CN116109247A - Packing box checking method and system - Google Patents
Packing box checking method and system Download PDFInfo
- Publication number
- CN116109247A CN116109247A CN202310225250.4A CN202310225250A CN116109247A CN 116109247 A CN116109247 A CN 116109247A CN 202310225250 A CN202310225250 A CN 202310225250A CN 116109247 A CN116109247 A CN 116109247A
- Authority
- CN
- China
- Prior art keywords
- container
- checked
- cargo
- space
- cargo space
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 67
- 238000012856 packing Methods 0.000 title description 7
- 230000002159 abnormal effect Effects 0.000 claims abstract description 20
- 230000000007 visual effect Effects 0.000 claims abstract description 14
- 238000012545 processing Methods 0.000 claims description 44
- 230000007246 mechanism Effects 0.000 claims description 28
- 239000010410 layer Substances 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 17
- 239000002356 single layer Substances 0.000 claims description 11
- 230000001502 supplementing effect Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 238000013507 mapping Methods 0.000 claims description 3
- 238000012549 training Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 7
- 239000000463 material Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000802 evaporation-induced self-assembly Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Economics (AREA)
- Quality & Reliability (AREA)
- Marketing (AREA)
- Operations Research (AREA)
- Human Resources & Organizations (AREA)
- Strategic Management (AREA)
- Tourism & Hospitality (AREA)
- Entrepreneurship & Innovation (AREA)
- General Business, Economics & Management (AREA)
- Development Economics (AREA)
- Finance (AREA)
- Accounting & Taxation (AREA)
Abstract
The invention provides a container checking method and a system, comprising the following steps: when the movement to the to-be-checked goods space is monitored, visual data corresponding to the to-be-checked goods space is acquired; the visual data comprise container image data and container point cloud data corresponding to the to-be-checked goods space; identifying cargo space side attribute data corresponding to the cargo space to be checked based on the cargo space image data and the cargo space point cloud data; carrying out container checking on the to-be-checked cargo space according to the cargo space side attribute data to obtain a container checking result corresponding to the to-be-checked cargo space; the container checking result is used for representing the total number of containers and/or whether the container article rule is abnormal. The invention can effectively improve the adaptability of the container checking method, obviously improve the efficiency of container checking, and reduce the manpower, material resources and cost consumed in the process of checking the container.
Description
Technical Field
The invention relates to the technical field of warehouse logistics, in particular to a container checking method and a container checking system.
Background
At present, the mainstream warehouse checking is mainly to watch and check whether the data in the boxes and the database on the goods shelves are consistent by manpower at regular intervals, but the manual checking requires great workload, and a lot of omission occurs, so that the time and the labor are consumed relatively. Accordingly, the related art proposes that inventory can be made using an RFID (Radio Frequency Identification, radio frequency identification technology) system, but such a system requires an RFID tag on each container; similarly, related art also proposes to read and inventory according to bar codes and two-dimensional codes, and the method also needs to have codes on each container to read all container numbers. Therefore, the inventory system is difficult to apply to a warehouse with a large inflow and outflow. In addition, in conventional warehouses, a SKU (Stock Keeping Unit, minimum stock unit) is mostly placed in one cargo space, and the surface of each container may or may not have a code, so that it is difficult to check by using an RFID or a code reader for code checking due to limitation of transformation cost. In summary, the existing inventory technology has the problems of poor adaptability, time and labor waste, high cost and the like.
Disclosure of Invention
In view of the above, the invention aims to provide a container checking method and a system, which can effectively improve the adaptability of the container checking method, remarkably improve the efficiency of container checking, and reduce the manpower, material resources and cost consumed in the container checking process.
In a first aspect, an embodiment of the present invention provides a container checking method, where the method is applied to a data processing device of a container checking system, and the method includes: when the movement to the to-be-checked goods space is monitored, visual data corresponding to the to-be-checked goods space is acquired; the visual data comprise container image data and container point cloud data corresponding to the to-be-checked goods space; identifying cargo space side attribute data corresponding to the cargo space to be checked based on the cargo space image data and the cargo space point cloud data; carrying out container checking on the to-be-checked cargo space according to the cargo space side attribute data to obtain a container checking result corresponding to the to-be-checked cargo space; the container checking result is used for representing the total number of containers and/or whether the container article rule is abnormal.
In one embodiment, the container checking system is configured with an image acquisition structure for acquiring the container image data and a point cloud acquisition structure for acquiring the container point cloud data; the identifying cargo space side attribute data corresponding to the cargo space to be checked based on the cargo space image data and the cargo space point cloud data comprises the following steps: identifying a pixel position corresponding to the to-be-checked cargo space based on the cargo box image data through a target detection model obtained through pre-training; wherein the pixel locations comprise at least cargo box pixel locations; determining a position point cloud corresponding to each container pixel position according to the relative position relation between the image acquisition structure and the point cloud acquisition structure, the container point cloud data and the container pixel position; performing point cloud processing on the position point cloud corresponding to each container pixel position to obtain cargo space side attribute data corresponding to the cargo space to be checked; the side attribute data of the goods space comprise the number of side containers and the size of the side containers of each layer of containers in the goods space to be checked.
