CN116151290B - Information acquisition system and method for intelligent code scanning and milk tea modulation robot - Google Patents
Information acquisition system and method for intelligent code scanning and milk tea modulation robot Download PDFInfo
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- CN116151290B CN116151290B CN202310138634.2A CN202310138634A CN116151290B CN 116151290 B CN116151290 B CN 116151290B CN 202310138634 A CN202310138634 A CN 202310138634A CN 116151290 B CN116151290 B CN 116151290B
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- 241001122767 Theaceae Species 0.000 title claims abstract description 113
- 235000013336 milk Nutrition 0.000 title claims abstract description 113
- 239000008267 milk Substances 0.000 title claims abstract description 113
- 210000004080 milk Anatomy 0.000 title claims abstract description 113
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 238000005530 etching Methods 0.000 claims abstract description 11
- 238000012545 processing Methods 0.000 claims description 25
- 238000004364 calculation method Methods 0.000 claims description 17
- 239000007788 liquid Substances 0.000 claims description 16
- 230000008569 process Effects 0.000 claims description 14
- 239000004615 ingredient Substances 0.000 claims description 11
- 238000012797 qualification Methods 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 5
- 238000010191 image analysis Methods 0.000 claims description 5
- 238000007781 pre-processing Methods 0.000 claims description 5
- 238000012216 screening Methods 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 description 10
- 238000004519 manufacturing process Methods 0.000 description 8
- 238000009924 canning Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0025—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement consisting of a wireless interrogation device in combination with a device for optically marking the record carrier
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
- A47J31/002—Apparatus for making beverages following a specific operational sequence, e.g. for improving the taste of the extraction product
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The invention discloses an information acquisition system and method of an intelligent code scanning modulation milk tea robot. Wherein the information acquisition system includes: the first code scanning area and the second code scanning area are stuck on the cup body; the device comprises a code scanning acquisition module, an infrared laser device, a position adjusting mechanism and an information statistics module; the first code scanning area is provided with a bar code, and the second code scanning area is provided with a two-dimensional code; the code scanning is carried out on the first code scanning area through a code scanning acquisition module, and sequence information of the current code scanning cup body is acquired and recorded; etching the scanned mark at any position of the bar code in the first code scanning area through the infrared laser equipment after the code scanning is completed; the position relation between the code scanning acquisition module and the second code scanning area is adjusted through the position adjusting mechanism, two-dimensional code information is acquired through the code scanning acquisition module, milk tea making information corresponding to the cup body is acquired, and the milk tea making information and the sequence information are transmitted to the information statistics module.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to an information acquisition system and method of an intelligent code scanning and milk tea modulation robot.
Background
The existing milk tea shop is generally operated by adopting the modes of manual sugar adding, manual feeding and manual canning milk tea, under the requirement of large order quantity, the manual operation efficiency is limited, and the manual operation is avoided that the milk tea is not accurately manufactured according to the requirement of consumers in the process of sugar adding, feeding or canning milk tea. Therefore, the robot for automatically preparing the milk tea is realized through intelligent information acquisition and intelligent mechanical equipment.
Disclosure of Invention
The invention provides an information acquisition system and method of an intelligent code scanning modulation milk tea robot, which are used for solving the problems in the prior art.
The invention provides an information acquisition system of an intelligent code scanning modulation milk tea robot, which comprises: the first code scanning area and the second code scanning area are stuck on the cup body; the device comprises a code scanning acquisition module, an infrared laser device, a position adjusting mechanism and an information statistics module; the first code scanning area is provided with a bar code, and the second code scanning area is provided with a two-dimensional code;
the code scanning is carried out on the first code scanning area through a code scanning acquisition module, and sequence information of the current code scanning cup body is acquired and recorded; etching the scanned mark at any position of the bar code in the first code scanning area through the infrared laser equipment after the code scanning is completed; the position relation between the code scanning acquisition module and the second code scanning area is adjusted through the position adjusting mechanism, two-dimensional code information is acquired through the code scanning acquisition module, milk tea making information corresponding to the cup body is acquired, and the milk tea making information and the sequence information are transmitted to the information statistics module.
Preferably, when the bar code with the scanned mark is etched through the infrared laser device and is scanned by the code scanning acquisition module again for information acquisition, the code scanning acquisition module cannot acquire the information of the bar code, and the information fed back to the code scanning acquisition module by the bar code is null.
Preferably, the device further comprises a position judging module, when the code scanning acquisition module moves to the second code scanning area, the position judging module judges whether the center point of the code scanning acquisition module coincides with the center point of the two-dimensional code, if so, the distance between the code scanning acquisition module and the cup body is acquired through the distance sensor, and if the distance is within the set distance range, the code scanning is directly carried out on the two-dimensional code through the code scanning acquisition module, and information contained in the two-dimensional code is acquired; if the distance is out of the set distance range, the distance between the code scanning acquisition module and the cup body is adjusted through the position adjusting mechanism until the adjusted distance falls within the set distance range, the code scanning acquisition module scans the two-dimensional code, and information contained in the two-dimensional code is acquired;
if the center point of the code scanning acquisition module is not coincident with the center point of the two-dimensional code, the position of the code scanning acquisition module is adjusted through the position adjusting mechanism until the center point of the code scanning acquisition module is coincident with the center point of the two-dimensional code.
Preferably, the milk tea making information comprises sugar adding amount, milk tea liquid amount and batching amount; the information statistics module transmits the milk tea making information to an automatic sugar adding module, an automatic milk tea adding module or a batching adding module of the milk tea robot, and the automatic sugar adding module, the automatic milk tea adding module or the batching adding module respectively and automatically make according to sugar adding amount, milk tea liquid amount and batching amount.
