CN116946649A - Deviation correcting method based on express sorting, related equipment and medium - Google Patents
Deviation correcting method based on express sorting, related equipment and medium Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/34—Devices for discharging articles or materials from conveyor
- B65G47/42—Devices for discharging articles or materials from conveyor operated by article or material being conveyed and discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/34—Devices for discharging articles or materials from conveyor
- B65G47/46—Devices for discharging articles or materials from conveyor and distributing, e.g. automatically, to desired points
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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Abstract
The application discloses a correction method based on express sorting, and related equipment and media, which are applied to express sorting equipment, wherein the express sorting equipment comprises a portal frame and camera supports arranged at intervals along the vertical direction of the portal frame, the camera supports are used for fixing cameras, and the correction method based on the express sorting comprises the following steps: acquiring position information of a target trolley, wherein the target trolley is loaded with goods to be photographed and identified; when a target trolley passes through the camera, the camera is controlled to shoot goods, and the trolley number of the target trolley is obtained; acquiring image information of goods; calculating coordinate information of the goods on the target trolley through a deep learning model according to the image information, the height information of the goods and the internal and external parameters of the camera; and adjusting the unloading time of the target trolley according to the coordinate information and the trolley number. The application can improve sorting accuracy and stability.
Description
Technical Field
The application relates to the technical field of express sorting, in particular to a correction method based on express sorting, and related equipment and media.
Background
Express sorting is used as an efficient express logistics distribution mode, and plays an important role in modern logistics. In the express sorting process, due to different reasons such as irregular shapes, sizes and quality of cargoes, the problems such as offset or stacking are easy to occur, the express sorting efficiency is low, and even the situation of wrong sorting is likely to occur.
In the prior art, the goods conveying belt is controlled to be finely adjusted by calculating the offset position, so that the goods can be placed in the middle, and the sorting purpose is achieved. However, since the adjustment of the transmission belt is limited, there may be cases where fine adjustment is not accurate enough or the offset problem cannot be completely solved.
Disclosure of Invention
The application mainly aims to provide a deviation rectifying method based on express sorting, related equipment and media, and aims to solve the technical problem that the fine tuning is not accurate enough or the deviation problem cannot be completely solved due to the fact that the adjustment of a transmission belt is limited in the prior art.
In order to achieve the above object, a first aspect of the present application provides a correction method based on express sorting, which is applied to express sorting equipment, the express sorting equipment includes a portal frame and camera supports arranged at intervals along a vertical direction of the portal frame, the camera supports are used for fixing cameras, and the correction method based on express sorting includes: acquiring position information of a target trolley, wherein the target trolley is loaded with goods to be photographed and identified; when a target trolley passes through the camera, the camera is controlled to shoot goods, and the trolley number of the target trolley is obtained; acquiring image information of goods; calculating coordinate information of the goods on the target trolley through a deep learning model according to the image information, the height information of the goods and the internal and external parameters of the camera; and adjusting the unloading time of the target trolley according to the coordinate information and the trolley number.
Optionally, the camera support includes upper and lower two-layer first camera support and the second camera support that set up along portal frame vertical direction interval, and the camera includes first camera and second camera, and the target dolly includes first target dolly and second target dolly, and first camera support is used for fixed first camera, and second camera support is used for fixed second camera, and first camera is used for taking a picture the goods of loading on the first target dolly and establishes, and the second camera is used for taking a picture the goods of loading on the second target dolly discernment, and the deviation correcting method based on express delivery letter sorting still includes: acquiring position information of a first target trolley; when a first target trolley passes through a first camera, controlling the first camera to shoot goods loaded on the first target trolley, and acquiring a first number of the first target trolley; acquiring image information of goods; calculating first coordinate information of the goods on the first target trolley through a deep learning model according to the image information, the height information of the goods and the internal and external parameters of the first camera; and adjusting the time for unloading the first target trolley according to the first coordinate information and the first number.
Optionally, the deviation rectifying method based on express sorting further comprises the following steps: acquiring position information of a second target trolley; when the second target trolley passes through the second camera, controlling the second camera to shoot goods loaded by the second target trolley, and acquiring a second number of the second target trolley; acquiring image information of goods; calculating second coordinate information of the goods on the second target trolley through the deep learning model according to the image information, the height information of the goods and the internal and external parameters of the second camera; and adjusting the unloading time of the second target trolley according to the second coordinate information and the second number.
Optionally, acquiring the location information of the target trolley includes: determining initial position information of a target trolley through a starting point sensor; detecting the transmission time of the target trolley passing through the express sorting equipment through a stepping sensor; and calculating the position information of the target trolley according to the initial position information and the transmission time.
Optionally, the deviation rectifying method based on express sorting further comprises the following steps: and calculating the height information of the goods according to the image information of the goods and the internal and external parameters of the camera.
The second aspect of the embodiment of the application provides a deviation correcting device based on express sorting, which is applied to express sorting equipment, wherein the express sorting equipment comprises a portal frame and camera supports arranged at intervals along the vertical direction of the portal frame, the camera supports are used for fixing cameras, and the deviation correcting device based on express sorting comprises: the position acquisition module is used for acquiring the position information of the target trolley, and the target trolley is loaded with goods to be photographed and identified; the control module is used for controlling the camera to shoot goods when the target trolley passes through the camera and obtaining the trolley number of the target trolley; the image acquisition module is used for acquiring image information of goods; the calculation module is used for calculating the coordinate information of the goods on the target trolley through the deep learning model according to the image information, the height information of the goods and the internal and external parameters of the camera; and the adjusting module is used for adjusting the unloading time of the target trolley according to the coordinate information and the trolley number.
Optionally, the camera support includes upper and lower two-layer first camera support and the second camera support that set up along portal frame vertical direction interval, and the camera includes first camera and second camera, and the target dolly includes first target dolly and second target dolly, and first camera support is used for fixed first camera, and second camera support is used for fixed second camera, and first camera is used for taking a picture the goods of loading on the first target dolly and establishes, and the second camera is used for taking a picture the goods of loading on the second target dolly discernment, and deviation correcting device based on express delivery letter sorting still includes: the first position acquisition module is used for acquiring the position information of the first target trolley; the first control module is used for controlling the first camera to shoot goods loaded by the first target trolley when the first target trolley passes through the first camera, and acquiring a first number of the first target trolley; the first image acquisition module is used for acquiring image information of goods; the first calculation module is used for calculating first coordinate information of the goods on the first target trolley through the deep learning model according to the image information, the height information of the goods and the internal and external parameters of the first camera; the first adjusting module is used for adjusting the unloading time of the first target trolley according to the first coordinate information and the first number.
Optionally, the deviation correcting device based on express sorting further includes: the second position acquisition module is used for acquiring the position information of the second target trolley; the second control module is used for controlling the second camera to shoot goods loaded by the second target trolley when the second target trolley passes through the second camera, and obtaining a second number of the second target trolley; the second image acquisition module is used for acquiring image information of the goods; the second calculation module is used for calculating second coordinate information of the goods on the second target trolley through the deep learning model according to the image information, the height information of the goods and the internal and external parameters of the second camera; and the second adjusting module is used for adjusting the unloading time of the second target trolley according to the second coordinate information and the second number.
The third aspect of the application provides an intelligent device, which comprises a memory, a processor and a correction program based on express sorting, wherein the correction program is stored in the memory and can run on the processor, and the correction method based on the express sorting is realized when the correction program based on the express sorting is executed by the processor.
The fourth aspect of the embodiment of the application provides a computer readable storage medium, on which a correction program based on express sorting is stored, and the correction program based on express sorting realizes the steps of the correction method based on express sorting when executed by a processor.
From the above, the correction method based on express sorting provided by the application is applied to express sorting equipment, the express sorting equipment comprises a portal frame and camera supports arranged at intervals along the vertical direction of the portal frame, the camera supports are used for fixing cameras, and the correction method based on express sorting comprises the following steps: acquiring position information of a target trolley, wherein the target trolley is loaded with goods to be photographed and identified; when a target trolley passes through the camera, the camera is controlled to shoot goods, and the trolley number of the target trolley is obtained; acquiring image information of goods; calculating coordinate information of the goods on the target trolley through a deep learning model according to the image information, the height information of the goods and the internal and external parameters of the camera; and adjusting the unloading time of the target trolley according to the coordinate information and the trolley number. Compared with fine adjustment of the position of the goods (limited precision) by adjusting the transmission belt, the application calculates the accurate coordinate information of the goods by the deep learning model, thereby correcting the deviation more accurately and improving the sorting accuracy; the application does not need to adjust the mechanical parts, only needs to fix the camera and the camera bracket, and has higher stability.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of an embodiment of a deviation rectifying method based on express sorting according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an embodiment of express sorting equipment according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an embodiment of a deviation correcting device based on express sorting according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an embodiment of an intelligent device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification 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.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted in context as "when …" or "upon" or "in response to a determination" or "in response to detection. Similarly, the phrase "if a condition or event described is determined" or "if a condition or event described is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a condition or event described" or "in response to detection of a condition or event described".
The following description of the embodiments of the present application will be made more fully hereinafter with reference to the accompanying drawings, in which embodiments of the application are shown, it being evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present application is not limited to the specific embodiments disclosed below.
In order to solve the problems in the prior art, the embodiment of the application provides a correction method based on express sorting, which is applied to express sorting equipment, wherein the express sorting equipment comprises a portal frame and camera supports arranged at intervals along the vertical direction of the portal frame, the camera supports are used for fixing cameras, and the correction method based on the express sorting, which is described in the embodiment, comprises the following steps:
step S10, acquiring position information of a target trolley, wherein the target trolley is loaded with goods to be photographed and identified.
The target trolley is a trolley arranged on the express delivery conveying belt and used for transporting express packages.
In some embodiments, step S10 includes: determining initial position information of a target trolley through a starting point sensor; detecting the transmission time of the target trolley passing through the express sorting equipment through a stepping sensor; and calculating the position information of the target trolley according to the initial position information and the transmission time.
And step S20, when the target trolley passes through the camera, the camera is controlled to shoot goods, and the trolley number of the target trolley is obtained.
When the target trolley passes under the camera, the camera is controlled to photograph the goods on the target trolley, a goods picture is obtained, and after the goods picture is processed, the image information of the goods can be obtained. When the trolley passes, the camera is triggered to take a picture and store the picture in the server, and the camera is connected to the server to realize real-time transmission and processing of the picture, and can also receive a control signal returned by the server to adjust the position and the shooting parameters of the camera.
Step S30, acquiring image information of the goods.
And S40, calculating coordinate information of the goods on the target trolley through a deep learning model according to the image information, the height information of the goods and the internal and external parameters of the camera.
In some embodiments, the deep learning model is a convolutional neural network (Convolutional Neural Network, CNN) based target detection model that can locate and identify objects in the image, thereby enabling accurate location of items on the cart.
In some embodiments, the deep learning model is implemented based on the YOLOv5 framework, further, by adding attention mechanisms and applying label smoothing techniques, calculating coordinate information of the item on the target trolley.
In an embodiment using an Attention mechanism, a Self-Attention mechanism (Self-Attention) is employed. This mechanism better focuses on the regions that contain the target object by providing the model with the ability to automatically focus on critical regions when processing image information, thereby automatically ignoring those background regions that are not important during the feature extraction stage. The accuracy of the model in positioning the target object in the target detection task can be remarkably improved, and the performance of the whole system is further improved.
In embodiments using tag smoothing techniques, regularization techniques, tag smoothing, are employed. Tag smoothing reduces the sensitivity of the model to noisy tags by converting hard tags (e.g., 0 and 1) to flexible tags (e.g., 0.1 and 0.9), prevents model overfitting, and improves the performance of the model on unseen data. In the application, label smoothing is used for training the YOLOv5 model, so that the generalization capability of the model is improved, and the robustness of the whole system is improved.
In some embodiments, a specific calibration plate or calibration object may be utilized in advance to obtain camera internal parameters (e.g., camera matrix, distortion parameters, etc.) and external parameters (e.g., camera position, pose, etc.), thereby determining the relationship between the camera and the object. By means of camera calibration, distortion in the image can be eliminated, and therefore a more accurate image can be obtained. The common calibration plates include checkerboard calibration plates, round calibration plates and the like, and self-designed calibration objects can be used.
And S50, adjusting the unloading time of the target trolley according to the coordinate information and the trolley number. After the time for discharging the goods arrives, a discharging command is sent to the target trolley, so that the goods drop from the trolley and fall into the corresponding sorting opening to finish the sorting process.
In some embodiments, the express sorting device comprises a portal frame, a camera support and camera shooting components, wherein the camera support is arranged along the vertical direction of the portal frame at intervals and used for respectively fixing the two camera shooting components, and the camera shooting components comprise a camera and a light supplementing lamp adjacent to the camera.
In some embodiments, as shown in fig. 2, the express sorting device includes a portal frame 10, a camera support, and a camera assembly, where the camera support includes a first camera support 201 and a second camera support 202 that are disposed on an upper layer and a lower layer and are spaced apart along a vertical direction of the portal frame, the camera assembly includes a first camera 301 and a light compensating lamp 401 adjacent to the first camera 301, the camera assembly further includes a second camera 302 and a light compensating lamp 402 adjacent to the second camera 302, the target trolley includes a first target trolley and a second target trolley, the first camera support 201 is used for fixing the first camera 301, the second camera support 202 is used for fixing the second camera 302, the first camera 301 is used for photographing and identifying the goods loaded on the first target trolley, and the second camera 302 is used for photographing and identifying the goods loaded on the second target trolley, and the deviation correcting method based on express sorting further includes: acquiring position information of a first target trolley; when a first target trolley passes through a first camera, controlling the first camera to shoot goods loaded on the first target trolley, and acquiring a first number of the first target trolley; acquiring image information of goods; calculating first coordinate information of the goods on the first target trolley through a deep learning model according to the image information, the height information of the goods and the internal and external parameters of the first camera; and adjusting the time for unloading the first target trolley according to the first coordinate information and the first number.
In some embodiments, the method for rectifying deviation based on express sorting further includes: acquiring position information of a second target trolley; when the second target trolley passes through the second camera, controlling the second camera to shoot goods loaded by the second target trolley, and acquiring a second number of the second target trolley; acquiring image information of goods; calculating second coordinate information of the goods on the second target trolley through the deep learning model according to the image information, the height information of the goods and the internal and external parameters of the second camera; and adjusting the unloading time of the second target trolley according to the second coordinate information and the second number.
In some embodiments, obtaining location information of the target cart includes: determining initial position information of a target trolley through a starting point sensor; detecting the transmission time of the target trolley passing through the express sorting equipment through a stepping sensor; and calculating the position information of the target trolley according to the initial position information and the transmission time.
First, initial position information of the target trolley can be determined through a start point sensor, the start point sensor can be installed on an express transmission belt and used for detecting the initial position of the target trolley, and the start point sensor can detect the position information of the trolley through photoelectric or mechanical principles. Secondly, the transmission time of the target trolley passing through the sorting equipment can be detected through the stepping sensor, and the stepping sensor can be arranged on the transmission belt and used for detecting the time of the target trolley passing through the express sorting equipment, so that the position of the target trolley on the transmission belt is determined. The step sensor can be realized through a counter, and the counter is automatically increased by 1 every time the target trolley passes through the step sensor, so that the transmission time of the target trolley passing through the express sorting equipment can be calculated. Finally, the position information of the target trolley can be calculated according to the initial position information and the transmission time, and can be realized by a simple formula, such as speed multiplied by time.
In some embodiments, the method for rectifying deviation based on express sorting further includes: and calculating the height information of the goods according to the image information of the goods and the internal and external parameters of the camera.
In some embodiments, the portal frame is provided with a length and weight sensor for detecting length and weight information of goods on the target trolley, and the deviation rectifying method based on express sorting further comprises: and the length and weight information of the goods are stored, so that the record is convenient.
From the above, the correction method based on express sorting provided by the application is applied to express sorting equipment, the express sorting equipment comprises a portal frame and camera supports arranged at intervals along the vertical direction of the portal frame, the camera supports are used for fixing cameras, and the correction method based on express sorting comprises the following steps: acquiring position information of a target trolley, wherein the target trolley is loaded with goods to be photographed and identified; when a target trolley passes through the camera, the camera is controlled to shoot goods, and the trolley number of the target trolley is obtained; acquiring image information of goods; calculating coordinate information of the goods on the target trolley through a deep learning model according to the image information, the height information of the goods and the internal and external parameters of the camera; and adjusting the unloading time of the target trolley according to the coordinate information and the trolley number. Compared with fine adjustment of the position of the goods (limited precision) by adjusting the transmission belt, the application calculates the accurate coordinate information of the goods by the deep learning model, thereby correcting the deviation more accurately and improving the sorting accuracy; the application does not need to adjust the mechanical parts, only needs to fix the camera and the camera bracket, and has higher stability.
In accordance with the above, the following is a device for implementing the deviation rectifying method based on express sorting, which specifically comprises the following steps: referring to fig. 3, a schematic structural diagram of an embodiment of a deviation correcting device based on express sorting according to an embodiment of the present application is shown. The deviation correcting device based on express delivery letter sorting that describes in this embodiment is applied to express delivery letter sorting equipment, and express delivery letter sorting equipment includes the portal frame and follows the camera support that the vertical direction interval of portal frame set up, and the camera support is used for fixed camera, and above-mentioned deviation correcting device based on express delivery letter sorting includes:
the position obtaining module 501 is configured to obtain position information of a target trolley, where the target trolley is loaded with goods to be identified by photographing;
the control module 502 is used for controlling the camera to shoot goods when the target trolley passes through the camera and obtaining the trolley number of the target trolley;
an image acquisition module 503, configured to acquire image information of an item;
the calculating module 504 is configured to calculate coordinate information of the goods on the target trolley through the deep learning model according to the image information, the height information of the goods, and the internal and external parameters of the camera;
the adjustment module 505 is configured to adjust the time for delivering the target trolley according to the coordinate information and the trolley number.
The location obtaining module 501 may be configured to implement the method described in the step S10, the control module 502 may be configured to implement the method described in the step S20, the image obtaining module 503 may be configured to implement the method described in the step S30, the calculating module 504 may be configured to implement the method described in the step S40, and the adjusting module 505 may be configured to implement the method described in the step S50.
In some embodiments, the camera support includes upper and lower two-layer first camera support and the second camera support that set up along portal frame vertical direction interval, and the camera includes first camera and second camera, and the target dolly includes first target dolly and second target dolly, and first camera support is used for fixed first camera, and second camera support is used for fixed second camera, and first camera is used for taking a picture the goods of loading on the first target dolly and sets up, and second camera is used for taking a picture the goods of loading on the second target dolly discernment, and deviation correcting device based on express sorting still includes: the first position acquisition module is used for acquiring the position information of the first target trolley; the first control module is used for controlling the first camera to shoot goods loaded by the first target trolley when the first target trolley passes through the first camera, and acquiring a first number of the first target trolley; the first image acquisition module is used for acquiring image information of goods; the first calculation module is used for calculating first coordinate information of the goods on the first target trolley through the deep learning model according to the image information, the height information of the goods and the internal and external parameters of the first camera; the first adjusting module is used for adjusting the unloading time of the first target trolley according to the first coordinate information and the first number.
In some embodiments, the deviation correcting device based on express sorting further comprises: the second position acquisition module is used for acquiring the position information of the second target trolley; the second control module is used for controlling the second camera to shoot goods loaded by the second target trolley when the second target trolley passes through the second camera, and obtaining a second number of the second target trolley; the second image acquisition module is used for acquiring image information of the goods; the second calculation module is used for calculating second coordinate information of the goods on the second target trolley through the deep learning model according to the image information, the height information of the goods and the internal and external parameters of the second camera; and the second adjusting module is used for adjusting the unloading time of the second target trolley according to the second coordinate information and the second number.
In accordance with the foregoing, please refer to fig. 4, which is a schematic structural diagram of an embodiment of an intelligent device according to an embodiment of the present application. As shown, the system includes a processor, a memory, a communication interface, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, and in an embodiment of the present application, the program includes instructions for performing the following steps:
acquiring position information of a target trolley, wherein the target trolley is loaded with goods to be photographed and identified;
when a target trolley passes through the camera, the camera is controlled to shoot goods, and the trolley number of the target trolley is obtained;
acquiring image information of goods;
calculating coordinate information of the goods on the target trolley through a deep learning model according to the image information, the height information of the goods and the internal and external parameters of the camera;
and adjusting the unloading time of the target trolley according to the coordinate information and the trolley number.
The embodiment of the application also provides a computer storage medium, wherein the computer storage medium can store a program, and the program can be executed to comprise part or all of the steps of any one of the deviation rectifying methods based on the express sorting described in the embodiment of the deviation rectifying method based on the express sorting.
Although the application is described herein in connection with the embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed application, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.
It will be apparent to those skilled in the art that embodiments of the present application may be provided as a method, apparatus (device), or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein. A computer program may be stored/distributed on a suitable medium supplied together with or as part of other hardware, but may also take other forms, such as via the Internet or other wired or wireless telecommunication systems.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (devices) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable information prompting device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable information prompting device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable information reminder device to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable information-bearing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer implemented process such that the instructions which execute on the computer or other programmable device provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Although the application has been described in connection with specific features and embodiments thereof, it will be apparent that various modifications and combinations can be made without departing from the spirit and scope of the application. Accordingly, the specification and drawings are merely exemplary illustrations of the present application as defined in the appended claims and are considered to cover any and all modifications, variations, combinations, or equivalents that fall within the scope of the application. It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. The utility model provides a method of rectifying based on express delivery letter sorting, its characterized in that is applied to express delivery letter sorting equipment, express delivery letter sorting equipment include the portal frame and follow the camera support that the vertical direction interval of portal frame set up, the camera support is used for fixed camera, the method of rectifying based on express delivery letter sorting includes:
acquiring position information of a target trolley, wherein the target trolley is loaded with goods to be photographed and identified;
when the target trolley passes through the camera, controlling the camera to shoot the goods, and acquiring the trolley number of the target trolley;
acquiring image information of the goods;
calculating coordinate information of the goods on the target trolley through a deep learning model according to the image information, the height information of the goods and the internal and external parameters of the camera;
and adjusting the unloading time of the target trolley according to the coordinate information and the trolley number.
2. The method of rectifying an error based on express sorting according to claim 1, wherein the camera support comprises a first camera support and a second camera support which are arranged at an upper layer and a lower layer at intervals along a vertical direction of the portal frame, the camera comprises a first camera and a second camera, the target trolley comprises a first target trolley and a second target trolley, the first camera support is used for fixing the first camera, the second camera support is used for fixing the second camera, the first camera is used for photographing goods loaded on the first target trolley, the second camera is used for photographing and identifying goods loaded on the second target trolley, and the method of rectifying an error based on express sorting further comprises:
acquiring position information of a first target trolley;
when the first target trolley passes through the first camera, controlling the first camera to shoot goods loaded by the first target trolley, and acquiring a first number of the first target trolley;
acquiring image information of the goods;
calculating first coordinate information of the goods on the first target trolley through a deep learning model according to the image information, the height information of the goods and the internal and external parameters of the first camera;
and adjusting the time for unloading the first target trolley according to the first coordinate information and the first number.
3. The method for rectifying deviation based on express sorting according to claim 2, wherein the method for rectifying deviation based on express sorting further comprises:
acquiring position information of a second target trolley;
when the second target trolley passes through the second camera, controlling the second camera to shoot goods loaded by the second target trolley, and acquiring a second number of the second target trolley;
acquiring image information of the goods;
calculating second coordinate information of the goods on the second target trolley through a deep learning model according to the image information, the height information of the goods and the internal and external parameters of the second camera;
and adjusting the unloading time of the second target trolley according to the second coordinate information and the second number.
4. The method for rectifying deviation based on express sorting according to claim 1, wherein the obtaining the position information of the target trolley comprises:
determining initial position information of the target trolley through a starting point sensor;
detecting the transmission time of the target trolley passing through the express sorting equipment through a stepping sensor;
and calculating the position information of the target trolley according to the initial position information and the transmission time.
5. The method for rectifying deviation based on express sorting according to claim 1, wherein the method for rectifying deviation based on express sorting further comprises:
and calculating the height information of the goods according to the image information of the goods and the internal and external parameters of the camera.
6. Deviation correcting device based on express delivery letter sorting, its characterized in that is applied to express delivery letter sorting equipment, express delivery letter sorting equipment include the portal frame and follow the camera support that the vertical direction interval of portal frame set up, the camera support is used for fixed camera, deviation correcting device based on express delivery letter sorting includes:
the position acquisition module is used for acquiring the position information of the target trolley, wherein the target trolley is loaded with goods to be photographed and identified;
the control module is used for controlling the camera to shoot the goods when the target trolley passes through the camera and obtaining the trolley number of the target trolley;
the image acquisition module is used for acquiring the image information of the goods;
the calculation module is used for calculating coordinate information of the goods on the target trolley through a deep learning model according to the image information, the height information of the goods and the internal and external parameters of the camera;
and the adjusting module is used for adjusting the unloading time of the target trolley according to the coordinate information and the trolley number.
7. The deviation correcting device based on express sorting of claim 6, wherein the camera support comprises a first camera support and a second camera support which are arranged at an upper layer and a lower layer at intervals along the vertical direction of the portal frame, the camera comprises a first camera and a second camera, the target trolley comprises a first target trolley and a second target trolley, the first camera support is used for fixing the first camera, the second camera support is used for fixing the second camera, the first camera is used for photographing goods loaded on the first target trolley, the second camera is used for photographing and identifying goods loaded on the second target trolley, and the deviation correcting device based on express sorting further comprises:
the first position acquisition module is used for acquiring the position information of the first target trolley;
the first control module is used for controlling the first camera to shoot goods loaded by the first target trolley when the first target trolley passes through the first camera, and acquiring a first number of the first target trolley;
the first image acquisition module is used for acquiring image information of the goods;
the first calculation module is used for calculating first coordinate information of the goods on the first target trolley through a deep learning model according to the image information, the height information of the goods and the internal and external parameters of the first camera;
and the first adjusting module is used for adjusting the delivery time of the first target trolley according to the first coordinate information and the first number.
8. The deviation correcting device based on express sorting of claim 7, wherein the deviation correcting device based on express sorting further comprises:
the second position acquisition module is used for acquiring the position information of the second target trolley;
the second control module is used for controlling the second camera to shoot goods loaded by the second target trolley when the second target trolley passes through the second camera, and acquiring a second number of the second target trolley;
the second image acquisition module is used for acquiring the image information of the goods;
the second calculation module is used for calculating second coordinate information of the goods on the second target trolley through a deep learning model according to the image information, the height information of the goods and the internal and external parameters of the second camera;
and the second adjusting module is used for adjusting the unloading time of the second target trolley according to the second coordinate information and the second number.
9. An intelligent terminal, characterized in that the intelligent terminal comprises a memory, a processor and a deviation correcting program based on express sorting, wherein the deviation correcting program is stored in the memory and can run on the processor, and the deviation correcting program based on express sorting realizes the steps of the deviation correcting method based on express sorting according to any one of claims 1-5 when being executed by the processor.
10. A computer readable storage medium, wherein a deviation correcting program based on express sorting is stored on the computer readable storage medium, and the deviation correcting program based on express sorting realizes the steps of the deviation correcting method based on express sorting according to any one of claims 1-5 when being executed by a processor.
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