A method for detecting transmission object information, a control system and a terminal device

Abstract

The present invention discloses a method for detecting information of a transport object, a control system, and a terminal device, which relate to the field of image processing technology and are intended to solve the problems of package collision and inaccurate package unloading in a sorting pipeline. The method for detecting information of a transport object comprises: receiving a two-dimensional image of the sorting pipeline to be detected acquired by a two-dimensional image acquisition device. Extracting a carrying area image and a buffer area image of the transport unit where the transport object is located from the two-dimensional image to be detected. Determine the transport object information based on the carrying area image and the buffer area image, the transport object information including the transport object position information and the transport object size information. The method for detecting information of a transport object, the control system, and the terminal device provided by the present invention are used to detect the transport object information in a sorting pipeline.

Description

Technical Field

[0001] The present invention relates to the field of image processing technology, and in particular to a method for detecting information of a transmission object, a control system and a terminal device. Background Art

[0002] With the rapid growth of e-commerce, the number of express parcels has increased rapidly, leading to the widespread use of parcel sorting lines. However, existing parcel sorting lines lack the ability to determine the location and area of each parcel, leading to issues such as package collisions and inaccurate unloading, which impact parcel sorting efficiency. Summary of the Invention

[0003] The object of the present invention is to provide a method, a control system and a terminal device for detecting information of a transport object in a sorting line, thereby avoiding problems of package collision and inaccurate unloading.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] In a first aspect, the present invention provides a method for detecting information about a transport object. The method is applied to a sorting line, wherein the sorting line includes a plurality of transport units, each of which has a carrying area and a buffer area. The method comprises:

[0006] Receive the two-dimensional image to be inspected of the sorting line acquired by a two-dimensional image acquisition device.

[0007] A carrying area image and a buffer area image of the transport unit where the transport object is located are extracted from the two-dimensional image to be detected.

[0008] The transmission object information is determined according to the carrying area image and the buffer area image, where the transmission object information includes transmission object position information and transmission object size information.

[0009] The method for detecting transport object information provided by the present invention determines transport object information by receiving a two-dimensional image of a sorting line to be detected captured by a two-dimensional image acquisition device and processing the two-dimensional image. Specifically, the method for detecting transport objects provided by the present invention requires only a single two-dimensional image acquisition device, eliminating the need for sensors or other structures. Therefore, the method for detecting transport objects provided by the present invention offers low detection costs and high deployment efficiency. Furthermore, compared to existing three-dimensional image processing speeds, the image processing speed of two-dimensional images is much faster, thereby improving the efficiency of detecting transport object information. Furthermore, in a sorting line, transport objects may be located on both the carrying area and the buffer zone, and the carrying area and buffer zone generally have different structures. For example, in actual applications, the carrying area may be a belt surface, and the buffer zone may be an accordion plate. Due to the complex edge lines of the accordion plate, if a portion of the transport object is located on the accordion plate, uniformly processing the two-dimensional image to be detected using a single image processing method will result in inaccurate transport object information. Therefore, in the method for detecting the transport object information of the present application, by extracting the carrying area image and buffer area image of the transport unit where the transport object is located from the two-dimensional image to be detected, and then determining the transport object information based on the carrying area image and buffer area image, the obtained transport object information is made more accurate. Based on this, and because the transport object information determined by the present invention includes the transport object position information and the transport object size information, that is, the present invention can also specifically provide the transport object position information and size information while detecting the transport object on the sorting line, making the method provided by the present invention more real-time and avoiding the occurrence of package collisions or inaccurate package unloading.

[0010] In summary, the transmission object information detection method provided by the present invention has low cost, high efficiency and high real-time performance.

[0011] In a second aspect, the present invention provides a terminal device. The terminal device includes a processor and a communication interface coupled to the processor. The processor is configured to execute a computer program or instructions to implement the method for detecting transmission object information described in the first aspect or any possible implementation of the first aspect.

[0012] Compared with the prior art, the beneficial effects of the terminal device provided by the present invention are the same as the beneficial effects of the transmission object information detection method described in the above technical solution, and will not be repeated here.

[0013] In a third aspect, the present invention provides a transmission object information control system, which includes: the terminal device described in the second aspect, and a two-dimensional image acquisition device communicating with the terminal device.

