Parcel position detection method and device, equipment and readable storage medium

Abstract

The invention discloses a parcel position detection method and device, equipment and a readable storage medium. The method comprises the following steps: generating a depth map according to height information of a wrapped point cloud, carrying out binarization processing on the depth map according to a foreground target to obtain a foreground region map, traversing each first pixel point corresponding to the foreground target in the depth map, determining a maximum pixel value and a minimum pixel value in a specified region taking the current first pixel point as a center, determining image segmentation points according to the maximum pixel value, the minimum pixel value, the first specified pixel threshold value and the pixel value of the current first pixel point, and segmenting the foreground region image according to the image segmentation points to obtain a first segmentation image, so that the parcels which are adhered in the height direction can be segmented into a plurality of independent parcels, therefore, the position information of each parcel can be obtained, and the probability of missing detection of parcel positions can be reduced.

Description

technical field [0001] The present application relates to the technical field of logistics intelligent sorting, in particular to a package position detection method, device, equipment and readable storage medium. Background technique [0002] In the logistics parcel sorting link, there is a parcel sorting equipment that can sort a large number of parcels entering the parcel sorting equipment into orderly parcels with consistent spacing before and after, ensuring that subsequent equipment can obtain information about individual parcels. One of the core technologies in the package sorting equipment is to locate the position of a single package, and then realize the separation of packages by controlling the movement of different motors. [0003] At present, the detection of the package location is mainly by extracting the edge of the image, and then obtaining multiple groups of candidate boxes according to the extracted edges, and then filtering the candidate boxes according to...

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Problems solved by technology

[0004] In view of this, the embodiment of the present invention solves the detection method of the package position in the prior art by providing a package position detection method, device, equipment and readable storage medium. When the package is stuck, the stuck package cannot be removed. Divided into multiple packages, it will cause the problem of missing the location of the package

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