CN116029322A - Package matching method, device, electronic equipment and machine-readable storage medium - Google Patents
Package matching method, device, electronic equipment and machine-readable storage medium Download PDFInfo
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Abstract
The application provides a package matching method, a package matching device, electronic equipment and a machine-readable storage medium, wherein the package matching method comprises the following steps: acquiring system coordinate information of the package through the package identification equipment; acquiring system coordinate information of the bar code through the bar code identification equipment; and for any package to be matched, under the condition that the area corresponding to the system coordinate information exists in the bar code to be matched in the area corresponding to the system coordinate information of the package to be matched, determining that the package to be matched is successfully matched with the bar code to be matched. The method can improve the reliability and stability of package matching.
Description
Technical Field
The present disclosure relates to the field of logistics code reading and package tracking technologies, and in particular, to a package matching method, device, electronic apparatus, and machine-readable storage medium.
Background
With the development of bar code recognition technology, bar codes are widely applied in various scenes, including express industry, logistics industry and the like, and the bar codes are bound with package related information, so that package information can be counted and traced well.
For the scene that the bar code and the package are identified by different devices, the binding of the bar code and the package is completed through communication among software.
In the above scenario, how to accurately realize the matching between the bar code and the package (package matching for short) is a technical problem to be solved.
Disclosure of Invention
In view of the foregoing, the present application provides a package matching method, apparatus, electronic device, and machine-readable storage medium.
According to a first aspect of embodiments of the present application, a package matching method is provided, and the package matching method is applied to a package matching system including a package identification device and a barcode identification device, where the package matching system includes a plurality of barcode identification devices disposed perpendicular to a movement direction of a conveyor belt, and fields of view of adjacent barcode identification devices in the plurality of barcode identification devices overlap; the field of view of the package identification device covers the field of view of the plurality of barcode identification devices, the method comprising:
acquiring system coordinate information of the package through the package identification equipment; acquiring system coordinate information of the bar code through the bar code identification equipment;
and for any package to be matched, under the condition that the area corresponding to the system coordinate information exists in the bar code to be matched in the area corresponding to the system coordinate information of the package to be matched, determining that the package to be matched is successfully matched with the bar code to be matched.
According to a second aspect of embodiments of the present application, there is provided a package matching apparatus disposed in a package matching system including a package recognition device and a barcode recognition device, where the package matching system includes a plurality of barcode recognition devices disposed perpendicular to a movement direction of a conveyor belt, and fields of view of adjacent barcode recognition devices in the plurality of barcode recognition devices overlap; the field of view of the package identification device covers the field of view of the plurality of barcode identification devices, the apparatus comprising:
the acquisition unit is used for acquiring the system coordinate information of the package through the package identification equipment; acquiring system coordinate information of the bar code through the bar code identification equipment;
the matching unit is used for determining that the package to be matched is successfully matched with the bar code to be matched under the condition that the area corresponding to the system coordinate information exists in the bar code to be matched in the area corresponding to the system coordinate information of the package to be matched.
According to a third aspect of embodiments of the present application, there is provided an electronic device comprising a processor and a machine-readable storage medium storing machine-executable instructions executable by the processor for executing the machine-executable instructions to implement the method provided in the first aspect.
According to a fourth aspect of embodiments of the present application, there is provided a machine-readable storage medium having stored therein machine-executable instructions which, when executed by a processor, implement the method provided in the first aspect.
According to the parcel matching method, the visual field of the parcel identification equipment in the parcel matching system covers the visual field of the bar code identification equipment, the system coordinate information of the parcel is acquired through the parcel identification equipment, and the system coordinate information of the bar code is acquired through the bar code identification equipment, so that for any parcel to be matched, under the condition that the bar code to be matched exists in the area corresponding to the system coordinate information of the parcel to be matched, the parcel to be matched and the bar code to be matched are successfully matched, and the reliability and stability of parcel matching are improved.