[0014] Compared with the prior art, the beneficial effects of the transmission object information control system provided by the present invention are the same as the beneficial effects of the transmission object information detection method described in the above technical solution, and will not be described in detail here.

[0015] In a fourth aspect, the present invention provides a computer storage medium having instructions stored therein, which, when executed, execute the method for detecting transmission object information described in the first aspect or any possible implementation of the first aspect.

[0016] Compared with the prior art, the beneficial effects of the computer storage medium provided by the present invention are the same as the beneficial effects of the transmission object information detection method described in the above technical solution, and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 This is a schematic diagram of the structure of a control system for transmitting object information according to an embodiment of the present invention;

[0019] Figure 2 1 is a flowchart of a method for detecting transmission object information according to an embodiment of the present invention;

[0020] Figure 3 A schematic diagram of a portion of the structure of an area of interest in an embodiment of the present invention;

[0021] Figure 4 A schematic diagram of a portion of the structure of a carrying area image and a buffer area image of a transmission unit in an embodiment of the present invention;

[0022] Figure 5 is a schematic diagram of a portion of the structure of an image processed in an embodiment of the present invention;

[0023] Figure 6 1 is a structural block diagram of a transmission object information detection device according to an embodiment of the present invention;

[0024] Figure 7 Schematic diagram of the hardware structure of the industrial control equipment in an embodiment of the present invention;

[0025] Figure 8 Schematic diagram of the structure of the chip in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] To facilitate a clear description of the technical solutions of the embodiments of the present invention, the words "first" and "second" are used in the embodiments of the present invention to distinguish between identical or similar items with substantially the same functions and effects. For example, the first threshold and the second threshold are merely used to distinguish between different thresholds and do not limit their order. Those skilled in the art will understand that the words "first" and "second" do not limit the quantity or execution order, and the words "first" and "second" do not necessarily mean different.

[0027] It should be noted that, in the present invention, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present invention should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0028] In the present invention, "at least one" refers to one or more, and "more" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can represent: a, b, c, the combination of a and b, the combination of a and c, the combination of b and c, or the combination of a, b and c, where a, b, c can be single or multiple.

[0029] With the rapid development of the e-commerce industry, parcel sorting lines have been widely used to cope with the rapid growth of express parcel volume nationwide. They are accurate, fast, convenient, and economical, greatly improving parcel sorting efficiency.

[0030] Parcel sorting lines include several key functional modules, including parcel identification, weighing, and sorting. Parcel sorting is a crucial component. Modern parcel sorting lines utilize advanced cross-belt sorting systems for sorting. Parcel collisions (parcels being loaded onto carts that haven't yet been unloaded) and inaccurate cross-belt unloading can often lead to missorting, which can reduce sorting efficiency. We first investigated the causes of these collisions and inaccurate unloading: These collisions occur because the system is unaware of existing parcels on carts arriving at the cross-belt; and inaccurate unloading occurs because the sorting system lacks information about the location and area of the parcels on the belt. Without this information, the system can experience collisions or unloading errors, impacting subsequent package supply and unloading, triggering a chain reaction. If the system has this information, it can precisely control the belt drive rate and start timing to ensure accurate unloading of parcels.

[0031] Therefore, how to effectively identify the parcels on the sorting line and effectively identify the location and area information of the parcels on the sorting line is an urgent problem that needs to be solved by technical personnel.

[0032] To address the above-mentioned issues, embodiments of the present invention provide a method for detecting transfer object information, which can be used to detect transfer object information on a sorting line. The sorting line can be, but is not limited to, a line for sorting express parcels or letters. For example, when the sorting line is a line for sorting express parcels, the transfer object is a parcel. For another example, when the sorting line is a line for sorting letters, the transfer object is a letter. This method for detecting transfer object information can be applied to a transfer object information control system.

[0033] Figure 1 FIG. 1 is a schematic diagram showing the structure of a transmission object information control system provided by an embodiment of the present invention. Figure 1 As shown, the transmission object information control system includes: a terminal device 100, and a two-dimensional image acquisition device 200 communicating with the terminal device 100. The two-dimensional image acquisition device 200 can be an industrial grayscale camera, a mobile terminal camera, a professional camera, etc.