Preferably, the two-dimensional code scanning device further comprises a two-dimensional code recognition module, which is used for recognizing the two-dimensional code in the two-dimensional code scanning process;
the two-dimensional code identification module comprises:
the denoising unit is used for performing filtering processing on the two-dimensional code image and reducing noise in the two-dimensional code image;
the two-dimensional code grading unit is used for evaluating and grading the exposure effect of the two-dimensional code image, screening out an image with abnormal exposure and carrying out binarization treatment;
and the two-dimensional code image binarization unit is used for correlating the local characteristics of the image with the global gray information and performing binarization processing.
Preferably, the two-dimensional code image binarization unit includes:
the global threshold calculating unit is used for calculating the global threshold of the two-dimensional code image according to the maximum inter-class variance method;
the calculation formula of the global threshold is as follows:
；
Wherein the inter-class varianceL represents the total number of gray levels of the gray image, < >>The probability of representing the gray value i, pixels in the two-dimensional code image are divided into two classes by a threshold T according to the gray value, a first pixel set with the gray value between 0 and T-1 and a second pixel set with the gray value between T and L-1, L represents the total number of gray levels of the gray image, and when the inter-class variance is->When the maximum value is reached, the corresponding threshold T is the global threshold, < ->Representing the probability of the first set of pixels being selected,/->Representing the probability that the second set of pixels is selected,/->Representing the gray mean value of the pixels in the first pixel set,/->And representing the gray average value of the pixel points in the second pixel set, and m represents the gray average value of the whole image.
The local threshold calculation unit is used for obtaining a local threshold of each point on the two-dimensional code image through an integral image algorithm;
the final threshold calculation unit is used for weighting the global threshold and the local threshold to obtain a final threshold of each pixel point;
the final gray threshold calculation unit is used for calculating two kinds of mean value condition constraints of the whole two-dimensional code image; calculating the class smaller than the gray threshold to obtain a first gray average value, calculating the class larger than the gray threshold to obtain a second gray average value, and determining a final gray threshold according to the first gray average value and the second gray average value;
And the binarization processing unit is used for performing binarization processing according to the final threshold value and the final gray threshold value.
Preferably, when the information statistics module obtains information contained in a corresponding two-dimensional code by one two-dimensional code, a statistics column is arranged in a statistics table of the information statistics module, and in the statistics column, the ordering of the two-dimensional codes of the two-dimensional code and the number of the corresponding scanned two-dimensional codes are recorded; every time a two-dimensional code is scanned, a number is added in a statistics column;
based on the first statistical quantity in a certain time period recorded by the scanning bar code, based on the second statistical quantity in the same time period recorded by the statistical column, judging whether the first statistical quantity is the same as the second statistical quantity, if so, acquiring a third statistical quantity of the order platform in the same time period, wherein the third statistical quantity is the quantity of the actual orders of consumers; judging whether the first statistical quantity is the same as the third statistical quantity, if so, obtaining a statistical qualification mark, and if not, checking one by one based on a statistical table in the information statistical module and an order table on the order platform, and searching for reasons of mismatch of the statistical quantity.
Preferably, the system further comprises a table matching comparison searching module, the table matching comparison searching module preprocesses the statistical table in the information statistical module to form a first information table based on order time as a reference, in the first information table, each column corresponds to different attribute features, each row corresponds to milk tea names ordered according to the order time, and the attribute features comprise: sugar adding amount, milk tea liquid amount and batching amount; the ingredients in the ingredient amount are sequentially arranged in different columns according to the names;
The form matching comparison searching module is used for preprocessing an order form on the order platform to form a second information form based on order time as a reference;
converting the first information table and the second information table into image formats to form a first image and a second image, performing image analysis on the first image and the second image, searching for different position marks of the images in the first image and the second image, determining different contents of the first information table and the second information table according to the marks, and searching for reasons of statistical mismatch.
Preferably, the two-dimensional code scanning device further comprises a two-dimensional code positioning module, which is used for positioning four vertexes of the two-dimensional code in the two-dimensional code scanning process;
the two-dimensional code positioning module comprises:
the projection image obtaining unit is used for carrying out binarization processing on the candidate area subjected to coarse positioning, selecting any area, dividing the area into five angles, and projecting black points on the image onto corresponding straight lines to obtain a plurality of projection images;
a boundary line obtaining unit for scanning the original image of the candidate region in a set direction to obtain a boundary line;
four vertex obtaining units, which are used for obtaining another point outside the intersecting point to start boundary scanning by adopting an iterative fitting edge straight line algorithm, setting scanning intervals, reserving or removing edge points according to scanning, and carrying out least square fitting on all the reserved points to obtain the intersection point of two lines; and sequentially obtaining every two intersection points of the four lines to form four vertexes of the two-dimensional code.
The calculation formula of the iterative fitting edge straight line algorithm is as follows:
the invention also provides an information acquisition method of the intelligent code scanning modulation milk tea robot, which comprises the following steps:
s100, a first code scanning area and a second code scanning area which are stuck on a cup body are arranged; the device comprises a code scanning acquisition module, an infrared laser device, a position adjusting mechanism and an information statistics module; the first code scanning area is provided with a bar code, and the second code scanning area is provided with a two-dimensional code;
s200, scanning codes in the first code scanning area through a code scanning acquisition module, and acquiring and recording sequence information of a current code scanning cup body;
s300, etching the scanned marks at any positions of the bar codes in the first code scanning area through an infrared laser device after the code scanning is completed;
s400, adjusting the position relation between the code scanning acquisition module and the second code scanning area through the position adjustment mechanism, acquiring two-dimensional code information through the code scanning acquisition module, acquiring milk tea making information corresponding to the cup body, and transmitting the milk tea making information and the sequence information to the information statistics module.