Drawings
Fig. 1 is a schematic flow chart of a package matching method according to an embodiment of the present application;
FIG. 2A is a schematic diagram of an installation of an embodiment of the present application;
FIG. 2B is a schematic view of a camera according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an implementation flow of normal parcel determination and abnormal parcel determination according to an embodiment of the present application;
FIG. 4 is a schematic illustration of a wrap height filtration process provided in an embodiment of the present application;
FIG. 5 is a schematic diagram of a package movement distance filtering process according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of a motion compensation-based parcel matching process according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a package matching device according to an embodiment of the present application;
FIG. 8 is a schematic structural view of another package matching device according to an embodiment of the present application;
FIG. 9 is a schematic structural view of another package matching device according to an embodiment of the present application;
FIG. 10 is a schematic structural view of another package matching device according to an embodiment of the present application;
fig. 11 is a schematic hardware structure of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
In order to better understand the technical solutions provided by the embodiments of the present application and make the above objects, features and advantages of the embodiments of the present application more obvious, the technical solutions in the embodiments of the present application are described in further detail below with reference to the accompanying drawings.
It should be noted that, the sequence number of each step in the embodiment of the present application does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
Referring to fig. 1, a flow chart of a package matching method provided in an embodiment of the present application, as shown in fig. 1, the package matching method may include the following steps:
it should be noted that, in the embodiment of the present application, in order to improve accuracy and stability of package matching, a package matching system may include a package identification device and a barcode identification device, and a field of view of the package identification device may cover a field of view of the barcode identification device.
Illustratively, the package matching system includes a plurality of barcode recognition devices deployed perpendicular to the direction of conveyor belt movement, the fields of view of adjacent ones of the plurality of barcode recognition devices overlapping; the field of view of the package identification device covers the field of view of the plurality of barcode identification devices.
For example, considering a real scenario, the field of view of a single barcode recognition device may not cover the width of the conveyor belt, thereby resulting in barcode information for packages transmitted at certain locations of the conveyor belt not being recognized.
Accordingly, in order to improve the reliability of bar code information identification, a plurality of bar code identification devices can be deployed in a direction perpendicular to the movement direction of the conveyor belt, and the fields of view of adjacent bar code identification devices in the plurality of bar code identification devices overlap, and the fields of view of the package identification devices cover the fields of view of the plurality of bar code identification devices so as to cover the width of the conveyor belt through the plurality of bar code identification devices, so that bar code information of packages transmitted at each position of the conveyor belt can be identified, and further, under the condition that a plurality of packages are placed side by side on the conveyor belt, the plurality of packages can be matched in parallel, and the package matching efficiency is improved.
Optionally, in the embodiment of the present application, considering that for packages with different heights, in order to obtain accurate barcode information, the depth of field requirement for the barcode reading camera may be different, so a plurality of barcode recognition devices with different depths of field may also be deployed along the direction of the conveyor belt, so that included barcode information with different heights can be accurately obtained.
The execution body of the package matching method may be a device for performing package matching deployed in a package matching system, which may be a package identification device or a barcode identification device, or may also be a device other than the package identification device and the barcode identification device, such as an industrial personal computer.
For convenience of description and understanding, the execution subject of the package matching method is hereinafter taken as an industrial personal computer as an example.
Step S100, acquiring system coordinate information of a package through package identification equipment; and acquiring system coordinate information of the bar code through the bar code identification equipment.
In the embodiment of the application, the system coordinate information of the package can be acquired through the package identification equipment, and the system coordinate information of the bar code can be acquired through the bar code identification equipment.
The system coordinate information is coordinate information in a unified coordinate system (for example, a world coordinate system), and coordinate conversion of an image coordinate system of the package identification device and the unified coordinate system and coordinate conversion of an image coordinate system of the barcode identification device and the unified coordinate system can be achieved by calibrating the package identification device and the barcode identification device according to the calibration information.
For example, the package identification device may identify and track packages that are in the field of view and output coordinate information for the package, such as real-time coordinate information for the package.
