 0-1cm away from the top surface on 4 side surfaces adjacent to the top surface, the cutting area of any side surface is an area which is 0-1cm away from the side surface on 4 side surfaces adjacent to the side surface, and the cutting area of the bottom surface is an area which is 0-1cm away from the bottom surface on 4 side surfaces adjacent to the bottom surface.
Further, when the placing state of the rectangular packing box changes, the cutting area of each surface also changes correspondingly; if the placement state of the fruit packing box is changed from a normal placement state to a side placement state, the cutting area of the top surface is an area which is 2-3cm away from the top surface on 4 side surfaces adjacent to the top surface in the side placement state; the cutting area of the side face corresponding to the top face or the bottom face in the state of being placed is an area which is 1-2cm away from the side face on 4 faces adjacent to the side face; the cutting areas of the other side surfaces are cutting areas which are 2-3cm away from the other side surfaces on 4 surfaces adjacent to the other side surfaces; the cutting area of the bottom surface is an area 2-3cm away from the bottom surface on 4 side surfaces adjacent to the bottom surface.
In an embodiment, the step of determining a cutting route of the target object according to depth information of pixel points of the cutting area corresponding to each surface includes:
determining the flatness of the cutting area corresponding to each surface according to the depth information of the pixel points of the cutting area corresponding to each surface;
if the flatness of the cutting area corresponding to the first surface of the target object is larger than a preset value, determining a cutting route of the target object according to depth information of pixel points of the cutting area with the minimum flatness;
and if the flatness of the cutting area corresponding to the first surface of the target object is less than or equal to a preset value, determining the cutting route of the target object according to the depth information of the pixel points of the cutting area corresponding to the first surface.
Optionally, the flatness of the cutting area corresponding to each surface of the target object is an average value of depth values of the pixels in the cutting area corresponding to each surface; the first side of the target object is the top surface of the target object; the preset value is determined according to the test calibration data.
Optionally, a route with the minimum sum of the depth values of the pixel points in the cutting area is selected as the cutting route of the target object.
It is worth mentioning that if it is determined that the surface corresponding to the cutting area of the cutting route is not the top surface of the target object, the posture of the target object is adjusted, and after the surface is adjusted to be the top surface, the target object is cut along the cutting route corresponding to the surface, so that the cutting operation is conveniently executed.
According to the cutting method provided by the embodiment of the application, in the process of grabbing and moving the target object, the image information of the target object is obtained, the surface detection efficiency of the target object is improved, in addition, the optimal cutting route is determined according to the type and the space information of the target object and the pixel point depth information of the target object image, the cutting efficiency and the cutting accuracy are improved, and the cutting safety is improved.
Fig. 2 is a schematic structural diagram of a cutting system according to a second embodiment of the present application. As shown in fig. 2, the cutting system includes an acquisition module 11, an identification module 12, and a processing module 13;
the acquiring module 11 is configured to acquire image information of a target object, where the image information of the target object includes texture information of a target object image, and color information and depth information of pixel points in the target object image;
the identification module 12 is configured to determine the type and spatial information of the target object according to the texture information of the target object image and the color information of the pixel point in the target object image;
the processing module 13 is configured to determine a cutting route of the target object according to the type and the spatial information of the target object and the depth information of the pixel point in the target object image.
In one embodiment, the cutting system further comprises a first mechanism, a vision element, and a second mechanism;
the first mechanical device is used for grabbing and moving a target object;
the visual element is used for acquiring an image of a first side of the target object before the first mechanical device grabs the target object;
the visual element is used for acquiring images of other surfaces of the target object in the process of moving the target object by the first mechanical device;
optionally, the first mechanical device is a robotic arm device and the visual element is a camera. As shown in fig. 3, the robot arm device includes a gripper assembly, an upper arm assembly, a lower arm assembly and a base, wherein the robot arm base is movably connected with the lower arm assembly, the lower arm assembly is movably connected with the upper arm assembly, the upper arm assembly is movably connected with the gripper assembly, a camera 1 is installed on the gripper assembly of the robot arm, a camera 2 is installed on the lower arm assembly of the robot arm, and a camera 3 is installed on the base of the robot arm. Before the mechanical arm grabs the rectangular packing box, acquiring a top surface image of the rectangular packing box through the camera 1; when the mechanical arm moves the rectangular packing box to a height flush with the camera 2, acquiring an image of a first side face of the rectangular packing box through the camera 2, horizontally rotating the rectangular packing box to positions of 90 degrees, 180 degrees and 270 degrees respectively, and acquiring other 3 side face images of the rectangular packing box through the camera 2; when the rectangular packing box rotates to the position of 270 degrees and/or the rectangular packing box moves to the height that is level with camera 2, acquire the image of rectangular packing box bottom surface through camera 3.
The second mechanical device is used for cutting the target object according to the cutting route.