In one embodiment, the method for checking the cargo space to be checked according to the cargo space side attribute data to obtain a cargo space checking result corresponding to the cargo space to be checked, includes: determining the number of single-layer containers corresponding to each layer of containers in the to-be-checked cargo space according to a pre-configured cargo container stacking rule, the number of side containers and the size of the side containers of each layer of containers in the to-be-checked cargo space; the container stacking rules are used for representing the number of side containers, the mapping relation between the sizes of the side containers and the number of single-layer containers; determining the sum of the number of the single-layer containers corresponding to each layer of containers in the to-be-checked cargo space as the total number of the containers in the to-be-checked cargo space; acquiring the total number of target containers corresponding to the to-be-checked cargo space; detecting whether the total number of the containers of the to-be-checked cargo space is consistent with the total number of the target containers corresponding to the to-be-checked cargo space; if the total number of the containers in the to-be-checked cargo space is inconsistent with the total number of the target containers corresponding to the to-be-checked cargo space, determining that the container checking result is abnormal.
In one embodiment, the container inventory system is configured with a remote code reading device; the cargo container checking is carried out on the cargo space to be checked according to the cargo space side attribute data to obtain a cargo container checking result corresponding to the cargo space to be checked, and the cargo container checking method comprises the following steps: if the pixel position corresponding to the to-be-checked cargo space comprises a tag code pixel position, determining a position point cloud corresponding to the tag code pixel position from the cargo box point cloud data according to the relative position relation between the image acquisition structure and the point cloud acquisition structure, the cargo box point cloud data and the tag code pixel position; performing point cloud processing on the position point cloud corresponding to the pixel position of the tag code to obtain a tag code space position; based on the tag code space position, controlling the remote code reading equipment to scan the tag code corresponding to the tag code space position so as to acquire a tag code value; acquiring a target container standard corresponding to the to-be-checked goods position; detecting whether a container standard corresponding to the label code value is consistent with a target container standard corresponding to the to-be-checked goods position; if the container article rule corresponding to the label code value is inconsistent with the target container article rule corresponding to the to-be-checked cargo position, determining that the container checking result is abnormal.
In one embodiment, the controlling the remote code reading device to scan the tag code corresponding to the tag code space position based on the tag code space position, to obtain the tag code value includes: determining a target orientation based on the tag code spatial location; and controlling the remote code reading equipment to scan the label codes corresponding to the space positions of the label codes according to the target orientation so as to obtain the code values of the label codes.
In one embodiment, before the visual data corresponding to the to-be-checked goods is collected when the to-be-checked goods is monitored to be moved to the to-be-checked goods, the method further comprises: receiving a container checking signal sent by a moving mechanism, and determining to move to a to-be-checked goods position; the container checking signal carries a goods position identifier corresponding to the goods position to be checked; and after the container checking is carried out on the to-be-checked goods space according to the goods space side attribute data to obtain a container checking result corresponding to the to-be-checked goods space, the method further comprises the following steps: and sending the container checking result corresponding to the to-be-checked goods position to a moving mechanism.
In a second aspect, an embodiment of the present invention further provides a container checking device, where the container checking system includes: the system comprises data processing equipment, an image acquisition structure and a point cloud acquisition structure, wherein the data processing equipment is respectively in communication connection with the image acquisition structure and the point cloud acquisition structure; the image acquisition structure is used for acquiring container image data corresponding to the to-be-checked cargo space; the point cloud acquisition structure is used for acquiring container point cloud data corresponding to the to-be-checked cargo space; the data processing device is configured to obtain a cargo box checking result corresponding to the cargo box to be checked based on the cargo box image data and the cargo box point cloud data according to any one of the cargo box checking methods provided in the first aspect.
In one embodiment, the method further comprises: the remote code reader is fixed on the spherical control platform; the spherical control platform comprises a rotating shaft and a pitching shaft, wherein the pitching shaft and the rotating shaft are arranged in series, and the rotating shaft and the pitching shaft are used for adjusting the orientation of the remote code reading equipment; the remote code reader is used for scanning the label code corresponding to the label code space position so as to obtain a label code value.
In one embodiment, the method further comprises: the tray type base is used for fixing the container checking system on the moving mechanism, and the container checking system is in communication connection with the moving mechanism; the moving mechanism is used for moving the container checking system to the to-be-checked goods position and sending a container checking signal to the container checking system when moving to the to-be-checked goods position; and the container checking system is further used for moving to the next to-be-checked cargo space when receiving the container checking result corresponding to the to-be-checked cargo space sent by the container checking system.
In one embodiment, the method further comprises: one or more of a display, a light supplementing lamp and an indicator lamp; the display is used for displaying one or more of container image data, container point cloud data and container checking results corresponding to the to-be-checked cargo space; the light supplementing lamp is used for providing auxiliary light for the image acquisition structure, the point cloud acquisition structure and the remote code reader; the indicator light is used for indicating whether the container checking system is abnormal or not, or is used for indicating the working state of the container checking system.
The method and the system for checking the cargo container are applied to data processing equipment in a cargo container checking system, when the data processing equipment is monitored to move to a cargo container to be checked, visual data corresponding to the cargo container to be checked are acquired, wherein a plurality of cargo containers are placed at the cargo container to be checked, the visual data comprise cargo container image data and cargo container cloud data corresponding to any side of the cargo container to be checked, then cargo container side attribute data corresponding to the cargo container to be checked are identified based on the cargo container image data and the cargo container cloud data, finally cargo container checking is carried out on the cargo container to be checked according to the cargo container side attribute data, cargo container checking results corresponding to the cargo container to be checked are obtained, and the cargo container checking results are used for representing whether the total number of cargo containers and/or cargo container gauge is abnormal. According to the method, the container is checked based on vision, the side attribute data of the container are identified on the basis of the container image data and the container point cloud data corresponding to any side of the container to be checked, and further automatic container checking is achieved based on the side attribute data of the container.