For example, in the case where a package enters the field of view of the package identification device along with the conveyor belt, the package identification device may identify the package entering the field of view, and for any identified package, the package may be tracked to obtain real-time coordinate information of the package.
The coordinate information of the package output to the industrial personal computer by the package identification device can be image coordinate information of the package, and the image coordinate information is converted into system coordinate information by the industrial personal computer; or, the coordinate information of the package output to the industrial personal computer by the package identification device may be system coordinate information.
For example, the barcode recognition device may recognize a barcode entering the field of view and output coordinate information of the recognized barcode.
The bar code identification device outputs the coordinate information of the bar code to the industrial personal computer as the image coordinate information of the bar code, and the industrial personal computer converts the image coordinate information into system coordinate information; or the coordinate information of the bar code output to the industrial personal computer by the bar code recognition equipment can be system coordinate information.
Step S110, for any package to be matched, under the condition that the area corresponding to the system coordinate information exists in the bar code to be matched in the area corresponding to the system coordinate information of the package to be matched, the package to be matched and the bar code to be matched are successfully matched.
In the embodiment of the application, the package to be matched refers to the package which is identified by the package identification device but is not determined whether the matched bar code exists. Similarly, the barcode to be matched refers to a barcode which is recognized by the barcode recognition device, but is not determined whether a matched package exists.
In this embodiment of the present invention, since the field of view of the package identification device covers the field of view of the barcode identification device, for any package, in the case that the barcode identification device can identify the barcode information of the package, the package identification device can also identify the package information of the package, and in the case that the barcode identification device identifies the barcode information of the package, the position of the barcode on the package will be located in the latest position of the package (determined according to the real-time coordinate information of the package acquired by the package identification device), that is, the area corresponding to the latest position of the package covers the area corresponding to the position of the barcode, so that the industrial personal computer can match the package to be matched with the barcode to be matched based on the system coordinate information of the barcode acquired by the barcode identification device and the system coordinate information of the package acquired by the package identification device, based on the positional relationship between the package to be matched and the barcode to be matched, and the accuracy of the matching result will not be affected by the speed of the conveyor belt, and will not cause abnormal matching of the package due to unstable or stop of the conveyor belt speed.
Correspondingly, for any package to be matched, whether the bar code to be matched exists in the area corresponding to the system coordinate information of the package to be matched or not can be determined according to the system coordinate information of the bar code acquired by the bar code identification equipment.
And under the condition that the region corresponding to the system coordinate information exists in the region corresponding to the system coordinate information of the package to be matched, the package to be matched and the bar code to be matched can be successfully matched.
The industrial personal computer can determine whether the area corresponding to the system coordinate information of the bar code exists in the area corresponding to the latest system coordinate information of a certain package to be matched according to the latest system coordinate information of each package to be matched acquired through the package identification equipment when receiving the system coordinate information of the bar code to be matched output by the bar code identification equipment, and if so, the bar code to be matched and the package to be matched are successfully matched.
It should be noted that, in the embodiment of the present application, when package matching is performed according to the system coordinate information of the package to be matched and the system coordinate information of the bar code to be matched, the latest system coordinate information of the obtained package to be matched and the latest system coordinate information of the bar code to be matched are used for matching.
That is, in the embodiment of the present application, if not specifically described, the system coordinate information of the package to be matched for package matching is the latest system coordinate information of the obtained package to be matched, and the system coordinate information of the barcode to be matched is the latest system coordinate information of the obtained barcode to be matched.
It can be seen that, in the method flow shown in fig. 1, the field of view of the package identification device in the package matching system covers the field of view of the barcode identification device, the system coordinate information of the package is obtained through the package identification device, and the system coordinate information of the barcode is obtained through the barcode identification device, so that for any package to be matched, under the condition that the barcode to be matched exists in the area corresponding to the system coordinate information of the package to be matched, the matching of the package to be matched and the barcode to be matched is successfully determined, and the reliability and stability of package matching are improved.