Compared with the prior art, the invention has the following advantages:
the invention provides an information acquisition system and method of an intelligent code scanning modulation milk tea robot, wherein the information acquisition system comprises the following components: the first code scanning area and the second code scanning area are stuck on the cup body; the device comprises a code scanning acquisition module, an infrared laser device, a position adjusting mechanism and an information statistics module; the first code scanning area is provided with a bar code, and the second code scanning area is provided with a two-dimensional code; the code scanning is carried out on the first code scanning area through a code scanning acquisition module, and sequence information of the current code scanning cup body is acquired and recorded; etching the scanned mark at any position of the bar code in the first code scanning area through the infrared laser equipment after the code scanning is completed; the position relation between the code scanning acquisition module and the second code scanning area is adjusted through the position adjusting mechanism, two-dimensional code information is acquired through the code scanning acquisition module, milk tea making information corresponding to the cup body is acquired, and the milk tea making information and the sequence information are transmitted to the information statistics module. The bar code scanning records can be used for counting the number of the manufactured milk tea, so that the number of the milk tea sold by the order platform can be conveniently checked, the matching of the order number and the manufacturing number is ensured, and the omnibearing supervision and management of the manufacturing process of the milk tea are further realized.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
fig. 1 is a schematic structural diagram of an information acquisition system of an intelligent code scanning and milk tea modulating robot in an embodiment of the invention;
FIG. 2 is a schematic diagram of a two-dimensional code image binarization unit according to an embodiment of the present invention;
fig. 3 is a flowchart of an information acquisition method of an intelligent code scanning and milk tea modulating robot in an embodiment of the invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The embodiment of the invention provides an information acquisition system of an intelligent code scanning and milk tea modulation robot, referring to fig. 1, the information acquisition system comprises:
the first code scanning area and the second code scanning area are stuck on the cup body; the device comprises a code scanning acquisition module, an infrared laser device, a position adjusting mechanism and an information statistics module; the first code scanning area is provided with a bar code, and the second code scanning area is provided with a two-dimensional code;
the code scanning is carried out on the first code scanning area through a code scanning acquisition module, and sequence information of the current code scanning cup body is acquired and recorded; etching the scanned mark at any position of the bar code in the first code scanning area through the infrared laser equipment after the code scanning is completed; the position relation between the code scanning acquisition module and the second code scanning area is adjusted through the position adjusting mechanism, two-dimensional code information is acquired through the code scanning acquisition module, milk tea making information corresponding to the cup body is acquired, and the milk tea making information and the sequence information are transmitted to the information statistics module.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that a first code scanning area and a second code scanning area are stuck on a cup body; the device comprises a code scanning acquisition module, an infrared laser device, a position adjusting mechanism and an information statistics module; the first code scanning area is provided with a bar code, and the second code scanning area is provided with a two-dimensional code; the code scanning is carried out on the first code scanning area through a code scanning acquisition module, and sequence information of the current code scanning cup body is acquired and recorded; etching the scanned mark at any position of the bar code in the first code scanning area through the infrared laser equipment after the code scanning is completed; the position relation between the code scanning acquisition module and the second code scanning area is adjusted through the position adjusting mechanism, two-dimensional code information is acquired through the code scanning acquisition module, milk tea making information corresponding to the cup body is acquired, and the milk tea making information and the sequence information are transmitted to the information statistics module.
The beneficial effects of the technical scheme are as follows: when the scheme provided by the embodiment is adopted to set the first code scanning area to scan the bar codes, the sorting sequence of the cups of the current code scanning is recorded, namely, after information is input through the cash register, and after corresponding milk tea labels are pasted on the cups, the code scanning areas are set in two areas on the milk tea labels except for the requirement information and consumption related information of consumers on the milk tea labels, the bar codes are set in the first code scanning area, and the number of the milk tea cups which are manufactured can be judged in the process of manufacturing the milk tea through the bar codes, so that the number of the milk tea which are manufactured is counted. In addition, after counting the sequence information of the cup body with the current code, the two-dimensional code of the second code scanning area needs to confirm the sugar adding and the charging related information of the milk tea which is currently manufactured, and the two-dimensional code contains the related information and the consumption related information of consumers, for example: payment time, payment type, etc. The sugar adding amount, milk tea liquid amount and the like in the process of manufacturing the current milk tea can be obtained through the code scanning two-dimensional code information, and the subsequent equipment can conveniently and quantitatively add automatic materials based on the acquired information through acquiring the information, so that the full automation of milk tea manufacturing is realized.
It should be noted that the code scanning record of the bar code can be used for counting the number of the manufactured milk tea, so that the number of the milk tea sold by the order platform can be conveniently checked, the matching of the order number and the manufacturing number is ensured, and the omnibearing supervision and management of the manufacturing process of the milk tea is further realized.
In another embodiment, when the bar code with the scanned mark etched by the infrared laser device is scanned again by the code scanning acquisition module for information acquisition, the code scanning acquisition module cannot acquire the information of the bar code, and the information fed back to the code scanning acquisition module by the bar code is null.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that when the bar code with the scanned mark is etched through the infrared laser equipment and is scanned by the code scanning acquisition module again for information acquisition, the code scanning acquisition module cannot acquire the information of the bar code, and the information fed back to the code scanning acquisition module by the bar code is empty.