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 hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a method for checking a container according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of cargo box image data according to an embodiment of the present invention;
FIG. 3 is a schematic view of a spherical control platform according to an embodiment of the present invention;
Fig. 4 is a schematic structural diagram of a cargo box checking system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of another exemplary cargo box inventory system according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a data processing device according to an embodiment of the present invention.
Icon: 501-an industrial personal computer and an industrial personal computer cabinet; 502-an image acquisition structure; 503-a point cloud acquisition structure; 504-a spherical control platform and a remote code reader; 505-a display; 506-a light supplementing lamp; 507-indicator lights; 508-a tray-type base; 100-a data processing device; a 60-processor; 61-memory; 62-bus; 63-communication interface.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described in conjunction with the embodiments, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
At present, the existing checking technology has the problems of poor adaptability, time and labor waste, high cost and the like, and based on the method and the system, the method and the system for checking the container can effectively improve the adaptability of the method for checking the container, remarkably improve the efficiency of checking the container and reduce the manpower, material resources and cost consumed in the process of checking the container.
For the sake of understanding the present embodiment, first, a detailed description will be given of a cargo box checking method disclosed in the present embodiment, where the method is applied to a data processing device of a cargo box checking system, and the data processing device may be an electronic device with data processing and computing capabilities, such as an industrial personal computer, a computer, etc., referring to a flow chart of a cargo box checking method shown in fig. 1, and the method mainly includes the following steps S102 to S106:
step S102, when the user monitors that the user moves to the to-be-checked goods position, visual data corresponding to the to-be-checked goods position is acquired.
The visual data comprise container image data and container point cloud data corresponding to the to-be-checked goods space, wherein the container image data can be color images, and the container point cloud data is 3D point cloud images. In one embodiment, the cargo counting system may be fixed on the moving mechanism, and the moving mechanism moves the cargo counting system to the cargo space to be counted, and when any side of the cargo space to be counted is monitored, controls the image acquisition structure installed on the cargo counting system to acquire an image (i.e., cargo box image data) of the side surface of the cargo space to be counted, and controls the point cloud acquisition structure installed on the cargo counting system to acquire a point cloud (i.e., cargo box point cloud data) of the side surface of the cargo space to be counted, thereby acquiring cargo box image data transmitted by the image acquisition structure and cargo box point cloud data transmitted by the point cloud acquisition structure.
Step S104, based on the container image data and the container point cloud data, identifying the side attribute data of the goods space corresponding to the goods space to be checked.
Wherein, the side container number and the side container size of each layer of containers in the to-be-checked cargo space. In practical application, a cargo space can be stacked with multiple layers of cargo containers, and the number of each layer of cargo containers is multiple.
And S106, carrying out container inventory on the to-be-inventory goods space according to the goods space side attribute data to obtain a container inventory result corresponding to the to-be-inventory goods space.
Wherein, the packing box checking result is used for representing whether the total number of packing boxes and/or packing box goods rule are abnormal. In one implementation mode, the embodiment of the invention can calculate the number of single-layer containers of each layer of containers based on the number of the side containers and the size of the side containers, further calculate the total number of the containers corresponding to the to-be-checked goods space, read the total number of the target containers corresponding to the to-be-checked goods space from the database, and if the total number of the containers is consistent with the total number of the target containers, the total number of the containers of the to-be-checked goods space is normal, otherwise, the total number of the containers of the to-be-checked goods space is abnormal; similarly, if one-dimensional codes, two-dimensional codes, bar codes and other tag codes are stuck in any container, the space position of the tag codes can be identified through container image data and container point cloud data, so that the tag codes are subjected to code reading operation based on the space position of the tag codes, the target container standard corresponding to the position of the to-be-checked goods is read from a database, the container standard corresponding to the code value obtained by code reading is compared with the target container standard, if the two standards are consistent, the container standard of the to-be-checked goods is normal, and otherwise, the container standard of the to-be-checked goods is abnormal.
According to the container checking method provided by the embodiment of the invention, the container checking is carried out based on vision, the side attribute data of the container are identified on the basis of the container image data and the container cloud data corresponding to any side of the container to be checked, and further the automatic container checking is realized based on the side attribute data of the container.
In order to facilitate understanding, the embodiment of the invention introduces a hardware structure of a container checking system, wherein the container checking system mainly comprises a 2D camera, a 3D camera, a remote code reading camera, a spherical control platform, data processing equipment, a switch, a wireless communication module and a tray type base.
In one embodiment, the container inventory system is provided with a pallet base for securing the container inventory system to a movement mechanism, the container inventory system in communication with the movement mechanism, the movement mechanism for moving the container inventory system to the to-be-inventory location and transmitting a container inventory signal to the container inventory system when moving to the to-be-inventory location. Alternatively, the moving mechanism may employ an AGV (Automated Guided Vehicle, transfer robot) or a stacker or the like. In specific implementation, if the height of the goods space to be checked is smaller than a preset height threshold, the container checking system can be fixed on the AGV, so that the container checking system can check goods on the low-layer goods shelf; if the height of the to-be-checked cargo space is greater than the preset height threshold, the cargo box checking system can be fixed on the stacker, so that the cargo box checking system can check cargoes on the high-rise vertical warehouse.