In some embodiments, the package matching method provided in the embodiments of the present application may further include:
and for any package to be matched, determining that the package to be matched fails to match under the condition that the area corresponding to the system coordinate information of the package to be matched does not exist in the bar code to be matched in the area corresponding to the system coordinate information of the package to be matched and the package to be matched exceeds the code reading area.
For any package to be matched, if the industrial personal computer does not acquire the bar code to be matched in the area corresponding to the system coordinate information of the package to be matched before the package to be matched exceeds the code reading area (namely, the area covered by the field of view of the bar code identification equipment), the package to be matched can be determined to be failed to be matched.
For example, for any package that is determined to fail a match, a prompt may be output, e.g., on a display device, and an image of the package that failed the match.
For example, in order to improve the quality of the output image of the package whose matching fails, for any package whose matching fails, the package image when the package is in the middle area of the field of view of the package recognition device (the middle area of the field of view of the package recognition device may be preset, for example, a rectangular area of a preset length and width centered on the center of the field of view of the package recognition device, or a circular area of a preset radius, etc.) may be selected from the cached image of the package for output.
In some embodiments, after the acquiring the system coordinate information of the package by the package identification device, the method may further include:
for any package to be matched, determining the height of the package to be matched according to the depth information of the package to be matched, which is acquired through package identification equipment;
and filtering the package to be matched under the condition that the height of the package to be matched is smaller than a preset height threshold value.
For example, considering that there is tape paper or other dirt on the conveyor belt, or that sunlight shines on the conveyor belt, etc., may cause a package to be misrecognized (i.e., the package identification device may identify the tape paper or dirt on the conveyor belt as a package), the height of the object that is misrecognized as a package in such a case will generally be small and significantly smaller than the height of a normal package.
Thus, to increase the accuracy of the package identification, the identified packages may be filtered based on the height information of the identified packages.
Correspondingly, for any package to be matched, the depth information of the package to be matched can also be obtained through the package identification equipment, the height of the package to be matched is determined according to the obtained depth information of the package to be matched, and then the package to be matched with the height of which is smaller than or equal to a preset height threshold value can be filtered according to the height of the package to be matched, namely, the package to be matched with the height of which is smaller than or equal to the preset height threshold value is not subjected to bar code matching.
The height threshold may be set, for example, based on the minimum height of a normal package, and may be an empirical value.
Alternatively, the preset height threshold may be 0.
For example, for packages to be matched with a height exceeding a preset height threshold, the packages can be used as normal packages to be processed in the subsequent process.
In some embodiments, after acquiring the system coordinate information of the package through the package identification device, the method may further include:
for any package to be matched, determining the motion distance of the package to be matched in the statistical time;
and filtering the package to be matched under the condition that the motion distance of the package to be matched in the statistical time is smaller than a preset distance threshold.
For example, consider the case where in an actual scenario, there may be a misidentification of the parcel identifying apparatus view edge, and in addition, a non-parcel object (such as the hand of a person involved) at the edge of the sun or conveyor belt may be misidentified as a parcel. In the above case, the object that is erroneously identified as a package is not generally moved with the movement of the conveyor belt.
Thus, to improve accuracy of package identification, misidentified packages may be filtered based on the distance traveled by the identified packages within a preset time (which may be referred to as a statistical time).
Correspondingly, for any package to be matched, the moving distance of the package to be matched in the statistical time can be determined by tracking the package to be matched through package identification equipment, and the moving distance is compared with a preset distance threshold.
And under the condition that the movement distance of the package to be matched in the statistical time is smaller than a preset distance threshold, filtering the package to be matched, namely, performing bar code matching on the package not to be matched.
For example, for packages to be matched whose motion distance exceeds a preset distance threshold in the statistical time, the packages can be used as normal packages to be processed in the subsequent process.
For example, the preset distance threshold may be set according to the statistical time and the speed of the conveyor belt.