Optionally, the second mechanical device is a bladed cutting device; as shown in fig. 4, the blades of the cutting device move along the cutting lines on the 4 sides of the rectangular packing box to cut the packing box and remove the top cover of the packing box.
According to the cutting system provided by the embodiment of the application, through interaction among the acquisition module, the identification module and the processing module, in the process of grabbing and moving the target object, the image information of the target object is acquired, the surface detection efficiency of the target object is improved, the optimal cutting route is determined according to the type and the space information of the target object and the pixel point depth information of the target object image, the cutting efficiency and the cutting accuracy are improved, and the cutting safety is improved.
Fig. 5 is a schematic structural diagram of a terminal according to a third embodiment of the present application. The terminal of the application includes: a processor 110, a memory 111, and a computer program 112 stored in the memory 111 and operable on the processor 110. The processor 110, when executing the computer program 112, implements the steps in the above-described cutting method embodiments, such as the steps S101 to S103 shown in fig. 1.
The terminal may include, but is not limited to, a processor 110, a memory 111. Those skilled in the art will appreciate that fig. 5 is only an example of a terminal and is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or different components, e.g., a terminal may also include input-output devices, network access devices, buses, etc.
The Processor 110 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 111 may be an internal storage unit of the terminal, such as a hard disk or a memory of the terminal. The memory 111 may also be an external storage device of the terminal, such as a plug-in hard disk provided on the terminal, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 111 may also include both an internal storage unit of the terminal and an external storage device. The memory 111 is used for storing computer programs and other programs and data required by the terminal. The memory 111 may also be used to temporarily store data that has been output or is to be output.
The present application further provides a computer storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the cutting method as described above.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, including not only those elements listed, but also other elements not expressly listed.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method of cutting, comprising:
acquiring image information of a target object, wherein the image information comprises image texture information, color information and depth information of pixel points in an image;
determining the type and the space information of the target object according to the image texture information and the color information of the pixel points in the image;
and determining the cutting route of the target object according to the type and the space information of the target object and the depth information of the pixel points in the image.
2. The cutting method of claim 1, wherein obtaining image information of the target object comprises:
grabbing and moving the target object;
before the target object is grabbed, acquiring image information of a first surface of the target object;
and acquiring image information of other surfaces of the target object in the process of moving the target object.
3. The cutting method of claim 2, wherein moving the target object comprises at least one of:
moving the target object to a preset height;
rotating the target object by a preset angle.
4. The segmentation method according to claim 1, wherein the step of determining the type and the spatial information of the target object according to the image texture information and the color information of the pixel points in the image comprises:
and comparing the image texture information and the color information of the pixel points in the image with preset model information to determine the type and the space information of the target object.
5. The cutting method according to claim 1, wherein the step of determining the cutting route of the target object based on the type and spatial information of the target object and the depth information of the pixel points in the image comprises:
determining a cutting area corresponding to each surface of the target object according to the type and the spatial information of the target object;
and determining the cutting route of the target object according to the depth information of the pixel points of the cutting area corresponding to each surface.
6. The cutting method according to claim 5, wherein the step of determining the cutting route of the target object according to the depth information of the pixel points of the cutting area corresponding to each surface comprises:
determining the flatness of the cutting area corresponding to each surface according to the depth information of the pixel points of the cutting area corresponding to each surface;
if the flatness of the cutting area corresponding to the first surface of the target object is larger than a preset value, determining a cutting route of the target object according to depth information of pixel points of the cutting area with the minimum flatness;
and if the flatness of the cutting area corresponding to the first surface of the target object is less than or equal to the preset value, determining the cutting route of the target object according to the depth information of the pixel points of the cutting area corresponding to the first surface.
7. The cutting system is characterized by comprising an acquisition module, an identification module and a processing module;
the acquisition module is used for acquiring image information of a target object, wherein the image information comprises image texture information, color information and depth information of pixel points in an image;
the identification module is used for determining the type and the space information of the target object according to the image texture information and the color information of the pixel points in the image;
the processing module is used for determining a cutting route of the target object according to the type and the space information of the target object and the depth information of the pixel points in the image.
8. The cutting system of claim 7, further comprising a first mechanism, a vision element, and a second mechanism;
the first mechanical device is used for grabbing and moving the target object;
the visual element is used for acquiring an image of a first side of the target object before the first mechanical device grabs the target object;
the visual element is used for acquiring images of other surfaces of the target object in the process of moving the target object by the first mechanical device;
the second mechanical device is used for cutting the target object according to the cutting route.
9. A terminal, characterized in that the vehicle comprises a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the cutting method according to any one of claims 1 to 6 when executing the computer program.
10. A computer storage medium storing a computer program, wherein the computer program when executed by a processor implements the steps of the cutting method according to any one of claims 1 to 6.
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| CN202210582580.4A CN115108117B (en) | 2022-05-26 | 2022-05-26 | Cutting method, cutting system, terminal and computer storage medium |
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