The beneficial effects of the technical scheme are as follows: by adopting the scheme provided by the embodiment, the read bar codes are randomly etched through the infrared laser device, the form content of the original bar codes is destroyed, and when the bar code information acquisition module acquires the bar code again, any information cannot be obtained, so that the information acquisition is ensured to be carried out only once in the information acquisition process of the milk tea, and correspondingly, the two-dimensional code on the cup body is not acquired by the bar code acquisition module. The problem of automatic canning of milk tea equipment in an automatic canning link is finally caused, and the canned milk tea is not matched with the demand information of consumers.
In another embodiment, the device further comprises a position judging module, when the code scanning acquisition module moves to the second code scanning area, the position judging module judges whether the center point of the code scanning acquisition module coincides with the center point of the two-dimensional code, if so, the distance between the code scanning acquisition module and the cup body is acquired through the distance sensor, and if the distance is within a set distance range, the code scanning is directly carried out on the two-dimensional code through the code scanning acquisition module, and information contained in the two-dimensional code is acquired; if the distance is out of the set distance range, the distance between the code scanning acquisition module and the cup body is adjusted through the position adjusting mechanism until the adjusted distance falls within the set distance range, the code scanning acquisition module scans the two-dimensional code, and information contained in the two-dimensional code is acquired;
if the center point of the code scanning acquisition module is not coincident with the center point of the two-dimensional code, the position of the code scanning acquisition module is adjusted through the position adjusting mechanism until the center point of the code scanning acquisition module is coincident with the center point of the two-dimensional code.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that the device further comprises a position judging module, when the code scanning acquisition module moves to a second code scanning area, the position judging module judges whether the center point of the code scanning acquisition module coincides with the center point of the two-dimensional code, if so, the distance between the code scanning acquisition module and the cup body is acquired through the distance sensor, and if the distance is within a set distance range, the code scanning is directly carried out on the two-dimensional code through the code scanning acquisition module, and information contained in the two-dimensional code is acquired; if the distance is out of the set distance range, the distance between the code scanning acquisition module and the cup body is adjusted through the position adjusting mechanism until the adjusted distance falls within the set distance range, the code scanning acquisition module scans the two-dimensional code, and information contained in the two-dimensional code is acquired; if the center point of the code scanning acquisition module is not coincident with the center point of the two-dimensional code, the position of the code scanning acquisition module is adjusted through the position adjusting mechanism until the center point of the code scanning acquisition module is coincident with the center point of the two-dimensional code.
The beneficial effects of the technical scheme are as follows: the scheme provided by the embodiment further comprises a position judging module, when the code scanning acquisition module moves to the second code scanning area, the position judging module judges whether the center point of the code scanning acquisition module coincides with the center point of the two-dimensional code, if so, the distance between the code scanning acquisition module and the cup body is acquired through the distance sensor, and if the distance is within the set distance range, the code scanning is directly carried out on the two-dimensional code through the code scanning acquisition module, and information contained in the two-dimensional code is acquired; if the distance is out of the set distance range, the distance between the code scanning acquisition module and the cup body is adjusted through the position adjusting mechanism until the adjusted distance falls within the set distance range, the code scanning acquisition module scans the two-dimensional code, and information contained in the two-dimensional code is acquired; if the center point of the code scanning acquisition module is not coincident with the center point of the two-dimensional code, the position of the code scanning acquisition module is adjusted through the position adjusting mechanism until the center point of the code scanning acquisition module is coincident with the center point of the two-dimensional code.
In another embodiment, the milk tea making information comprises sugar adding amount, milk tea liquid amount and ingredient amount; the information statistics module transmits the milk tea making information to an automatic sugar adding module, an automatic milk tea adding module or a batching adding module of the milk tea robot, and the automatic sugar adding module, the automatic milk tea adding module or the batching adding module respectively and automatically make according to sugar adding amount, milk tea liquid amount and batching amount.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that the milk tea manufacturing information comprises sugar adding amount, milk tea liquid amount and batching amount; the information statistics module transmits the milk tea making information to an automatic sugar adding module, an automatic milk tea adding module or a batching adding module of the milk tea robot, and the automatic sugar adding module, the automatic milk tea adding module or the batching adding module respectively and automatically make according to sugar adding amount, milk tea liquid amount and batching amount.
The beneficial effects of the technical scheme are as follows: the milk tea making information provided by the scheme comprises sugar adding amount, milk tea liquid amount and batching amount; the information statistics module transmits the milk tea making information to an automatic sugar adding module, an automatic milk tea adding module or a batching adding module of the milk tea robot, and the automatic sugar adding module, the automatic milk tea adding module or the batching adding module respectively and automatically make according to sugar adding amount, milk tea liquid amount and batching amount.
In another embodiment, the system further comprises a two-dimensional code identification module, which is used for identifying the two-dimensional code in the two-dimensional code scanning process;
the two-dimensional code identification module comprises:
the denoising unit is used for performing filtering processing on the two-dimensional code image and reducing noise in the two-dimensional code image;
The two-dimensional code grading unit is used for evaluating and grading the exposure effect of the two-dimensional code image, screening out an image with abnormal exposure and carrying out binarization treatment;
and the two-dimensional code image binarization unit is used for correlating the local characteristics of the image with the global gray information and performing binarization processing.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that the two-dimensional code scanning device further comprises a two-dimensional code recognition module, which is used for recognizing the two-dimensional code in the two-dimensional code scanning process; the two-dimensional code identification module comprises: the denoising unit is used for performing filtering processing on the two-dimensional code image and reducing noise in the two-dimensional code image; the two-dimensional code grading unit is used for evaluating and grading the exposure effect of the two-dimensional code image, screening out an image with abnormal exposure and carrying out binarization treatment; and the two-dimensional code image binarization unit is used for correlating the local characteristics of the image with the global gray information and performing binarization processing.