It should be noted that, in the embodiment of the present application, the above method of performing package filtering according to the package height and the package movement distance may be applied in combination, that is, for any package to be matched, it may be determined that the package to be matched is included as a normal package when the package height exceeds a preset height threshold and the movement distance within the statistical time exceeds a preset distance threshold.
In some embodiments, the package matching method provided in the embodiments of the present application may further include:
and compensating the system coordinate information of the package to be matched and/or the system coordinate information of the bar code to be matched according to the output time of the system coordinate information of the package to be matched, the output time of the system coordinate information of the bar code to be matched and the speed of a conveyor belt.
For example, considering that the output time of the barcode recognition device is not synchronous with that of the package recognition device, in order to improve the accuracy of matching, the abnormal matching of the package caused by the output time difference of the barcode recognition device and the package recognition device is avoided, for example, the abnormal matching of the barcode in the case of the edge of the package can be compensated according to the output time difference of the barcode recognition device and the package recognition device, and/or the system coordinate information of the package to be matched and/or the system coordinate information of the barcode to be matched.
Correspondingly, for any package to be matched which acquires the system coordinate information and any bar code to be matched which acquires the system coordinate information, the motion compensation is carried out on the system coordinate information of the package to be matched and/or the system coordinate information of the bar code to be matched according to the output time of the system coordinate information of the package to be matched, the output time of the system coordinate information of the bar code to be matched and the speed of a conveyor belt.
For example, assuming that the output time of the package recognition device is earlier than the output time of the barcode recognition device by Δt, when the barcode recognition device acquires the system coordinates of the barcode to be matched, the package moves forward by Δt time along with the conveyor belt on the basis that the package recognition device acquires the system coordinates, and thus, motion compensation is required.
Taking the system coordinates as coordinates in the world coordinate system as an example, in the above case, the system coordinates of the package to be matched may be translated by v×Δt along the conveying direction of the conveyor belt, or the system coordinates of the bar code to be matched may be translated by v×Δt along the opposite direction of the conveying direction of the conveyor belt, or the system coordinates of the package to be matched may be translated by a×v×Δt along the conveying direction of the conveyor belt, and the system coordinates of the bar code to be matched may be translated by b×v×Δt along the opposite direction of the conveying direction of the conveyor belt, where a+b=1; v is the conveyor speed.
In some embodiments of the present invention, in some embodiments,
in order to enable those skilled in the art to better understand the technical solutions provided by the embodiments of the present application, the technical solutions provided by the embodiments of the present application are described below in connection with specific application scenarios.
The equipment set-up in this embodiment is first illustrated below.
As shown in fig. 2A, in this embodiment, the camera frame of the solution is composed of 5 camera components, respectively, 4 code reading cameras (i.e., taking the barcode recognition device as an example of the code reading cameras), 1 RGBD camera (RGB camera with depth information, taking the package recognition device as an example of the RGBD camera), and the assembly position is located above the package conveyor belt to perform top scanning on the package.
The 4 fields of view of the code reading cameras respectively cover four directions of the conveyor belt, and cross fields of view exist, namely, fields of view of adjacent code reading cameras overlap; RGBD cameras are used for package recognition, and the view of the RGBD cameras covers the view of the 4 code reading cameras, the schematic diagram of which can be shown in fig. 2B.
The depth of field of different code reading cameras along the transmission direction of the conveyor belt is different, and the different code reading cameras correspond to packages with different heights respectively. If the depth of field of the code reading camera A is different from that of the code reading camera B, the depth of field of the code reading camera C is different from that of the code reading camera D.
In this embodiment, before package matching is performed based on the above-mentioned camera frame, all cameras need to be calibrated, and after calibration is completed, all cameras can convert their image coordinate system into the system coordinate system.
Illustratively, a package tracking recognition algorithm is integrated in the RGBD camera, and real-time coordinates of the current package can be detected when the package passes through the camera screen.