[0034] like Figure 1 As shown, the terminal device 100 can be an industrial computer or a mobile phone or tablet computer capable of performing industrial computer functions. The terminal device 100 can control the image acquisition strategy of the two-dimensional image acquisition device 200. This image acquisition strategy can include a strategy for controlling the image acquisition time and the image acquisition range. For example, when the terminal device 100 communicates with the two-dimensional image acquisition device 200, such as an industrial grayscale camera, the terminal device 100 controls the two-dimensional image acquisition device 200 to capture images of the sorting line.

[0035] like Figure 1 As shown, the communication method between the terminal device and the two-dimensional image acquisition device can be wireless communication or wired communication. Wireless communication can be based on networking technologies such as WiFi and Zigbee. Wired communication can be based on a data line or power line carrier communication connection. The communication interface can be a standard communication interface. The standard communication interface can be a serial interface or a parallel interface. For example, the terminal device can use I2C (Inter-Integrated Circuit) bus communication or power line carrier communication technology to communicate with the two-dimensional image acquisition device.

[0036] Figure 2 The flow chart of a method for detecting transmission object information provided by an embodiment of the present invention is illustrated. The method for detecting transmission object information provided by an embodiment of the present invention is applied to Figure 1 The transmission object information control system shown in FIG. Figure 2 As shown, the transmission object information detection method can be executed by a terminal device, or by a chip used in the terminal device, or by a two-dimensional image acquisition device, or by a chip used in the two-dimensional image acquisition device. The following embodiments are described with the terminal device as the main execution subject.

[0037] like Figure 2 As shown, the above-mentioned method for detecting information of a transported object is applied to a sorting line. The sorting line includes a plurality of transport units, each of which has a carrying area and a buffer area. The method for detecting information of a transported object includes:

[0038] Step 101: The terminal device receives a two-dimensional image to be inspected of the sorting line acquired by a two-dimensional image acquisition device.

[0039] In practical applications, when the aforementioned sorting line is a sorting line for express parcels, and the two-dimensional image acquisition device is an industrial grayscale camera, the sorting line includes multiple transport carts, with a parcel being placed on one cart, and each cart comprising a belt surface that can be driven when sorting the parcel, and an accordion plate between two adjacent carts. In this case, the industrial grayscale camera can be used to capture a two-dimensional image to be detected of the sorting line. The industrial grayscale camera then transmits the captured two-dimensional image information to a terminal device, which receives the two-dimensional image to be detected of the sorting line transmitted by the industrial grayscale camera. It should be understood that the two-dimensional image to be detected here includes information about multiple transport units on the sorting line, information about corresponding transport objects located on these multiple transport units, and irrelevant background information. It is important to note that when using an industrial grayscale camera for image acquisition, capturing only a single package is generally difficult due to factors such as the uncertain position of express packages on the belt surface and the varying sizes of express packages. Therefore, the two-dimensional image to be detected captured by the industrial grayscale camera will include the express package and part of the space surrounding the express package. Image processing of this captured image can be used to obtain the express package's location and size information. At the same time, the field of view of the two-dimensional image acquisition device must be fixed to prevent irrelevant information in the background (the area outside the multiple transport carts) and fluctuations in grayscale values from affecting the subsequent express package location and size information.

[0040] During the actual acquisition process, due to factors such as deviations in the installation of the two-dimensional image acquisition equipment and changes in the on-site environment, the captured two-dimensional image to be detected often does not perfectly align with the set image coordinate system. Furthermore, the captured two-dimensional image to be detected often has problems such as excessively low or high brightness and insufficient contrast. Therefore, it is necessary to adjust the captured two-dimensional image to improve the accuracy of identifying the transmitted object. At the same time, in order to increase the speed of identifying the transmitted object, it is necessary to adjust the size of the captured two-dimensional image to be detected. Based on this, the image parameters of the above-mentioned two-dimensional image to be detected can be adjusted to obtain an enhanced image. It should be understood that the image parameters here include at least one of the rotation angle, image brightness, image size, and image contrast.

[0041] Step 102: The terminal device extracts the carrying area image and the buffer area image of the transmission unit where the transmission object is located from the two-dimensional image to be detected.