The beneficial effects of the technical scheme are as follows: the scheme provided by the embodiment further comprises a two-dimension code identification module, which is used for identifying the two-dimension code in the two-dimension code scanning process; the two-dimensional code identification module comprises: the denoising unit is used for performing filtering processing on the two-dimensional code image and reducing noise in the two-dimensional code image; the two-dimensional code grading unit is used for evaluating and grading the exposure effect of the two-dimensional code image, screening out an image with abnormal exposure and carrying out binarization treatment; and the two-dimensional code image binarization unit is used for correlating the local characteristics of the image with the global gray information and performing binarization processing.
In another embodiment, referring to fig. 2, the two-dimensional code image binarization unit includes:
the global threshold calculating unit is used for calculating the global threshold of the two-dimensional code image;
the local threshold calculation unit is used for obtaining a local threshold of each point on the two-dimensional code image through an integral image algorithm;
the final threshold calculation unit is used for weighting the global threshold and the local threshold to obtain a final threshold of each pixel point;
the final gray threshold calculation unit is used for calculating two kinds of mean value condition constraints of the whole two-dimensional code image; calculating the class smaller than the gray threshold to obtain a first gray average value, calculating the class larger than the gray threshold to obtain a second gray average value, and determining a final gray threshold according to the first gray average value and the second gray average value;
and the binarization processing unit is used for performing binarization processing according to the final threshold value and the final gray threshold value.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that the two-dimensional code image binarization unit comprises: the global threshold calculating unit is used for calculating the global threshold of the two-dimensional code image; the local threshold calculation unit is used for obtaining a local threshold of each point on the two-dimensional code image through an integral image algorithm; the final threshold calculation unit is used for weighting the global threshold and the local threshold to obtain a final threshold of each pixel point; the final gray threshold calculation unit is used for calculating two kinds of mean value condition constraints of the whole two-dimensional code image; calculating the class smaller than the gray threshold to obtain a first gray average value, calculating the class larger than the gray threshold to obtain a second gray average value, and determining a final gray threshold according to the first gray average value and the second gray average value; and the binarization processing unit is used for performing binarization processing according to the final threshold value and the final gray threshold value.
The beneficial effects of the technical scheme are as follows: the two-dimensional code image binarization unit adopting the scheme provided by the embodiment comprises: the global threshold calculating unit is used for calculating the global threshold of the two-dimensional code image; the local threshold calculation unit is used for obtaining a local threshold of each point on the two-dimensional code image through an integral image algorithm; the final threshold calculation unit is used for weighting the global threshold and the local threshold to obtain a final threshold of each pixel point; the final gray threshold calculation unit is used for calculating two kinds of mean value condition constraints of the whole two-dimensional code image; calculating the class smaller than the gray threshold to obtain a first gray average value, calculating the class larger than the gray threshold to obtain a second gray average value, and determining a final gray threshold according to the first gray average value and the second gray average value; and the binarization processing unit is used for performing binarization processing according to the final threshold value and the final gray threshold value.
In another embodiment, when the information statistics module obtains information contained in a corresponding two-dimensional code by one two-dimensional code, a statistics column is arranged in a statistics table of the information statistics module, and in the statistics column, the ordering of the two-dimensional codes of the two-dimensional code and the number of the corresponding scanned two-dimensional codes are recorded; every time a two-dimensional code is scanned, a number is added in a statistics column;
Based on the first statistical quantity in a certain time period recorded by the scanning bar code, based on the second statistical quantity in the same time period recorded by the statistical column, judging whether the first statistical quantity is the same as the second statistical quantity, if so, acquiring a third statistical quantity of the order platform in the same time period, wherein the third statistical quantity is the quantity of the actual orders of consumers; judging whether the first statistical quantity is the same as the third statistical quantity, if so, obtaining a statistical qualification mark, and if not, checking one by one based on a statistical table in the information statistical module and an order table on the order platform, and searching for reasons of mismatch of the statistical quantity.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that when the information statistics module obtains information contained in a corresponding two-dimensional code by one two-dimensional code, a statistics column is arranged in a statistics table of the information statistics module, and in the statistics column, the ordering of the two-dimensional codes of the two-dimensional code and the number of the corresponding scanned two-dimensional codes are recorded; every time a two-dimensional code is scanned, a number is added in a statistics column; based on the first statistical quantity in a certain time period recorded by the scanning bar code, based on the second statistical quantity in the same time period recorded by the statistical column, judging whether the first statistical quantity is the same as the second statistical quantity, if so, acquiring a third statistical quantity of the order platform in the same time period, wherein the third statistical quantity is the quantity of the actual orders of consumers; judging whether the first statistical quantity is the same as the third statistical quantity, if so, obtaining a statistical qualification mark, and if not, checking one by one based on a statistical table in the information statistical module and an order table on the order platform, and searching for reasons of mismatch of the statistical quantity.
The beneficial effects of the technical scheme are as follows: when the information statistics module obtains information contained in a corresponding two-dimensional code by one two-dimensional code, a statistics column is arranged in a statistics table of the information statistics module, and in the statistics column, the ordering of the two-dimensional codes of the two-dimensional code and the number of the corresponding scanned two-dimensional codes are recorded; every time a two-dimensional code is scanned, a number is added in a statistics column; based on the first statistical quantity in a certain time period recorded by the scanning bar code, based on the second statistical quantity in the same time period recorded by the statistical column, judging whether the first statistical quantity is the same as the second statistical quantity, if so, acquiring a third statistical quantity of the order platform in the same time period, wherein the third statistical quantity is the quantity of the actual orders of consumers; judging whether the first statistical quantity is the same as the third statistical quantity, if so, obtaining a statistical qualification mark, and if not, checking one by one based on a statistical table in the information statistical module and an order table on the order platform, and searching for reasons of mismatch of the statistical quantity.