In one embodiment, when the cargo checking task starts, the moving mechanism can move to the cargo to be checked according to the set track or the position information, when the moving mechanism moves to the cargo to be checked, a cargo checking signal is sent to the cargo checking system, and if the cargo checking system receives the cargo checking signal sent by the moving mechanism, the moving mechanism is determined to move to the cargo to be checked. The container checking signal is used for indicating the container checking system to check the container to be checked, the container checking signal carries a container identifier corresponding to the container to be checked, the container identifier can be used for reading data such as the total number of corresponding target containers and the goods gauge from the database, and the container checking signal can be bound with container checking results to avoid confusion of container checking results of different containers to be checked.
The embodiment of the invention provides an implementation mode for acquiring visual data corresponding to a to-be-checked cargo space, which can acquire cargo box image data corresponding to the to-be-checked cargo space through an image acquisition structure, send the cargo box image data to data processing equipment, acquire cargo box point cloud data corresponding to the to-be-checked cargo space through a point cloud acquisition structure, send the cargo box point cloud data to data processing equipment, and the data processing equipment can receive the cargo box image data and the cargo box point cloud data. In practical application, the container checking system is also provided with a wireless communication module, and the wireless communication module is used for communicating the container checking system with the AGV or the stacker system, triggering photographing checking and returning a container checking result.
In a specific implementation, the data processing device is in communication connection with the mobile mechanism through the wireless communication module, and when the data processing device receives a container checking signal sent by the mobile mechanism, the data processing device controls the 2D camera to shoot container image data and controls the 3D camera to shoot container point cloud images.
Further, the embodiment of the invention also provides an implementation manner for identifying the goods-space side attribute data corresponding to the goods-space to be checked based on the goods-space image data and the goods-space point cloud data, and the implementation manner can be seen from the following steps 1 to 3:
and step 1, identifying the pixel position corresponding to the inventory position to be checked based on the container image data through a target detection model obtained through pre-training. The pixel positions at least comprise container pixel positions and can also comprise label code pixel positions, and it should be noted that in a container stacked on a to-be-checked cargo space, all or part of containers may be stuck with label codes. For ease of understanding, referring to a schematic diagram of container image data shown in fig. 2, fig. 2 illustrates that multiple layers of containers are stacked in a to-be-checked cargo space, and a part of the containers are adhered with tag codes, and the other part of the containers are not adhered with tag codes or are blocked by the adhered tag codes.
Alternatively, the object detection model may use a mask rcnn (Mask Regional Convolution Neural Network, a network model for extracting a mask based on a candidate region of a convolution network), and use the container image data as an input of the mask rcnn, so that the mask rcnn detects a bounding box of each container included in the shipment image data, where the bounding box of the container may represent a shipment pixel position.
And 2, determining the position point cloud corresponding to each container pixel position according to the relative position relation between the image acquisition structure and the point cloud acquisition structure, the container point cloud data and the container pixel position. In one embodiment, the 2D camera is installed in parallel with the 3D camera, the depth of the container point cloud data shot by the 3D camera is aligned to the container pixel position of the 2D camera, and the container pixel position is utilized to acquire a corresponding position point cloud on the aligned depth map. Specifically, aligning container point cloud data to container image data to obtain a depth map, and then acquiring position point clouds corresponding to the pixel positions of the cartons according to the pixel positions of the containers and the depth map.
Step 3, performing point cloud processing on the position point cloud corresponding to each container pixel position to obtain cargo space side attribute data corresponding to the cargo space to be checked; the point cloud processing may include camera projection, back projection, planar point cloud extraction, bounding box and the like of space points, and the cargo space side attribute data includes the number of side containers and the size of the side containers (including single container width and single container height) of each layer of containers in the cargo space to be checked, and the number of side containers specifically refers to the number of containers of each layer of the side, and may further include space position, number of container layers, total container height, total container width and the like. In one embodiment, the attribute data may be obtained by performing a point cloud process on a position point cloud corresponding to the container pixel position.
Further, the embodiment of the invention also provides an implementation manner of carrying out container inventory on the to-be-checked goods space according to the goods space side attribute data to obtain a container inventory result corresponding to the to-be-checked goods space, which is referred to as a first manner to a second manner as follows:
in one mode, the total number of containers is checked, specifically, see the following steps a1 to a5:
step a1, determining the number of single-layer containers corresponding to each layer of containers in the to-be-checked cargo space according to a pre-configured cargo box stacking rule, the number of side containers and the size of the side containers of each layer of containers in the to-be-checked cargo space.
The container stacking rule is used for representing the mapping relation among the number of side containers, the size of the side containers and the number of single-layer containers, and by taking fig. 2 as an example, the number of the side containers is "2", the sizes of the side containers are "L" and "W", and the number of the side containers "2", the sizes of the side containers "L" and "W" are taken as search conditions, so that the corresponding number of single-layer containers, such as "10", is searched in the container stacking rule, that is, in the stacking mode, one layer of containers to be checked in the container to be checked is stacked for 10 containers. It should be noted that the packing box stacking rules may be defined manually based on actual requirements, and embodiments of the present invention are not limited in this regard.
And a2, determining the sum of the number of single-layer containers corresponding to each layer of containers in the to-be-checked cargo space as the total number of the containers in the to-be-checked cargo space.