[0042] Figure 3 The following is a partial structural diagram of the region of interest in the method for detecting transmission object information provided by an embodiment of the present invention. Figure 3As shown, the terminal device may first segment the two-dimensional image to be detected to obtain the region of interest A. The specific implementation process may be: segmenting the two-dimensional image to be detected based on the calibrated position of the transmission unit to obtain the region of interest A. It should be noted that in order to prevent environmental changes and deviations in the installation of the two-dimensional image acquisition device from affecting the detection of the transmitted object information, the two-dimensional image to be detected may be the enhanced image described above.

[0043] In practical applications, such as Figure 3 As shown, when the load-bearing area B is the belt surface and the buffer zone C is the accordion plate, the accordion plate and the belt surface are bolted together. The accordion plate may include an upper accordion plate located above the belt surface and a lower accordion plate located below the belt surface. In this case, the method for obtaining the region of interest A may be implemented by selecting the distance between the left and right screws of the upper accordion plate as a calibration value to crop the enhanced image to obtain the region of interest A. It should be understood that the type of calibration value here can be selected based on actual circumstances. For example, the distance between the upper and lower accordion plates may be selected as the calibration value.

[0044] like Figure 3 As shown, in actual applications, the conveying object Z may appear partially on the belt surface and partially on the upper and lower accordion plates. Therefore, the aforementioned region of interest A can be the area encompassing the upper and lower accordion plates and the belt surface, that is, the region of interest A is the area where the conveying unit containing the conveying object Z is located. By segmenting the background region D unrelated to the conveying object Z in the two-dimensional image to be detected and retaining the region of the conveying unit containing the conveying object Z, the background region D unrelated to the conveying object Z can be eliminated, effectively preventing the background region D from affecting the detection of the conveying object Z information and improving the accuracy of the detection results. In actual processing, the background region D may cause interference from sudden noise and high grayscale complexity.

[0045] Figure 4 The following is a partial structural diagram of the carrying area image and the buffer area image of the transmission unit in the transmission object information detection method provided by the embodiment of the present invention. Figure 4 As shown, the terminal device detects the region of interest A to obtain a carrying area image A1 and a buffer area image A2 of the transmission unit where the transmission object is located. Specifically, the terminal device can determine a gradient intensity map based on the region of interest A. The gradient intensity map includes a gradient magnitude map and a gradient angle map. The gradient intensity map of the region of interest A can be implemented based on a Sobel operator, a Robert operator, a Prewitt operator, an Isotropic Sobel operator, or a Laplace operator.

[0046] For example, when the algorithm for determining the gradient intensity map is the Sobel operator, the process of calculating the gradient intensity map of the area of interest using the Sobel operator can be specifically as follows: a coordinate system is established in the image of the area of interest, and a set of 7×7 Sobel operators are used to respectively calculate the x-direction gradient map and the y-direction gradient map of the carrier area image, and the gradient amplitude map and the gradient angle map are calculated based on these two gradient maps, that is, the gradient intensity map of the area of interest.

[0047] like Figure 4 As shown, after obtaining the gradient intensity map, the terminal device can perform edge detection on the gradient intensity map to obtain a dividing line. This dividing line is the dividing line between the carrying area image A1 and the buffer area image A2 of the transmission unit where the transmission object is located. The specific implementation process of obtaining the dividing line can be: the terminal device can first binarize the above-mentioned gradient amplitude map to obtain a binary gradient map. For example, the above-mentioned gradient amplitude map can be binarized using a threshold of 255 to obtain a binary gradient map. Then, the terminal device determines the dividing line based on the binarized gradient map and the gradient angle map.

[0048] In practical applications, the method for obtaining the dividing line can be as follows: first, based on the binary gradient map and the aforementioned gradient angle map, the dividing point between the load area image and the buffer area image is calculated. Specifically, the Canny algorithm can be used to search for edges on the binary gradient map to obtain an edge map. Then, the gradient angle map is used to determine the gradient angle dp of each edge pixel p in the edge map, retaining edge points whose gradient angle satisfies |dp–(-π / 2)| <= π / 10 or |dp-π / 2| <= π / 10. For each retained edge point p', the corresponding edge pixel q (gradient dq at that point) is searched along the gradient direction (dp'). If the directions of dq are approximately opposite (i.e., dq = -dp' ± π / 6), the distance |p'-q| is calculated and assigned to all points along the path, which is the pixel width of the path. If the direction of dp' does not satisfy dq = -dp' ± π / 6, then the path is discarded and the previous step is repeated until the pixel width values on all non-discarded paths are calculated. Then, the terminal device can search for a connected domain with a pixel width value of H ± theta (theta is a threshold) based on the calibration value H of the two-dimensional image to be detected (since each path has multiple edge pixels, the pixel width value H ± theta can also be understood as the width W of each edge pixel point is greater than or equal to H-theta and less than or equal to H + theta.). Then, the terminal device can obtain the boundary line between the buffer zone and the load-bearing area based on the connected domain. It should be noted that the above calibration value H can be set according to actual conditions. For example, when the buffer zone includes the upper accordion plate and the lower accordion plate and the load-bearing area is the belt surface, the calibration value H can be set to the width of the steel plate connecting the accordion plate and the belt surface.