In another embodiment, the system further includes a table matching comparison lookup module, the table matching comparison lookup module preprocesses the statistics table in the information statistics module to form a first information table based on order time as a reference, in the first information table, each column corresponds to different attribute features, each row corresponds to milk tea names ordered according to order time, and the attribute features include: sugar adding amount, milk tea liquid amount and batching amount; the ingredients in the ingredient amount are sequentially arranged in different columns according to the names;
The form matching comparison searching module is used for preprocessing an order form on the order platform to form a second information form based on order time as a reference;
converting the first information table and the second information table into image formats to form a first image and a second image, performing image analysis on the first image and the second image, searching for different position marks of the images in the first image and the second image, determining different contents of the first information table and the second information table according to the marks, and searching for reasons of statistical mismatch.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that the system further comprises a table matching comparison searching module, the table matching comparison searching module preprocesses a statistical table in the information statistical module to form a first information table based on order time as a reference, each column corresponds to different attribute characteristics in the first information table, each row corresponds to milk tea names ordered according to order time, and the attribute characteristics comprise: sugar adding amount, milk tea liquid amount and batching amount; the ingredients in the ingredient amount are sequentially arranged in different columns according to the names; the form matching comparison searching module is used for preprocessing an order form on the order platform to form a second information form based on order time as a reference; converting the first information table and the second information table into image formats to form a first image and a second image, performing image analysis on the first image and the second image, searching for different position marks of the images in the first image and the second image, determining different contents of the first information table and the second information table according to the marks, and searching for reasons of statistical mismatch.
The beneficial effects of the technical scheme are as follows: the scheme provided by the embodiment further comprises a table matching comparison searching module, the table matching comparison searching module preprocesses the statistical table in the information statistical module to form a first information table based on order time as a reference, in the first information table, each column corresponds to different attribute characteristics, each row corresponds to milk tea names ordered according to the order time, and the attribute characteristics comprise: sugar adding amount, milk tea liquid amount and batching amount; the ingredients in the ingredient amount are sequentially arranged in different columns according to the names; the form matching comparison searching module is used for preprocessing an order form on the order platform to form a second information form based on order time as a reference; converting the first information table and the second information table into image formats to form a first image and a second image, performing image analysis on the first image and the second image, searching for different position marks of the images in the first image and the second image, determining different contents of the first information table and the second information table according to the marks, and searching for reasons of statistical mismatch.
In another embodiment, the device further comprises a two-dimensional code positioning module, which is used for positioning four vertexes of the two-dimensional code in the two-dimensional code scanning process;
The two-dimensional code positioning module comprises:
the projection image obtaining unit is used for carrying out binarization processing on the candidate area subjected to coarse positioning, selecting any area, dividing the area into five angles, and projecting black points on the image onto corresponding straight lines to obtain a plurality of projection images;
a boundary line obtaining unit for scanning the original image of the candidate region in a set direction to obtain a boundary line;
four vertex obtaining units, which are used for obtaining another point outside the intersecting point to start boundary scanning by adopting an iterative fitting edge straight line algorithm, setting scanning intervals, reserving or removing edge points according to scanning, and carrying out least square fitting on all the reserved points to obtain the intersection point of two lines; and sequentially obtaining every two intersection points of the four lines to form four vertexes of the two-dimensional code.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that the two-dimensional code scanning device further comprises a two-dimensional code positioning module, wherein the two-dimensional code positioning module is used for positioning four vertexes of the two-dimensional code in the two-dimensional code scanning process; the two-dimensional code positioning module comprises: the projection image obtaining unit is used for carrying out binarization processing on the candidate area subjected to coarse positioning, selecting any area, dividing the area into five angles, and projecting black points on the image onto corresponding straight lines to obtain a plurality of projection images; a boundary line obtaining unit for scanning the original image of the candidate region in a set direction to obtain a boundary line; four vertex obtaining units, which are used for obtaining another point outside the intersecting point to start boundary scanning by adopting an iterative fitting edge straight line algorithm, setting scanning intervals, reserving or removing edge points according to scanning, and carrying out least square fitting on all the reserved points to obtain the intersection point of two lines; and sequentially obtaining every two intersection points of the four lines to form four vertexes of the two-dimensional code.
The beneficial effects of the technical scheme are as follows: the scheme provided by the embodiment further comprises a two-dimensional code positioning module, wherein the two-dimensional code positioning module is used for positioning four vertexes of the two-dimensional code in the two-dimensional code scanning process; the two-dimensional code positioning module comprises: the projection image obtaining unit is used for carrying out binarization processing on the candidate area subjected to coarse positioning, selecting any area, dividing the area into five angles, and projecting black points on the image onto corresponding straight lines to obtain a plurality of projection images; a boundary line obtaining unit for scanning the original image of the candidate region in a set direction to obtain a boundary line; four vertex obtaining units, which are used for obtaining another point outside the intersecting point to start boundary scanning by adopting an iterative fitting edge straight line algorithm, setting scanning intervals, reserving or removing edge points according to scanning, and carrying out least square fitting on all the reserved points to obtain the intersection point of two lines; and sequentially obtaining every two intersection points of the four lines to form four vertexes of the two-dimensional code.