And a3, obtaining the total number of target containers corresponding to the to-be-checked cargo space. In one embodiment, the target container total number corresponding to the to-be-checked cargo space is searched from the database by taking the cargo space identifier corresponding to the to-be-checked cargo space as a search condition.
And a step a4, detecting whether the total number of containers in the to-be-checked cargo space is consistent with the total number of target containers corresponding to the to-be-checked cargo space.
And a step a5, if the total number of the containers in the to-be-checked cargo space is inconsistent with the target total number of the containers corresponding to the to-be-checked cargo space, determining that the container checking result is abnormal.
In one embodiment, if the counted total number of containers is not equal to the target total number of containers, the total number of containers is determined to be abnormal, and if the counted total number of containers is equal to the target total number of containers, the total number of containers is determined to be normal.
In the second mode, the container inventory system can be provided with a remote code reading device, and the remote code reading device can adopt a remote code reading camera which is used for reading information codes (namely, tag codes) of cargoes and supporting one-dimensional codes and two-dimensional codes. In order to enable a conventional warehouse to realize low-cost automatic checking, the embodiment of the invention provides a technology for checking the warehouse based on vision, which not only utilizes vision to identify the number, specification and code of boxes and compares the number, specification and code with data of a database, thereby realizing automatic checking and reducing the time and labor waste in the checking process. Meanwhile, it is considered that if a code of a smaller resolution is read in a larger range and the position of the code is not fixed, it is common from the industry to read in areas using a plurality of code readers, or to read with a camera of a higher resolution. The former multiple readers take up a relatively large space, and the latter may require hundreds of millions of cameras, which are expensive. Therefore, the embodiment of the invention adopts the remote code reading equipment, has small remote code reading volume and low cost, and can solve the remote and large-range code reading problem under low-speed movement.
See in particular the following steps b1 to b4:
and b1, if the pixel position corresponding to the goods position to be checked comprises the tag code pixel position, determining the position point cloud corresponding to the tag code pixel position from the container point cloud data according to the relative position relation between the image acquisition structure and the point cloud acquisition structure, the container point cloud data and the tag code pixel position.
With continued reference to fig. 2, fig. 2 illustrates that the container image data includes a part of the label code attached to the container, and the mask deep learning algorithm may be used to detect the pixel position of the label code in the container image data, and perform alignment between the pixel position of the label code and the container point cloud data to determine the position point cloud corresponding to the pixel position of the label code.
And b2, performing point cloud processing on the position point cloud corresponding to the pixel position of the tag code to obtain the space position of the tag code.
And b3, controlling the remote code reading equipment to scan the label codes corresponding to the space positions of the label codes based on the space positions of the label codes so as to obtain the code values of the label codes.
In one embodiment, a target orientation is determined based on the tag code spatial location; and controlling the remote code reading equipment to scan the label codes corresponding to the space positions of the label codes according to the target orientation so as to obtain the code values of the label codes. Specifically, the container checking system is provided with a spherical control platform, the spherical control platform comprises a rotating shaft and a pitching shaft, the pitching shaft and the rotating shaft are arranged in series, and the rotating shaft and the pitching shaft are used for adjusting the orientation of the remote code reading equipment. Referring to the schematic diagram of a spherical control platform shown in fig. 3, the spherical control platform is composed of a rotating shaft capable of rotating by 0-360 degrees and a pitching shaft capable of rotating by 0-90 degrees in series, so that a camera at the mounting end can be directed in any direction in the front.
On this basis, in determining the target orientation based on the tag code space position, it can be seen in the following (1) to (2):
(1) And respectively determining the rotation angle of the rotating shaft and the pitching angle of the pitching shaft based on the spatial position of the tag code. In one embodiment, after the spatial position XYZ of the tag code is calculated, the rotation angle and the pitch angle of the spherical control platform are calculated as follows:
rotation angle a1=arctan (X/Y);
pitch angle a2=arctan (((X2 + y 2) 0.5)/Z).
(2) The rotation shaft is driven to rotate according to the rotation angle, and the pitching shaft is driven to rotate according to the pitching angle, so that the remote code reading device is adjusted to the target orientation, and the remote code reading device is controlled to scan the tag code value in the target orientation. In one embodiment, when the rotation of the rotation shaft and the pitching shaft is monitored, the remote code reading device can be controlled to read the code value of the tag code.
And b4, acquiring a target container standard corresponding to the to-be-checked cargo space. In one embodiment, the target container standard corresponding to the to-be-checked cargo space is searched from the database by taking the cargo space identifier corresponding to the to-be-checked cargo space as a search condition.
And b5, detecting whether the container standard corresponding to the label code value is consistent with the target container standard corresponding to the to-be-checked goods position. The code value includes information such as a standard of the container and a date of generation, and the cargo information in the database includes information such as a standard of the container and a date of generation.
And b6, if the container article rule corresponding to the label code value is inconsistent with the target container article rule corresponding to the to-be-checked cargo position, determining that the container checking result is abnormal. In one embodiment, if the cargo container standard obtained by reading the code is inconsistent with the target cargo container standard, the cargo container standard of the cargo space is abnormal, and if the cargo container standard obtained by reading the code is consistent with the target cargo container standard, the cargo container standard of the cargo space is normal.
The embodiment of the invention provides a remote code reading method, which is characterized in that after a tag position is acquired through large-field 2D image and 3D point cloud identification, a circular table is moved to control a small-field code reader to read codes.