[0049] like Figure 4 As shown, after obtaining the dividing line, the terminal device can partition the interest area A according to the dividing line, and obtain the carrying area image A1 and the buffer area image A2 of the transmission unit where the transmission object is located.

[0050] Step 103: The terminal device determines the transmission object information based on the load area image and the buffer area image. This transmission object information includes the transmission object's location and size. Specifically, because the buffer area image and the load area image have different edge lines, different processing methods are used for the load area image and the buffer area image to improve the accuracy of transmission object information detection.

[0051] Figure 5 The following is a schematic diagram illustrating a portion of the structure of the processed image in the method for detecting the information of the transmission object provided by the embodiment of the present invention. Figure 5 As shown, the processing of the above-mentioned load-bearing area image A1 can specifically include: the terminal device performs filtering processing on the load-bearing area image A1 to obtain a filtered image. Then, the terminal device performs threshold processing on the target pixel points of the filtered image to obtain a thresholded image. It should be understood that the grayscale value k of the target pixel point here should satisfy kmin<k<kmax. Finally, the terminal device performs morphological processing and inverse processing on the thresholded image to obtain a load-bearing area mask image with the transmission object information. It should be noted that the maximum value (kmax) of the grayscale value and the minimum value (kmin) of the grayscale value here can be set according to actual conditions.

[0052] In practical applications, such as Figure 5 As shown, the terminal device can first perform median filtering and adaptive filtering on the load-bearing area image to obtain a filtered image. High and low thresholds are then applied to the filtered image, with pixels with grayscale values greater than the high threshold and less than the low threshold set to 0, to obtain a thresholded image. Finally, an opening and closing operation is performed on the thresholded image, followed by a reverse process to obtain a load-bearing area mask image containing the transmission object information.

[0053] For example, Figure 5 As shown, the processing of the buffer image A2 may specifically include: the terminal device performs edge processing on the buffer image A2 to obtain an edge image. Then, the terminal device obtains a connected component image based on the gradient angle map and the edge image of the buffer image A2.

[0054] like Figure 5As shown, the method for obtaining a connected domain image may specifically include: the terminal device performs edge filtering on the edge image based on the gradient angle map of the buffer image A2 to obtain an edge filtering map. The terminal device then performs vertical connectivity processing on the edge filtering map based on the gradient angle map of the buffer image A2 to obtain a connected domain image.

[0055] like Figure 5 As shown, after obtaining the connected domain image, the terminal device performs morphological processing and inverse processing on the connected domain image to obtain a buffer mask image with transmission object information.

[0056] In practical applications, when the buffer area is an accordion plate, due to the material of the accordion plate, reflections often occur, affecting the identification of the transmitted object information. Therefore, it is necessary to perform thresholding on the buffer mask image containing the transmitted object information. The thresholding method may include: the terminal device performs thresholding on the upper accordion plate image and the lower accordion plate image respectively, and if the pixel value is greater than a high threshold, it is set to 0.

[0057] like Figure 5 As shown, after obtaining the processing results of the aforementioned carrying area image A1 and buffer area image A2, the terminal device splices the carrying area mask image containing the transmission object information and the buffer area mask image containing the transmission object information to obtain a spliced image. The terminal device then performs morphological processing on the spliced image to obtain a morphological image. Finally, the terminal device determines the transmission object information based on the morphological image. The algorithm for determining the transmission object information here can be a maximum enclosing rectangle algorithm.