In this embodiment, for any barcode coordinate identified by any barcode camera, the barcode coordinate and the current real-time package coordinate (i.e. the latest package coordinate) may be converted, and according to the calibration rule, the barcode coordinate and the package system coordinate are both converted into system coordinates, and compared, if the area corresponding to the barcode system coordinate is inside the area corresponding to the package system coordinate, the package matching is successful (or referred to as package identification success).
For any package tracked by the RGBD camera, if the package is not matched with the bar code data under the condition that the package exceeds the field of view of the code reading camera, the package is represented to have incomplete code reading, and the user is informed of processing through audible and visual alarm prompt.
The package matching process is described in detail below.
1. Normal parcel determination:
and receiving bar code data in real time, calibrating bar code image coordinates of different code reading cameras through a system, converting the bar code image coordinates into system coordinates in real time, matching the system coordinates with the current real-time package system coordinates, judging that the package belongs to a normal package when the area corresponding to the package system coordinates contains the area corresponding to the bar code system coordinates, and marking a package frame in a software interface to demonstrate as green.
2. Abnormal parcel determination:
through receiving package data in real time, when the system position of the package exceeds the field of view of a preset code reading camera, the package is judged to belong to a non-read package (namely an abnormal package), a software system interface takes an intermediate image of the current package (a software system records a package history image of a preset position interval), the image is flicked, and a PC is controlled to carry out audible and visual alarm to inform an operator of processing the image.
The implementation flow diagrams of the normal parcel determination and the abnormal parcel determination may be as shown in fig. 3.
Some special cases in the package matching procedure are described below.
1. Wrap height filtration
Under the condition that the RGBD camera carries out package recognition through a deep learning algorithm, if adhesive tape paper or other dirty conditions exist on the conveyor belt, or sunlight irradiates on the conveyor belt, the RGBD camera can be caused to have a false recognition phenomenon, namely the condition is mistakenly recognized as a package.
For the misidentification, the depth information of the package can be identified by using the RGBD camera, and the package data with the height less than or equal to the preset height threshold (e.g. 0) is filtered, so that the misidentification of the package caused by the above situation can be realized, and the implementation flow diagram can be shown in fig. 4.
2. Wrap distance of motion filtering
In view of the fact that there may be a case where there is a recognition error at the edge of the field of view of the package recognition apparatus, in addition, there may be a case where a non-package object (such as the hand of a person concerned) at the edge of the sun light or the conveyor belt, or the like may be erroneously recognized as a package. In the above case, the object that is erroneously identified as a package is not generally moved with the movement of the conveyor belt.
Thus, to improve accuracy of package identification, misidentified packages may be filtered based on the distance traveled by the identified packages within a preset time (which may be referred to as a statistical time).
For any package to be matched, the moving distance of the package to be matched in the statistical time can be determined by tracking the package to be matched through package identification equipment, and the moving distance is compared with a preset distance threshold.
And under the condition that the movement distance of the package to be matched in the statistical time is smaller than a preset distance threshold, filtering the package to be matched, namely, performing bar code matching on the package not to be matched, wherein a schematic diagram flow diagram can be shown in fig. 5.
3. Motion compensation based on output time difference
Because the output time of the code reading camera is not synchronous with that of the RGBD camera, in order to improve the matching accuracy and avoid abnormal matching caused by the condition of the bar code at the edge of the package, the bar code data output by the code reading camera is processed for the second time, and before the system coordinates are converted, the motion compensation can be performed based on the time difference of the two data, so as to obtain more accurate actual system coordinates, and the implementation flow diagram can be shown in fig. 6.
The methods provided herein are described above. The apparatus provided in this application is described below:
referring to fig. 7, a schematic structural diagram of a package matching device provided in an embodiment of the present application is provided, where the package matching device may be deployed in a package matching system including a package identification device and a barcode identification device, and a field of view of the package identification device covers a field of view of the barcode identification device, as shown in fig. 7, the package matching device may include:
an acquiring unit 710, configured to acquire system coordinate information of a package through the package identification device; acquiring system coordinate information of the bar code through the bar code identification equipment;
and the matching unit 720 is used for determining that the package to be matched is successfully matched with the bar code to be matched under the condition that the area corresponding to the system coordinate information exists in the bar code to be matched in the area corresponding to the system coordinate information of the package to be matched.
In some embodiments, the matching unit 720 is further configured to determine, for any package to be matched, that the package to be matched fails to match if there is no bar code to be matched in the area corresponding to the system coordinate information of the package to be matched, and the package to be matched exceeds the code reading area.
In some embodiments, as shown in fig. 8, the package matching device may further include:
a first filtering unit 730, configured to determine, for any package to be matched, a height of the package to be matched according to the depth information of the package to be matched acquired by the package identification device; and filtering the package to be matched under the condition that the height of the package to be matched is smaller than or equal to a preset height threshold value.
In some embodiments, as shown in fig. 9, the package matching device may further include:
a second filtering unit 740, configured to determine, for any package to be matched, a movement distance of the package to be matched within a statistical time; and filtering the package to be matched under the condition that the motion distance of the package to be matched in the statistical time is smaller than a preset distance threshold.
It should be noted that, in practical application, the first filtering unit 730 and the second filtering unit 740 may be implemented by the same filtering unit.
In some embodiments, as shown in fig. 10, the package matching device may further include:
the motion compensation unit 750 is configured to perform motion compensation on any package to be matched that acquires system coordinate information and any bar code to be matched that acquires system coordinate information according to output time of the system coordinate information of the package to be matched, output time of the system coordinate information of the bar code to be matched, and speed of a conveyor belt.
In some embodiments, the package matching system includes a plurality of barcode recognition devices deployed perpendicular to the direction of conveyor belt movement, the fields of view of adjacent barcode recognition devices in the plurality of barcode recognition devices overlapping; the field of view of the package identification device covers the field of view of the plurality of barcode identification devices.
An embodiment of the present application provides an electronic device, including a processor and a memory, where the memory stores machine executable instructions capable of being executed by the processor, and the processor is configured to execute the machine executable instructions to implement the package matching method described above.
Fig. 11 is a schematic hardware structure of an electronic device according to an embodiment of the present application. The electronic device may include a processor 1101, a memory 1102 storing machine-executable instructions. The processor 1101 and memory 1102 may communicate via a system bus 1103. Also, the processor 1101 may perform the package matching method described above by reading and executing machine executable instructions in the memory 1102 corresponding to the package matching logic.
The memory 1102 referred to herein may be any electronic, magnetic, optical, or other physical storage device that can contain or store information, such as executable instructions, data, or the like. For example, a machine-readable storage medium may be: RAM (Radom Access Memory, random access memory), volatile memory, non-volatile memory, flash memory, a storage drive (e.g., hard drive), a solid state drive, any type of storage disk (e.g., optical disk, dvd, etc.), or a similar storage medium, or a combination thereof.
In some embodiments, a machine-readable storage medium, such as memory 1102 in fig. 11, is also provided, having stored therein machine-executable instructions that when executed by a processor implement the package matching method described above. For example, the storage medium may be ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
It is noted that relational terms such as target and object, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing description of the preferred embodiments of the present invention is not intended to limit the invention to the precise form disclosed, and any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. The package matching method is characterized by being applied to a package matching system comprising package identification equipment and bar code identification equipment, wherein the package matching system comprises a plurality of bar code identification equipment which are arranged perpendicular to the moving direction of a conveyor belt, and the fields of view of the adjacent bar code identification equipment in the plurality of bar code identification equipment are overlapped; the field of view of the package identification device covers the field of view of the plurality of barcode identification devices, the method comprising:
acquiring system coordinate information of the package through the package identification equipment; acquiring system coordinate information of the bar code through the bar code identification equipment;
and for any package to be matched, under the condition that the area corresponding to the system coordinate information exists in the bar code to be matched in the area corresponding to the system coordinate information of the package to be matched, determining that the package to be matched is successfully matched with the bar code to be matched.