In one embodiment, after the container inventory result corresponding to the to-be-checked cargo space is obtained, the container inventory result corresponding to the to-be-checked cargo space may be further sent to the moving mechanism, so that the moving mechanism moves to the next to-be-checked cargo space. For easy understanding, the embodiment of the invention provides a flow of an overall container checking method, which comprises the following steps: starting a container checking task; the AGV or the stacker carries the container checking system to move the to-be-checked goods space, and sends photographing information to the container checking system; the container checking system performs photographing identification and code reading, operates a visual identification flow of the container checking system and returns a container checking identification result; the AGV or the stacker moves to count the next to-be-counted goods space.
In summary, the packing box checking method provided by the embodiment of the invention can be used as a sub-module of an AGV or a stacker to run, is compatible with a conventional warehouse, and is convenient to reform. The embodiment of the invention realizes automatic checking of the warehouse with lower cost, reduces the checking time and reduces the checking labor cost. The embodiment of the invention is easy to popularize in common old warehouses and has great practical value. In addition, the embodiment of the invention adopts a remote code reading scheme, realizes remote code reading at lower cost, and has the characteristics of small volume and low cost compared with a plurality of industrial code readers and high-pixel code readers.
For the cargo box checking method provided in the foregoing embodiment, the embodiment of the present invention further provides a cargo box checking system, referring to a schematic structural diagram of the cargo box checking system shown in fig. 4, the cargo box checking system includes: the data processing equipment is respectively in communication connection with the image acquisition structure and the point cloud acquisition structure; wherein,
the image acquisition structure is used for acquiring container image data corresponding to the to-be-checked goods space;
the point cloud acquisition structure is used for acquiring container point cloud data corresponding to the to-be-checked cargo space;
The data processing device is configured to obtain a cargo box checking result corresponding to a cargo box to be checked based on the cargo box image data and the cargo box point cloud data according to the cargo box checking method provided in the foregoing embodiment, which is not described in detail in the embodiment of the present invention.
It should be noted that the data processing device may be an electronic device with data processing and computing capabilities, such as an industrial personal computer, a computer, and the like.
The container checking system provided by the embodiment of the invention comprises the data processing equipment for executing the container checking method, wherein the data processing equipment performs container checking based on vision, and recognizes the side attribute data of the container on the basis of the container image data and the container cloud data corresponding to any side of the container to be checked, so that the automatic checking of the container is realized based on the side attribute data of the container.
In order to facilitate understanding of the cargo box checking system, the embodiment of the invention provides a specific structure of the cargo box checking system, referring to a structural schematic diagram of another cargo box checking system shown in fig. 5, fig. 5 illustrates that the cargo box checking system is configured with an industrial personal computer and an industrial personal computer case 501, an image acquisition structure 502 and a point cloud acquisition structure 503, the industrial personal computer is placed in the industrial personal computer case, the industrial personal computer controls photographing and code reading, processes image information, runs cargo box checking methods and the like, the image acquisition structure 502 can adopt a 2D camera, the point cloud acquisition structure 503 can adopt a 3D camera, and the 2D camera and the 3D camera can be installed in parallel.
With continued reference to fig. 5, fig. 5 illustrates that the shipment inventory system further includes a spherical control platform and a remote code reader 504, the remote code reader being secured to the spherical control platform; the spherical control platform comprises a rotating shaft and a pitching shaft, the pitching shaft and the rotating shaft are arranged in series, and the rotating shaft and the pitching shaft are used for adjusting the orientation of the remote code reading equipment; the remote code reader is used for scanning the label code corresponding to the space position of the label code so as to obtain the label code value.
With continued reference to fig. 5, fig. 5 illustrates that the shipment inventory system further includes one or more of a display 505, a light supplement 506, and an indicator 507. The display 505 is configured to display one or more of cargo box image data, cargo box point cloud data, and cargo box checking results corresponding to a cargo box to be checked, where in practical application, the display 505 may be configured to display image data collected by a 2D camera, a 3D camera, and a remote code scanning device, and may also be configured to display cargo box checking results and data related to a checking process; the light filling lamp 506 is used for providing auxiliary light for the image acquisition structure, the point cloud acquisition structure and the remote code reader, in practical application, the light filling lamp 506 is used for filling light for the 2D camera, the 3D camera and the remote code scanning device so as to acquire clear image data in a dim scene, and optionally, the light filling lamp 506 can be arranged on the upper side and the lower side of the 2D camera, the 3D camera and the remote code scanning device; the indicator lamp 507 is used for indicating whether the container checking system is abnormal or not, or is used for indicating the working state of the container checking system, in practical application, the indicator lamp 507 can be used for indicating whether the container checking system is abnormal, such as flashing red light to indicate that the container checking system is abnormal, and prompt staff to maintain the container checking system in time.
In addition, the container checking system further comprises a tray type base 508, wherein the tray type base is used for fixing the container checking system on the moving mechanism, and the container checking system is in communication connection with the moving mechanism; the moving mechanism is used for moving the container checking system to the to-be-checked goods position and sending a container checking signal to the container checking system when the moving mechanism moves to the to-be-checked goods position; and the container checking system is also used for moving to the next to-be-checked cargo space when receiving the container checking result corresponding to the to-be-checked cargo space sent by the container checking system.
The cargo box checking system provided by the embodiment of the invention has the same implementation principle and technical effects as those of the embodiment of the method, and for the sake of brevity, reference is made to the corresponding content in the embodiment of the method.