[0058] In practical applications, such as Figure 5 As shown, the terminal device can splice the processed results of buffer image A2 with those of carrier image A1 to obtain a spliced image. Then, dilation, erosion, and gap filling are performed on this spliced image to obtain a morphological image. Finally, the morphological image is processed using the maximum enclosing rectangle algorithm to determine the position (i.e., morphological midpoint) and area of the transport object, thereby ensuring sorting accuracy on the sorting line.

[0059] Based on the above structure and method, it can be seen that the transmission object information detection method provided in the embodiment of the present invention determines the transmission object information by receiving a two-dimensional image of the sorting line to be detected captured by a two-dimensional image acquisition device and processing the two-dimensional image to be detected. That is, the transmission object detection method provided by the present invention only requires a two-dimensional image acquisition device and does not require the installation of sensors or other structures. Therefore, the transmission object detection method provided by the present invention has low detection costs and high deployment efficiency. Furthermore, compared to the image processing speed of existing three-dimensional images, the image processing speed of two-dimensional images is faster, thereby improving the detection efficiency of transmission object information. Furthermore, the transmission object information determined by the present invention includes transmission object position information and transmission object size information. That is, the present invention can also provide specific transmission object position information and size information while detecting the transmission object on the sorting line. This makes the method provided by the present invention more real-time and can avoid the occurrence of package collisions or inaccurate unloading.

[0060] The above mainly introduces the solution provided by the embodiment of the present invention from the perspective of the terminal device. It can be understood that in order to realize the above functions, the terminal device includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and steps of the various examples described in the embodiments disclosed herein, the embodiments of the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0061] In the embodiments of the present invention, the terminal device can be divided into functional modules according to the above-mentioned method examples. For example, each functional module can be divided according to each function, or two or more functions can be integrated into a single processing module. The above-mentioned integrated modules can be implemented in the form of hardware or software functional modules. It should be noted that the module division in the embodiments of the present invention is illustrative and is only a logical functional division. In actual implementation, other division methods may be used.

[0062] In the case of using the corresponding integrated unit, Figure 6 FIG. 4 is a block diagram showing a structure of a transmission object information detection device 400 provided in an embodiment of the present invention. The transmission object information detection device 400 may be Figure 1 The terminal device 100 shown can also be used for Figure 1 The chip of the terminal device 100 is shown.

[0063] like Figure 6As shown, the transmission object information detection device 400 includes: a processing unit 401 and a communication unit 402. Optionally, the transmission object information detection device 400 may further include a storage unit 403 for storing program codes and data of the transmission object information detection device 400.

[0064] In one example, Figure 6 As shown, the communication unit 402 is used to support the transmission object information detection device 400 to perform the above embodiment. Figure 1 The terminal device 100 shown executes step 101.

[0065] like Figure 6 As shown, the processing unit 401 is used to support the transmission object information detection device 400 to perform the above embodiment. Figure 1 The terminal device 100 shown executes step 102 .

[0066] Among them, such as Figure 6 As shown, the processing unit 401 can be a processor or controller, for example, a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute the various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication unit 402 can be a transceiver, a transceiver circuit or a communication interface, and the like. The storage unit 403 can be a memory.

[0067] like Figure 6 As shown, when the processing unit 401 is a processor, the communication unit 402 is a transceiver, and the storage unit is a memory, the transmission object information detection device 400 involved in the embodiment of the present invention can be Figure 7 The hardware structure diagram of the industrial control device 500 is shown.

[0068] like Figure 7 As shown, the industrial control device 500 provided by the embodiment of the present invention includes a processor 510 and a communication interface 530. The communication interface 530 is coupled to the processor 510.

[0069] like Figure 7As shown, the processor 510 can be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling program execution of the present invention. The communication interface 530 can be one or more. The communication interface 530 can use any device, such as a transceiver, for communicating with other devices or a communication network.

[0070] like Figure 7 As shown, the industrial control device 500 may further include a communication line 540. The communication line 540 may include a path for transmitting information between the components.

[0071] Optional, such as Figure 7 As shown, the industrial control device 500 may further include a memory 520. The memory 520 is used to store computer instructions for executing the solution of the present invention, and is controlled by the processor 510. The processor 510 is used to execute the computer instructions stored in the memory 520, thereby implementing the transmission object information detection method provided by the embodiment of the present invention.

[0072] like Figure 7 As shown, the memory 520 can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these. The memory 520 can exist independently and be connected to the processor 510 via a communication line 540. The memory 520 can also be integrated with the processor 510.

[0073] Optionally, the computer instructions in the embodiment of the present invention may also be referred to as application program codes, which is not specifically limited in the embodiment of the present invention.

[0074] In a specific implementation, as an embodiment, Figure 7As shown, the processor 510 may include one or more CPUs, such as Figure 7 CPU0 and CPU1 in.

[0075] In a specific implementation, as an embodiment, Figure 7 As shown, the industrial control device 500 may include multiple processors 510, such as Figure 7 The processor 510 and the processor 550 in the embodiment of the present invention are shown in FIG. Each of these processors can be a single-core processor or a multi-core processor.

[0076] Figure 8 This is a schematic diagram of the structure of the chip provided by the embodiment of the present invention. Figure 8 As shown, the chip 600 includes one or more (including two) processors 610 and a communication interface 620 .

[0077] Optional, such as Figure 8 As shown, the chip 600 further includes a memory 630, which may include a read-only memory and a random access memory, and provides operation instructions and data to the processor 610. A portion of the memory may also include a non-volatile random access memory (NVRAM).

[0078] In some embodiments, as Figure 8 As shown, the memory 630 stores the following elements, execution modules or data structures, or a subset thereof, or an extended set thereof.

[0079] In the embodiment of the present invention, Figure 8 As shown, the processor 610 executes corresponding operations by calling operation instructions stored in the memory (the operation instructions may be stored in the operating system).

[0080] like Figure 8 As shown, the processor 610 controls the processing operations of any one of the terminal devices. The processor 610 may also be referred to as a central processing unit (CPU).

[0081] like Figure 8 As shown, the memory 630 may include a read-only memory and a random access memory, and provides instructions and data to the processor 610. A portion of the memory 630 may also include NVRAM. For example, in an application, the memory, the communication interface, and the memory are coupled together through a bus system, wherein the bus system may include a power bus, a control bus, and a status signal bus in addition to a data bus. However, for the sake of clarity, the following description is omitted: Figure 8 Various buses are labeled as bus system 640 .

[0082] The methods disclosed in the above embodiments of the present invention can be applied to or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in the processor or by software instructions. The above processor may be a general-purpose processor, a digital signal processor (DSP), an ASIC, a field-programmable gate array (FPGA), or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The methods, steps, and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in conjunction with the embodiments of the present invention can be directly implemented and executed by a hardware decoding processor or by a combination of hardware and software modules in the decoding processor. The software modules can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. The storage medium is located in a memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0083] An embodiment of the present invention further provides a computer-readable storage medium having instructions stored therein, which, when executed, implement the functions executed by the terminal device in the above embodiment.

[0084] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer programs or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present invention are performed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a terminal, a user device, or other programmable device. The computer program or instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions may be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; an optical medium, such as a digital video disc (DVD); or a semiconductor medium, such as a solid-state drive (SSD).

[0085] Although the present invention is described herein in conjunction with various embodiments, in the process of implementing the claimed invention, those skilled in the art can understand and implement other variations of the disclosed embodiments by reviewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple situations. A single processor or other unit can implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0086] Although the present invention has been described with reference to specific features and embodiments thereof, it will be apparent that various modifications and combinations may be made thereto without departing from the spirit and scope of the invention. Accordingly, this specification and drawings are merely illustrative of the invention as defined by the appended claims and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the invention. It will be apparent that various modifications and variations may be made to the present invention by those skilled in the art without departing from the spirit and scope of the invention. Thus, the present invention is intended to include such modifications and variations as fall within the scope of the claims of the present invention and their equivalents.

Claims

1. A method for detecting transmission target information, characterized in that: Applied to a sorting line, the sorting line includes a plurality of conveying units, each conveying unit having a carrying area and a buffer area, and the conveying object information detection method includes: receiving a two-dimensional image to be inspected of the sorting line acquired by a two-dimensional image acquisition device; Extracting a carrying area image and a buffer area image of a transport unit where the transport object is located from the two-dimensional image to be detected; Determining the transmission object information according to the carrying area image and the buffer area image, the transmission object information including the transmission object position information and the transmission object size information, including: Performing filtering processing on the carrying area image to obtain a filtered image; performing thresholding processing on target pixels of the filtered image to obtain a thresholded image; the grayscale value k of the target pixel satisfies kmin<k<kmax; performing morphological processing and inverse processing on the thresholded image to obtain a carrying area mask image having information about the transmission object; Performing edge processing on the buffer image to obtain an edge image; obtaining a connected domain image based on the gradient angle map and the edge image of the buffer image; performing morphological processing and inverse processing on the connected domain image to obtain a buffer mask image having information about the transmitted object; performing a splicing process on the carrier area mask image having the transmission object information and the buffer area mask image having the transmission object information to obtain a spliced image; performing morphological processing on the spliced image to obtain a morphological image; The transmission target information is determined according to the morphological image.

2. The method for detecting transmission target information according to claim 1, wherein: Before extracting the carrying area image and the buffer area image of the transport unit where the transport object is located from the two-dimensional image to be detected, the transport object information detection method further includes: The image parameters of the two-dimensional image to be detected are adjusted to obtain an enhanced image.

3. The method for detecting transmission target information according to claim 2, wherein: The image parameters include at least one of a rotation angle, image brightness, image size, and image contrast.

4. The method for detecting transmission target information according to claim 1, wherein: Extracting a carrying area image and a buffer area image of a transport unit where the transport object is located from the two-dimensional image to be detected includes: Segmenting the two-dimensional image to be detected to obtain a region of interest, where the region of interest is a transmission unit containing a transmission object; The interest region is detected to obtain a carrying area image and a buffer area image of the transmission unit where the transmission object is located.

5. The method for detecting transmission target information according to claim 4, wherein: The segmenting process of the two-dimensional image to be detected to obtain a region of interest includes: The two-dimensional image to be detected is segmented according to the calibrated position of the transmission unit to obtain a region of interest.

6. The method for detecting transmission target information according to claim 4, wherein: The detecting the region of interest to obtain a carrying area image and a buffer area image of a transmission unit where the transmission object is located includes: Determine a gradient intensity map according to the region of interest, wherein the gradient intensity map includes a gradient amplitude map and a gradient angle map; Performing edge detection on the gradient intensity map to obtain a boundary line, where the boundary line is a boundary line between a carrying area image and a buffer area image of a transmission unit where the transmission object is located; The region of interest is partitioned according to the dividing lines to obtain a carrying area image and a buffer area image of the transport unit where the transport object is located.

7. The method for detecting transmission target information according to claim 6, wherein: The algorithm for determining the gradient intensity map is a Sobel operator, a Robert operator, a Prewitt operator, an Isotropic Sobel operator or a Laplace operator, and the edge detection method is a Canny algorithm.

8. The method for detecting transmission target information according to claim 6, wherein: The performing edge detection on the gradient intensity map to obtain a boundary line includes: performing binarization processing on the gradient amplitude map to obtain a binarized gradient map; A dividing line is determined according to the binary gradient map and the gradient angle map.

9. The method for detecting transmission target information according to claim 6, wherein: The dividing line has a plurality of edge pixel points, and a width W of each edge pixel point is greater than or equal to H-theta and less than or equal to H+theta.

10. The method for detecting transmission target information according to claim 1, wherein: The step of obtaining a connected domain image based on the gradient angle map of the buffer image and the edge image includes: Performing edge filtering on the edge image according to the gradient angle map of the buffer image to obtain an edge filtering map; The edge screening image is subjected to upper and lower connection processing according to the gradient angle image of the buffer image to obtain a connected domain image.

11. The method for detecting transmission target information according to claim 1, wherein: The algorithm for determining the transmission object information is a maximum bounding rectangle algorithm; and / or, Before splicing the carrier area mask image with the transmission object information and the buffer area mask image with the transmission object information, the transmission object information detection method further includes: A thresholding process is performed on the buffer mask image having the transmission object information.

12. A terminal device, characterized in that: include: A processor and a communication interface coupled to the processor; the processor is used to run a computer program or instruction to execute the transmission object information detection method according to any one of claims 1 to 11.

13. A transmission object information control system, characterized in that: include: The terminal device according to claim 12; and a two-dimensional image acquisition device communicating with the terminal equipment.

14. A computer storage medium, characterized in that The computer storage medium stores instructions, and when the instructions are executed, the transmission object information detection method according to any one of claims 1 to 11 is executed by the terminal device.

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