In another embodiment, the invention further provides an information acquisition method of the intelligent code scanning and milk tea modulating robot, referring to fig. 3, including:
s100, a first code scanning area and a second code scanning area which are stuck on a cup body are arranged; the device comprises a code scanning acquisition module, an infrared laser device, a position adjusting mechanism and an information statistics module; the first code scanning area is provided with a bar code, and the second code scanning area is provided with a two-dimensional code;
S200, scanning codes in the first code scanning area through a code scanning acquisition module, and acquiring and recording sequence information of a current code scanning cup body;
s300, etching the scanned marks at any positions of the bar codes in the first code scanning area through an infrared laser device after the code scanning is completed;
s400, adjusting the position relation between the code scanning acquisition module and the second code scanning area through the position adjustment mechanism, acquiring two-dimensional code information through the code scanning acquisition module, acquiring milk tea making information corresponding to the cup body, and transmitting the milk tea making information and the sequence information to the information statistics module.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is an information acquisition method of an intelligent code scanning modulation milk tea robot, which is characterized by comprising the following steps: a first code scanning area and a second code scanning area which are stuck on the cup body are arranged; the device comprises a code scanning acquisition module, an infrared laser device, a position adjusting mechanism and an information statistics module; the first code scanning area is provided with a bar code, and the second code scanning area is provided with a two-dimensional code; the code scanning is carried out on the first code scanning area through a code scanning acquisition module, and sequence information of the current code scanning cup body is acquired and recorded; etching the scanned mark at any position of the bar code in the first code scanning area through the infrared laser equipment after the code scanning is completed; the position relation between the code scanning acquisition module and the second code scanning area is adjusted through the position adjusting mechanism, two-dimensional code information is acquired through the code scanning acquisition module, milk tea making information corresponding to the cup body is acquired, and the milk tea making information and the sequence information are transmitted to the information statistics module.
The beneficial effects of the technical scheme are as follows: the scheme provided by the embodiment is adopted to set a first code scanning area and a second code scanning area which are stuck on the cup body; the device comprises a code scanning acquisition module, an infrared laser device, a position adjusting mechanism and an information statistics module; the first code scanning area is provided with a bar code, and the second code scanning area is provided with a two-dimensional code; the code scanning is carried out on the first code scanning area through a code scanning acquisition module, and sequence information of the current code scanning cup body is acquired and recorded; etching the scanned mark at any position of the bar code in the first code scanning area through the infrared laser equipment after the code scanning is completed; the position relation between the code scanning acquisition module and the second code scanning area is adjusted through the position adjusting mechanism, two-dimensional code information is acquired through the code scanning acquisition module, milk tea making information corresponding to the cup body is acquired, and the milk tea making information and the sequence information are transmitted to the information statistics module.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (9)
1. An intelligent code scanning modulation milk tea robot's information acquisition system, its characterized in that includes: the first code scanning area and the second code scanning area are stuck on the cup body; the device comprises a code scanning acquisition module, an infrared laser device, a position adjusting mechanism and an information statistics module; the first code scanning area is provided with a bar code, and the second code scanning area is provided with a two-dimensional code;
the code scanning is carried out on the first code scanning area through a code scanning acquisition module, and sequence information of the current code scanning cup body is acquired and recorded; etching the scanned mark at any position of the bar code in the first code scanning area through the infrared laser equipment after the code scanning is completed; the position relation between the code scanning acquisition module and the second code scanning area is adjusted through the position adjustment mechanism, two-dimensional code information is acquired through the code scanning acquisition module, milk tea making information corresponding to the cup body is acquired, and the milk tea making information and the sequence information are transmitted to the information statistics module;
when the information statistics module obtains information contained in a corresponding two-dimensional code by one two-dimensional code, a statistics column is arranged in a statistics table of the information statistics module, and the ordering of the two-dimensional codes of the scanned codes and the number of the corresponding two-dimensional codes are recorded in the statistics column; every time a two-dimensional code is scanned, a number is added in a statistics column;
Based on the first statistical quantity in a certain time period recorded by the scanning bar code, based on the second statistical quantity in the same time period recorded by the statistical column, judging whether the first statistical quantity is the same as the second statistical quantity, if so, acquiring a third statistical quantity of the order platform in the same time period, wherein the third statistical quantity is the quantity of the actual orders of consumers; judging whether the first statistical quantity is the same as the third statistical quantity, if so, obtaining a statistical qualification mark, and if not, checking one by one based on a statistical table in the information statistical module and an order table on the order platform, and searching for reasons of mismatch of the statistical quantity.
2. The information acquisition system of the intelligent code scanning and milk tea preparing robot according to claim 1, wherein when the bar codes marked by the scanning are etched through the infrared laser equipment and are scanned again by the code scanning acquisition module for information acquisition, the code scanning acquisition module cannot acquire information of the bar codes, and the information fed back to the code scanning acquisition module by the bar codes is null.
3. The information acquisition system of the intelligent code scanning and milk tea preparing robot according to claim 1, further comprising a position judging module, wherein when the code scanning and collecting module moves to a second code scanning area, the position judging module judges whether the center point of the code scanning and collecting module coincides with the center point of the two-dimensional code, if so, the distance between the code scanning and collecting module and the cup body is collected through a distance sensor, and if the distance is within a set distance range, the code scanning and collecting module directly scans the two-dimensional code to collect information contained in the two-dimensional code; if the distance is out of the set distance range, the distance between the code scanning acquisition module and the cup body is adjusted through the position adjusting mechanism until the adjusted distance falls within the set distance range, the code scanning acquisition module scans the two-dimensional code, and information contained in the two-dimensional code is acquired;
If the center point of the code scanning acquisition module is not coincident with the center point of the two-dimensional code, the position of the code scanning acquisition module is adjusted through the position adjusting mechanism until the center point of the code scanning acquisition module is coincident with the center point of the two-dimensional code.
4. The information acquisition system of the intelligent code scanning and milk tea preparing robot, which is characterized in that milk tea making information comprises sugar adding amount, milk tea liquid amount and batching amount; the information statistics module transmits the milk tea making information to an automatic sugar adding module, an automatic milk tea adding module or a batching adding module of the milk tea robot, and the automatic sugar adding module, the automatic milk tea adding module or the batching adding module respectively and automatically make according to sugar adding amount, milk tea liquid amount and batching amount.
5. The information acquisition system of the intelligent code scanning and milk tea preparing robot, which is characterized by further comprising a two-dimensional code identification module, wherein the two-dimensional code identification module is used for identifying two-dimensional codes in the two-dimensional code scanning process;
the two-dimensional code identification module comprises:
the denoising unit is used for performing filtering processing on the two-dimensional code image and reducing noise in the two-dimensional code image;
the two-dimensional code grading unit is used for evaluating and grading the exposure effect of the two-dimensional code image, screening out an image with abnormal exposure and carrying out binarization treatment;
And the two-dimensional code image binarization unit is used for correlating the local characteristics of the image with the global gray information and performing binarization processing.
6. The information acquisition system of the intelligent code scanning and milk tea preparing robot according to claim 5, wherein the two-dimensional code image binarization unit comprises:
the global threshold calculating unit is used for calculating the global threshold of the two-dimensional code image;
the local threshold calculation unit is used for obtaining a local threshold of each point on the two-dimensional code image through an integral image algorithm;
the final threshold calculation unit is used for weighting the global threshold and the local threshold to obtain a final threshold of each pixel point;
the final gray threshold calculation unit is used for calculating two kinds of mean value condition constraints of the whole two-dimensional code image; calculating the class smaller than the gray threshold to obtain a first gray average value, calculating the class larger than the gray threshold to obtain a second gray average value, and determining a final gray threshold according to the first gray average value and the second gray average value;
and the binarization processing unit is used for performing binarization processing according to the final threshold value and the final gray threshold value.
7. The information acquisition system of an intelligent code-scanning modulation milk tea robot according to claim 1, further comprising a table matching comparison lookup module, wherein the table matching comparison lookup module preprocesses a statistical table in the information statistical module to form a first information table based on order time as a reference, in the first information table, each column corresponds to different attribute features, each row corresponds to milk tea names ordered according to order time, and the attribute features comprise: sugar adding amount, milk tea liquid amount and batching amount; the ingredients in the ingredient amount are sequentially arranged in different columns according to the names;
The form matching comparison searching module is used for preprocessing an order form on the order platform to form a second information form based on order time as a reference;
converting the first information table and the second information table into image formats to form a first image and a second image, performing image analysis on the first image and the second image, searching for different position marks of the images in the first image and the second image, determining different contents of the first information table and the second information table according to the marks, and searching for reasons of statistical mismatch.
8. The information acquisition system of the intelligent code scanning and milk tea preparing robot, which is characterized by further comprising a two-dimensional code positioning module, wherein the two-dimensional code positioning module is used for positioning four vertexes of a two-dimensional code in the process of scanning the two-dimensional code;
the two-dimensional code positioning module comprises:
the projection image obtaining unit is used for carrying out binarization processing on the candidate area subjected to coarse positioning, selecting any area, dividing the area into five angles, and projecting black points on the image onto corresponding straight lines to obtain a plurality of projection images;
a boundary line obtaining unit for scanning the original image of the candidate region in a set direction to obtain a boundary line;
Four vertex obtaining units, which are used for obtaining another point outside the intersecting point to start boundary scanning by adopting an iterative fitting edge straight line algorithm, setting scanning intervals, reserving or removing edge points according to scanning, and carrying out least square fitting on all the reserved points to obtain the intersection point of two lines; and sequentially obtaining every two intersection points of the four lines to form four vertexes of the two-dimensional code.
9. An information acquisition method of an intelligent code scanning and modulating milk tea robot is characterized by comprising the following steps of:
s100, a first code scanning area and a second code scanning area which are stuck on a cup body are arranged; the device comprises a code scanning acquisition module, an infrared laser device, a position adjusting mechanism and an information statistics module; the first code scanning area is provided with a bar code, and the second code scanning area is provided with a two-dimensional code;
s200, scanning codes in the first code scanning area through a code scanning acquisition module, and acquiring and recording sequence information of a current code scanning cup body;
s300, etching the scanned marks at any positions of the bar codes in the first code scanning area through an infrared laser device after the code scanning is completed;
s400, adjusting the position relation between the code scanning acquisition module and the second code scanning area through the position adjustment mechanism, acquiring two-dimensional code information through the code scanning acquisition module, acquiring milk tea making information corresponding to the cup body, and transmitting the milk tea making information and the sequence information to the information statistics module;
When the information statistics module obtains information contained in a corresponding two-dimensional code by one two-dimensional code, a statistics column is arranged in a statistics table of the information statistics module, and the ordering of the two-dimensional codes of the scanned codes and the number of the corresponding two-dimensional codes are recorded in the statistics column; every time a two-dimensional code is scanned, a number is added in a statistics column;
based on the first statistical quantity in a certain time period recorded by the scanning bar code, based on the second statistical quantity in the same time period recorded by the statistical column, judging whether the first statistical quantity is the same as the second statistical quantity, if so, acquiring a third statistical quantity of the order platform in the same time period, wherein the third statistical quantity is the quantity of the actual orders of consumers; judging whether the first statistical quantity is the same as the third statistical quantity, if so, obtaining a statistical qualification mark, and if not, checking one by one based on a statistical table in the information statistical module and an order table on the order platform, and searching for reasons of mismatch of the statistical quantity.
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