The embodiment of the invention provides data processing equipment, which comprises data processing equipment and a storage device; the storage means has stored thereon a computer program which, when run by said data processing apparatus, performs the method according to any of the embodiments described above.
Fig. 6 is a schematic structural diagram of a data processing apparatus according to an embodiment of the present invention, where the data processing apparatus 100 includes: a processor 60, a memory 61, a bus 62 and a communication interface 63, the processor 60, the communication interface 63 and the memory 61 being connected by the bus 62; the processor 60 is arranged to execute executable modules, such as computer programs, stored in the memory 61.
The memory 61 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and at least one other network element is achieved via at least one communication interface 63 (which may be wired or wireless), and may use the internet, a wide area network, a local network, a metropolitan area network, etc.
Bus 62 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 6, but not only one bus or type of bus.
The memory 61 is configured to store a program, and the processor 60 executes the program after receiving an execution instruction, and the method executed by the apparatus for flow defining disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 60 or implemented by the processor 60.
The processor 60 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware or instructions in software in the processor 60. The processor 60 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but may also be a digital signal processor (Digital Signal Processing, DSP for short), application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA for short), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory 61 and the processor 60 reads the information in the memory 61 and in combination with its hardware performs the steps of the method described above.
The computer program product of the readable storage medium provided by the embodiment of the present invention includes a computer readable storage medium storing a program code, where the program code includes instructions for executing the method described in the foregoing method embodiment, and the specific implementation may refer to the foregoing method embodiment and will not be described herein.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A container inventory method, the method being applied to a data processing device of a container inventory system, the method comprising:
when the movement to the to-be-checked goods space is monitored, visual data corresponding to the to-be-checked goods space is acquired; the visual data comprise container image data and container point cloud data corresponding to the to-be-checked goods space;
Identifying cargo space side attribute data corresponding to the cargo space to be checked based on the cargo space image data and the cargo space point cloud data;
carrying out container checking on the to-be-checked cargo space according to the cargo space side attribute data to obtain a container checking result corresponding to the to-be-checked cargo space; the container checking result is used for representing the total number of containers and/or whether the container article rule is abnormal.
2. The container inventory method according to claim 1, wherein the container inventory system is configured with an image acquisition structure for acquiring the container image data and a point cloud acquisition structure for acquiring the container point cloud data;
the identifying cargo space side attribute data corresponding to the cargo space to be checked based on the cargo space image data and the cargo space point cloud data comprises the following steps:
identifying a pixel position corresponding to the to-be-checked cargo space based on the cargo box image data through a target detection model obtained through pre-training; wherein the pixel locations comprise at least cargo box pixel locations;
determining a position point cloud corresponding to each container pixel position according to the relative position relation between the image acquisition structure and the point cloud acquisition structure, the container point cloud data and the container pixel position;
Performing point cloud processing on the position point cloud corresponding to each container pixel position to obtain cargo space side attribute data corresponding to the cargo space to be checked; the side attribute data of the goods space comprise the number of side containers and the size of the side containers of each layer of containers in the goods space to be checked.
3. The method for checking a cargo box according to claim 2, wherein the step of checking the cargo box according to the cargo space side attribute data to obtain a cargo box checking result corresponding to the cargo space to be checked comprises the steps of:
determining the number of single-layer containers corresponding to each layer of containers in the to-be-checked cargo space according to a pre-configured cargo container stacking rule, the number of side containers and the size of the side containers of each layer of containers in the to-be-checked cargo space; the container stacking rules are used for representing the number of side containers, the mapping relation between the sizes of the side containers and the number of single-layer containers;
determining the sum of the number of the single-layer containers corresponding to each layer of containers in the to-be-checked cargo space as the total number of the containers in the to-be-checked cargo space;
acquiring the total number of target containers corresponding to the to-be-checked cargo space;
Detecting whether the total number of the containers of the to-be-checked cargo space is consistent with the total number of the target containers corresponding to the to-be-checked cargo space;
if the total number of the containers in the to-be-checked cargo space is inconsistent with the total number of the target containers corresponding to the to-be-checked cargo space, determining that the container checking result is abnormal.
4. The container inventory method according to claim 2, wherein the container inventory system is configured with a remote code reading device;
the cargo container checking is carried out on the cargo space to be checked according to the cargo space side attribute data to obtain a cargo container checking result corresponding to the cargo space to be checked, and the cargo container checking method comprises the following steps:
if the pixel position corresponding to the to-be-checked cargo space comprises a tag code pixel position, determining a position point cloud corresponding to the tag code pixel position from the cargo box point cloud data according to the relative position relation between the image acquisition structure and the point cloud acquisition structure, the cargo box point cloud data and the tag code pixel position;
performing point cloud processing on the position point cloud corresponding to the pixel position of the tag code to obtain a tag code space position;
based on the tag code space position, controlling the remote code reading equipment to scan the tag code corresponding to the tag code space position so as to acquire a tag code value;
Acquiring a target container standard corresponding to the to-be-checked goods position;
detecting whether a container standard corresponding to the label code value is consistent with a target container standard corresponding to the to-be-checked goods position;
if the container article rule corresponding to the label code value is inconsistent with the target container article rule corresponding to the to-be-checked cargo position, determining that the container checking result is abnormal.