2. The method according to claim 1, wherein the method further comprises:
and for any package to be matched, determining that the package to be matched fails to match under the condition that the area corresponding to the system coordinate information of the package to be matched does not exist in the bar code to be matched in the area corresponding to the system coordinate information of the package to be matched and the package to be matched exceeds the code reading area.
3. The method according to claim 1 or 2, further comprising, after the acquiring, by the package identification device, system coordinate information of the package:
for any package to be matched, determining the height of the package to be matched according to the depth information of the package to be matched, which is acquired by the package identification equipment;
and filtering the package to be matched under the condition that the height of the package to be matched is smaller than or equal to a preset height threshold value.
4. The method according to claim 1 or 2, further comprising, after the acquiring, by the package identification device, system coordinate information of the package:
for any package to be matched, determining the motion distance of the package to be matched in the statistical time;
and filtering the package to be matched under the condition that the motion distance of the package to be matched in the statistical time is smaller than a preset distance threshold.
5. The method according to claim 1 or 2, characterized in that the method further comprises:
and for any package to be matched which acquires the system coordinate information and any bar code to be matched which acquires the system coordinate information, performing motion compensation on the system coordinate information of the package to be matched and/or the system coordinate information of the bar code to be matched according to the output time of the system coordinate information of the package to be matched and the output time of the system coordinate information of the bar code to be matched and the speed of a conveyor belt.
6. The package matching device is characterized by being arranged in a package matching system comprising package identification equipment and bar code identification equipment, wherein the package matching system comprises a plurality of bar code identification equipment which are arranged perpendicular to the moving direction of a conveyor belt, and the fields of view of the adjacent bar code identification equipment in the plurality of bar code identification equipment are overlapped; the field of view of the package identification device covers the field of view of the plurality of barcode identification devices, the apparatus comprising:
the acquisition unit is used for acquiring the system coordinate information of the package through the package identification equipment; acquiring system coordinate information of the bar code through the bar code identification equipment;
the matching unit is used for determining that the package to be matched is successfully matched with the bar code to be matched under the condition that the area corresponding to the system coordinate information exists in the bar code to be matched in the area corresponding to the system coordinate information of the package to be matched.
7. The apparatus of claim 6, wherein the device comprises a plurality of sensors,
the matching unit is further used for determining that the matching of any package to be matched fails when the area corresponding to the system coordinate information does not exist in the bar code to be matched in the area corresponding to the system coordinate information of the package to be matched and the package to be matched exceeds the code reading area;
and/or the number of the groups of groups,
the apparatus further comprises:
the first filtering unit is used for determining the height of any package to be matched according to the depth information of the package to be matched, which is acquired through the package identification equipment; filtering the package to be matched under the condition that the height of the package to be matched is smaller than or equal to a preset height threshold value;
and/or the number of the groups of groups,
the apparatus further comprises:
the second filtering unit is used for determining the movement distance of any package to be matched in the statistical time; filtering the package to be matched under the condition that the motion distance of the package to be matched in the statistical time is smaller than a preset distance threshold;
and/or the number of the groups of groups,
the apparatus further comprises:
the motion compensation unit is used for carrying out motion compensation on the system coordinate information of the package to be matched and/or the system coordinate information of the bar code to be matched according to the output time of the system coordinate information of the package to be matched, the output time of the system coordinate information of the bar code to be matched and the speed of the conveyor belt.
8. An electronic device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor for executing the machine executable instructions to implement the method of any of claims 1-5.
9. A machine-readable storage medium having stored thereon machine-executable instructions which, when executed by a processor, implement the method of any of claims 1-5.
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| CN202310136805.8A CN116029322A (en) | 2023-02-07 | 2023-02-07 | Package matching method, device, electronic equipment and machine-readable storage medium |
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