5. The method of claim 4, wherein controlling the remote code reading device to scan the tag code corresponding to the tag code space position based on the tag code space position to obtain the tag code value comprises:
determining a target orientation based on the tag code spatial location;
and controlling the remote code reading equipment to scan the label codes corresponding to the space positions of the label codes according to the target orientation so as to obtain the code values of the label codes.
6. The method of claim 1-5, further comprising, prior to collecting visual data corresponding to a to-be-checked cargo space when a movement to the to-be-checked cargo space is detected:
receiving a container checking signal sent by a moving mechanism, and determining to move to a to-be-checked goods position; the container checking signal carries a goods position identifier corresponding to the goods position to be checked;
And after the container checking is carried out on the to-be-checked goods space according to the goods space side attribute data to obtain a container checking result corresponding to the to-be-checked goods space, the method further comprises the following steps:
and sending the container checking result corresponding to the to-be-checked goods position to a moving mechanism.
7. A container inventory system, the container inventory system comprising: the system comprises data processing equipment, an image acquisition structure and a point cloud acquisition structure, wherein the data processing equipment is respectively in communication connection with the image acquisition structure and the point cloud acquisition structure; wherein,
the image acquisition structure is used for acquiring container image data corresponding to the goods to be checked;
the point cloud acquisition structure is used for acquiring container point cloud data corresponding to the to-be-checked cargo space;
the data processing device is configured to obtain a container checking result corresponding to the to-be-checked cargo space based on the container image data and the container point cloud data according to the container checking method of any one of claims 1 to 6.
8. The container inventory system of claim 7, further comprising: the remote code reader is fixed on the spherical control platform; wherein,
The spherical control platform comprises a rotating shaft and a pitching shaft, the pitching shaft and the rotating shaft are arranged in series, and the rotating shaft and the pitching shaft are used for adjusting the orientation of the remote code reading equipment;
the remote code reader is used for scanning the label code corresponding to the label code space position so as to obtain a label code value.
9. The container inventory system of claim 7, further comprising: the tray type base is used for fixing the container checking system on the moving mechanism, and the container checking system is in communication connection with the moving mechanism;
the moving mechanism is used for moving the container checking system to the to-be-checked goods position and sending a container checking signal to the container checking system when moving to the to-be-checked goods position; and the container checking system is further used for moving to the next to-be-checked cargo space when receiving the container checking result corresponding to the to-be-checked cargo space sent by the container checking system.
10. The container inventory system of claim 8, further comprising: one or more of a display, a light supplementing lamp and an indicator lamp; wherein,
the display is used for displaying one or more of container image data, container point cloud data and container checking results corresponding to the to-be-checked cargo space;
The light supplementing lamp is used for providing auxiliary light for the image acquisition structure, the point cloud acquisition structure and the remote code reader;
the indicator light is used for indicating whether the container checking system is abnormal or not, or is used for indicating the working state of the container checking system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310225250.4A CN116109247A (en) | 2023-03-03 | 2023-03-03 | Packing box checking method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310225250.4A CN116109247A (en) | 2023-03-03 | 2023-03-03 | Packing box checking method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116109247A true CN116109247A (en) | 2023-05-12 |
Family
ID=86254385
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310225250.4A Pending CN116109247A (en) | 2023-03-03 | 2023-03-03 | Packing box checking method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116109247A (en) |
-
2023
- 2023-03-03 CN CN202310225250.4A patent/CN116109247A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10810544B2 (en) | Distributed autonomous robot systems and methods | |
| US10489677B2 (en) | Method and apparatus for shelf edge detection | |
| CN109583535B (en) | Vision-based logistics barcode detection method and readable storage medium | |
| US11900653B1 (en) | Mapping items to locations within an environment based on optical recognition of patterns in images | |
| US10740911B2 (en) | Method, system and apparatus for correcting translucency artifacts in data representing a support structure | |
| US8561897B2 (en) | Load tracking utilizing load identifying indicia and spatial discrimination | |
| US11948042B2 (en) | System and method for configuring an ID reader using a mobile device | |
| US8295583B2 (en) | System and method for automatic recognition of undetected assets | |
| JP5674933B2 (en) | Method and apparatus for locating an object in a warehouse | |
| CN113688965B (en) | Automatic storage code scanning detection method and cargo management system | |
| CN109816298B (en) | Logistics management method and system | |
| US10733489B2 (en) | Optically readable tags and methods and systems for decoding an optically readable tag | |
| Naumann et al. | Literature review: Computer vision applications in transportation logistics and warehousing | |
| US20150069122A1 (en) | Initial point establishment using an image of a portion of an object | |
| CN116109247A (en) | Packing box checking method and system | |
| US11666948B2 (en) | Projection instruction device, parcel sorting system, and projection instruction method | |
| CN113978987B (en) | Pallet object packaging and picking method, device, equipment and medium | |
| CN118365670B (en) | Coiled material anti-drop control method and system based on image processing | |
| CN113822396B (en) | Bridge crane real-time positioning method, device and system | |
| CN113409230A (en) | Multi-image matching fusion method and device, storage medium and logistics collecting system | |
| CN116362657A (en) | Library management method and device, electronic equipment and storage medium | |
| CN115471649A (en) | Method, device, computer equipment and storage medium for detecting weighing state of vehicle | |
| CN118052236A (en) | Package acquisition method, package acquisition device, electronic equipment and readable storage medium | |
| CN114522903A (en) | Container grabbing and placing method and device, electronic equipment and storage medium | |
| CN115830601A (en) | Box number identification method and device, hub card and drive control method and system thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |