Pallet delivery determination method, system and intelligent device

Abstract

The present invention discloses a method, system and intelligent device for determining the conveyance of a pallet, the method comprising obtaining the initial point position corresponding to the triangular icon on the limit block in the initial state; obtaining the moving point position corresponding to the triangular icon on the limit block after the limit block moves; and controlling a driving mechanism to drive the pallet to move when the distance between the moving point and the initial point in the horizontal direction is greater than a preset threshold. The present invention obtains the distance between the moving point position corresponding to the triangular icon on the limit block and the initial point position corresponding to the triangular icon on the limit block in the horizontal direction, and when the distance between the moving point and the initial point in the horizontal direction is greater than a preset threshold, controls a driving mechanism to drive the pallet to move, and then transfers the detection card in the pallet to the detection mechanism for detection and processing, and can determine the movement displacement of the triangular icon and thus realize the determination of the conveyance of the pallet, without the need to manually confirm the position of the detection card in the pallet, thereby effectively improving the detection efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of detection instruments, and in particular to a pallet conveyance determination method, system and intelligent device. Background Art

[0002] When conducting a test, a traditional immunoassay analyzer needs to manually push the tray after placing the test card in the tray, which is inconvenient and affects the test efficiency. At this time, it is necessary to confirm the status of the test card in the tray, and then manually control the pushing mechanism to move the tray to the test position to test the test object on the test card, which reduces the test efficiency.

[0003] Therefore, it is urgent to propose a pallet conveying determination method to solve the problem raised. Summary of the invention

[0004] Based on this, it is necessary to provide a pallet conveyance determination method, system and intelligent device to address the shortcomings of the existing technology, which can determine the movement displacement of the triangle icon and thus realize the determination of the pallet conveyance, without the need for manual confirmation of the position of the detection card in the pallet, thereby effectively improving the detection efficiency.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] In a first aspect, a method for determining a pallet conveyance is provided, which comprises the following steps:

[0007] Step S110, obtaining the first image img1 of the triangle icon on the initial state limit block;

[0008] Step S120, performing image processing on the first image img1 to obtain a plurality of initial quasi-suspected edge lines corresponding to the triangle icon in the first image img1;

[0009] Step S130, obtaining an initial set of suspected edge lines corresponding to the triangle icon by comparing the angle between the initial quasi-suspicious edge line and the horizontal line with the initial preset angle;

[0010] Step S140, comparing the angles between the two initial suspected edge lines in the initial suspected edge line set corresponding to the triangle icon with a third preset threshold, and when the angles between the two initial suspected edge lines in the initial suspected edge line set corresponding to the triangle icon are not higher than the third preset threshold, setting the two initial suspected edge lines in the initial suspected edge line set as an initial quasi-real edge line combination;

[0011] Step S150, obtaining an initial real edge line combination corresponding to the triangle icon, wherein two initial real edge lines in the initial real edge line combination are respectively a first initial real edge line and a second initial real edge line;

[0012] Step S160, obtaining the initial point position corresponding to the triangle icon on the initial state limit block; wherein the initial point position is the intersection position of the first initial real sideline and the second initial real sideline;

[0013] Step S170, obtaining a fourth image img4 of the triangle icon on the limiting block after the limiting block moves;

[0014] Step S180, obtaining the moving point position corresponding to the triangle icon on the limiting block after the limiting block moves according to the fourth image img4;

[0015] Step S190, obtain the distance in the horizontal direction between the moving point position corresponding to the triangle icon on the limit block and the initial point position corresponding to the triangle icon on the limit block, and when the distance in the horizontal direction between the moving point and the initial point is greater than a preset threshold, control the driving mechanism to drive the tray to move.

[0016] In a second aspect, a pallet conveying distance determination system is provided, comprising:

[0017] An image acquisition module, used for acquiring a first image img1 of the triangular icon on the limiting block in an initial state and acquiring a fourth image img4 of the triangular icon on the limiting block after the limiting block moves;

[0018] An initial point determination module is used to perform image processing on the first image img1 to obtain multiple initial quasi-suspected edge lines corresponding to the triangle icon in the first image img1, to obtain an initial suspected edge line set corresponding to the triangle icon by comparing the angle between the initial quasi-suspected edge line and the horizontal line with the initial preset angle, to compare the angle between each two initial suspected edge lines in the initial suspected edge line set corresponding to the triangle icon with a third preset threshold value, and when the angle between each two initial suspected edge lines in the initial suspected edge line set corresponding to the triangle icon is not higher than the third preset threshold value, to set two initial suspected edge lines in the initial suspected edge line set as an initial quasi-real edge line combination, to obtain an initial real edge line combination corresponding to the triangle icon, wherein the two initial real edge lines in the initial real edge line combination are respectively the first initial real edge line and the second initial real edge line, and to obtain the initial point position corresponding to the triangle icon on the initial state limit block;

[0019] A moving point determination module, used for obtaining the moving point position corresponding to the triangle icon on the limiting block after the limiting block moves according to the fourth image img4;

[0020] The calculation control module is used to obtain the distance in the horizontal direction between the moving point position corresponding to the triangle icon on the limit block and the initial point position corresponding to the triangle icon on the limit block. When the distance between the moving point and the initial point in the horizontal direction is greater than a preset threshold, the driving mechanism is controlled to drive the tray to move.

[0021] In a third aspect, an intelligent device is provided, which includes a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the above-mentioned pallet conveyance determination method when executing the computer program.

[0022] In a fourth aspect, a tray conveying device is provided, which includes a counting board and a measuring component, wherein the counting board is provided with a plurality of cavities, and two adjacent cavities are separated by a transparent partition, and a hemoglobin sample to be tested is contained in one of the cavities, and the counting board and the measuring component can move relative to each other; the measuring component includes an emitter and a photoelectric conversion module, and the emitter and the photoelectric conversion module are respectively arranged on both sides of the counting board, for testing the transmittance of different positions of the counting board.

[0023] In summary, the pallet conveyance determination method, system and intelligent device of the present invention obtain the distance in the horizontal direction between the moving point position corresponding to the triangular icon on the limit block and the initial point position corresponding to the triangular icon on the limit block. When the distance between the moving point and the initial point in the horizontal direction is greater than a preset threshold, the driving mechanism is controlled to move the pallet, and then the detection card in the pallet is transferred to the detection mechanism for detection and processing. The movement displacement of the triangular icon can be determined to realize the determination of the pallet conveyance, without manual confirmation of the position of the detection card in the pallet, thereby effectively improving the detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a structural schematic diagram of a pallet conveying device provided by an embodiment of the present invention;

[0025] Figure 2 It is a structural schematic diagram of a pallet conveying device provided by an embodiment of the present invention after the identification mechanism is hidden;

[0026] Figure 3 is a structural schematic diagram of a tray provided by an embodiment of the present invention;

[0027] Figure 4 is an exploded schematic diagram of a tray provided by an embodiment of the present invention;

[0028] Figure 5 It is a flow chart of a pallet delivery determination method provided by an embodiment of the present invention;

[0029] Figure 6 A structural block diagram of a pallet conveying distance determination system provided by an embodiment of the present invention;

[0030] Figure 7 A structural block diagram of an intelligent device provided by an embodiment of the present invention;

[0031] Figure 8A schematic diagram of the principle of the initial preset edge line corresponding to the triangular icon provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0033] Figures 1 to 4 FIG. 1 shows a schematic diagram of a structure of a pallet conveying device applicable to a pallet conveying determination method and system and an intelligent device provided in an embodiment of the present invention. Figures 1 to 4 As shown, the tray conveying device includes a tray 10 and a driving mechanism 20. The tray 10 is provided with a bracket 11, and the bracket 11 is used to place the detection card 30. A limiting mechanism 40 is provided on one side of the bracket 11 on the tray 10, and the limiting mechanism 40 is used to limit the detection card 30 so that the detection card 30 is stably clamped in the bracket 11.

[0034] The limiting mechanism 40 includes a spring assembly 41 and a limiting block 42, the limiting block 42 is connected to the spring assembly 41, and a triangular icon identification mark 421 is designed on the upper surface of the limiting block 42 to facilitate the identification processing by the identification mechanism 50 above the tray; when the detection card 30 is placed in the bracket 11, one end of the detection card 30 abuts against the limiting block 42, thereby driving the limiting block 42 to move, and the triangular icon also moves with the limiting block 42. When the displacement of the triangular icon reaches a preset threshold, the driving mechanism 20 drives the tray 10 to move as a whole, and then transfers the detection card 30 in the tray 10 to the detection mechanism for detection and processing; because the limiting block 42 abuts against one side of the detection card 30, the detection card 30 can be firmly stuck in the bracket 11.

[0035] In one embodiment, the spring assembly 41 includes a fixed block 411, at least one guide shaft 412 extending along the end of the fixed block 411 toward the detection card 30, and a spring member 413 sleeved on the guide shaft 412. The fixed block 411 is placed on the tray 10, and one end of the spring member 413 protrudes out of the end of the guide shaft 412. The guide shaft 412 and the spring member 413 are inserted into the limit block 42, and the spring member 413 is used to provide the force required for resetting the limit block 42.

[0036] In one embodiment, the driving mechanism 20 includes a driving component 21 and a transmission component 22. The transmission component 22 is connected to the tray 10. The driving component 21 includes a driving motor 211 and a driving wheel 212. The transmission component 22 is wound around the driving wheel 212. The driving motor 211 drives the driving wheel 212 to rotate, thereby causing the transmission component 22 to move, thereby driving the tray 10 to move. In this embodiment, the transmission component 22 can be a transmission belt or a transmission chain structure.

[0037] Alternatively, the driving assembly 21 can be configured as a driving cylinder structure, and the transmission assembly 22 can be configured as a transmission rod structure. By driving the transmission assembly 22 to move back and forth through the driving cylinder, the effect of driving the tray 10 to move back and forth can also be achieved.

[0038] When the detection card 30 is placed in the bracket 11, one end of the detection card 30 abuts against the limit block 42, thereby driving the limit block 42 to move, and the triangle icon also moves with the limit block 42. When the displacement of the triangle icon reaches a preset threshold, the driving mechanism 20 drives the tray 10 to move as a whole, and then transfers the detection card 30 in the tray 10 to the detection mechanism for detection and processing.

[0039] Figure 5 is a flow chart of a first pallet delivery determination method provided by an embodiment of the present invention, such as Figure 5 As shown, the pallet delivery determination method includes steps S110 to S190, which are specifically as follows:

[0040] Step S110, obtaining the first image img1 of the triangular icon on the limit block 42 in the initial state; wherein the first image img1 is an RGB image, and in the initial state, the detection card 30 is not placed in the bracket 11 of the tray 10, the limit block 42 and the spring member 413 are in the initial state, and the spring member 413 also produces elastic deformation; at this time, the image acquisition module in the conveying determination system of the tray 10 starts to run. In this embodiment, the image acquisition module is a CCD vision system, which can be placed on the recognition mechanism, and the recognition mechanism is above the limit block 42. The triangular icon on the limit block 42 is within the recognition range of the image acquisition module, and the image acquisition module shoots the triangular icon on the limit block 42, thereby obtaining the first image img1 of the triangular icon on the limit block 42 in the initial state.

[0041] Step S120: performing image processing on the first image img1 to obtain a plurality of initial quasi-suspected edge lines corresponding to the triangle icon in the first image img1.

[0042] Specifically, the method of step S120 includes the following steps:

[0043] Step S121, converting the first image img1 into the second image img2 through preliminary image processing; wherein the second image img2 is a grayscale image;

[0044] Step S122, using the canny edge detection algorithm to extract edge features corresponding to the triangle icon in the second image img2 to obtain a third image img3;

[0045] Step S123: Use Hough transform to perform straight line detection on the third image img3 to obtain multiple initial quasi-suspected edge lines corresponding to the triangle icon.

[0046] Step S130, by comparing the angle between the initial quasi-suspected edge line and the horizontal line with the initial preset angle, obtain an initial suspected edge line set corresponding to the triangular icon; wherein the initial suspected edge line in the initial suspected edge line set is an initial quasi-suspected edge line that is nearly coincident with the initial preset edge line corresponding to the triangular icon, and the initial preset edge line corresponding to the triangular icon includes a first edge line, a second edge line and a third edge line, such as Figure 8 shown.

[0047] Specifically, the method of step S130 includes the following steps:

[0048] Step S131, obtaining the first initial preset angle and the second initial preset angle between the initial preset sidelines of the triangle icon and the horizontal line respectively; establishing a rectangular coordinate system, the x-axis of the rectangular coordinate system is set parallel to the horizontal line, the initial preset sidelines corresponding to the triangle icon include the first sideline, the second sideline and the third sideline, the angles between the first sideline and the second sideline and the horizontal line are the first initial preset angle and the second initial preset angle respectively, the third sideline is set perpendicular to the horizontal line, in this embodiment, the shape of the triangle icon is an acute triangle, the x-axis of the rectangular coordinate system is set parallel to the conveying direction of the tray 10, and the initial preset sidelines are taken as the first sideline and the second sideline for example;

[0049] Step S132, obtaining angle values ​​between a plurality of initial quasi-suspected edge lines and a horizontal line;

[0050] Step S133, compare the angle values ​​between multiple initial quasi-suspected edge lines and the horizontal line with the first initial preset angle and the second initial preset angle respectively; when the absolute value of the difference between the angle value between the initial quasi-suspected edge line and the horizontal line and the first initial preset angle is not higher than the first preset threshold, set the initial quasi-suspected edge line as the first initial suspected edge line; when the absolute value of the difference between the angle value between the initial quasi-suspected edge line and the horizontal line and the first initial preset angle is not higher than the second preset threshold, set the initial quasi-suspected edge line as the second initial suspected edge line; the first initial suspected edge line and the second initial suspected edge line together constitute the initial suspected edge line set corresponding to the triangle icon.

[0051] Step S140, compare the angles between each two initial suspected edge lines in the initial suspected edge line set corresponding to the triangle icon with a third preset threshold; when the angles between each two initial suspected edge lines in the initial suspected edge line set corresponding to the triangle icon are not higher than the third preset threshold, set the two initial suspected edge lines in the initial suspected edge line set as an initial quasi-real edge line combination; the two initial quasi-real edge lines in the initial quasi-real edge line combination are approximately coincident with the first edge line and the second edge line, respectively.

[0052] Step S150, obtaining an initial real edge line combination corresponding to the triangle icon, wherein two initial real edge lines in the initial real edge line combination are respectively a first initial real edge line and a second initial real edge line; the first initial real edge line and the second initial real edge line respectively coincide with or nearly coincide with the first edge line and the second edge line.

[0053] In one embodiment, the method of step S150 is specifically performed as follows:

[0054] The number of initial quasi-real edge line combinations is obtained. When the number of initial quasi-real edge line combinations is 1, the initial quasi-real edge line combination is the initial real edge line combination. When the number of initial quasi-real edge line combinations is at least 2, the absolute value of the difference between the angle between two initial quasi-real edge lines in the multiple initial quasi-real edge line combinations and a third preset threshold is obtained, and the initial quasi-real edge line combination corresponding to the smallest absolute value is set as the initial real edge line combination. The two initial real edge lines in the initial real edge line combination are respectively the first initial real edge line and the second initial real edge line.

[0055] Step S160, obtaining the initial point position corresponding to the triangle icon on the initial state limit block 42; wherein the initial point position is the intersection position of the first initial real sideline and the second initial real sideline.

[0056] In one embodiment, the method of step S160 is specifically performed as follows:

[0057] A rectangular coordinate system is established to obtain the coordinate values ​​(x0, y0) of the first initial real sideline and the second initial real sideline in the rectangular coordinate system. The coordinate values ​​(x0, y0) are the initial point positions corresponding to the triangle icons on the initial state limit block 42.

[0058] Step S170, obtaining a fourth image img4 of the triangular icon on the limit block 42 after the limit block 42 moves; wherein the fourth image img4 is an RGB image, and in the moving state, the detection card 30 is placed in the bracket 11 of the tray 10, and the spring member 413 produces elastic deformation; when the detection card 30 is placed in the tray 10, the limit block 42 is displaced under the pressing action of the detection card 30, so that the limit block 42 is transformed from an initial state to a pressing state, and the pressing state refers to the limit block 42 pressing one end of the detection card 30 in the tray 10, so that the detection card 30 is firmly stuck in the tray 10, and the triangular icon on the limit block 42 is still within the recognition range of the image acquisition module, and the image acquisition module shoots the triangular icon on the limit block 42 after the movement, thereby obtaining the fourth image img4 of the triangular icon on the limit block 42 after the movement.

[0059] Step S180 , obtaining the position of the moving point corresponding to the triangle icon on the limiting block 42 after the limiting block 42 moves according to the fourth image img4 .

[0060] Similar to steps S120 to S160, the method of step S180 is specifically performed as follows:

[0061] Step S181, performing image processing on the fourth image img4 to obtain a plurality of moving quasi-suspected edge lines corresponding to the triangle icon in the fourth image img4.

[0062] Specifically, the method of step S181 includes the following steps:

[0063] Step S1811, converting the fourth image img4 into a fifth image img5 through preliminary image processing; wherein the fifth image img5 is a grayscale image;

[0064] Step S1812, using the Canny edge detection algorithm to extract edge features corresponding to the triangle icon in the fifth image img5 to obtain a sixth image img6;

[0065] Step S1813: Use Hough transform to perform straight line detection on the sixth image img6 to obtain multiple moving quasi-suspected edge lines corresponding to the triangle icon.

[0066] Step S182, obtain a set of moving suspected edges corresponding to the triangle icon by comparing the angle between the moving quasi-suspected edge line and the horizontal line with the moving preset angle; wherein the moving suspected edges in the moving suspected edge line set are moving quasi-suspected edges that are substantially coincident with the moving preset edges corresponding to the triangle icon, and the moving preset edges corresponding to the triangle icon include a fourth edge line, a fifth edge line and a sixth edge line.

[0067] Specifically, the method of step S182 includes the following steps:

[0068] Step S1821, obtaining the first movement preset angle and the second movement preset angle between the movement preset sidelines of the triangle icon and the horizontal line respectively; establishing a rectangular coordinate system, the x-axis of the rectangular coordinate system is set parallel to the horizontal line, the movement preset sidelines corresponding to the triangle icon include the fourth sideline, the fifth sideline and the sixth sideline, the angles between the fourth sideline and the fifth sideline and the horizontal line are the first movement preset angle and the second movement preset angle respectively, the sixth sideline is set perpendicular to the horizontal line, in this embodiment, the shape of the triangle icon is an acute triangle, the x-axis of the rectangular coordinate system is set parallel to the conveying direction of the tray 10, and the movement preset sidelines are taken as an example as the fourth sideline and the fifth sideline;

[0069] Step S1822, obtaining angle values ​​between a plurality of moving quasi-suspected edge lines and a horizontal line;

[0070] Step S1823, compare the angle values ​​between multiple moving quasi-suspected edge lines and the horizontal line with the first moving preset angle and the second moving preset angle respectively; when the absolute value of the difference between the angle value between the moving quasi-suspected edge line and the horizontal line and the first moving preset angle is not higher than the first preset threshold, set the moving quasi-suspected edge line as the first moving suspected edge line; when the absolute value of the difference between the angle value between the moving quasi-suspected edge line and the horizontal line and the first moving preset angle is not higher than the second preset threshold, set the moving quasi-suspected edge line as the second moving suspected edge line; the first moving suspected edge line and the second moving suspected edge line together constitute a moving suspected edge line set corresponding to the triangle icon.

[0071] Step S183, compare the included angles of each two moving suspected edge lines in the moving suspected edge line set corresponding to the triangle icon with the third preset threshold; when the included angles of each two moving suspected edge lines in the moving suspected edge line set corresponding to the triangle icon are not higher than the third preset threshold, set the two moving suspected edge lines in the moving suspected edge line set as a moving quasi-real edge line combination; the two moving quasi-real edge lines in the moving quasi-real edge line combination are nearly coincident with the fourth edge line and the fifth edge line, respectively.

[0072] Step S184, obtaining a moving real edge line combination corresponding to the triangle icon, wherein two moving real edge lines in the moving real edge line combination are respectively a first moving real edge line and a second moving real edge line; the first moving real edge line and the second moving real edge line respectively coincide with or nearly coincide with the fourth edge line and the fifth edge line.

[0073] In one embodiment, the method of step S184 is specifically performed as follows:

[0074] The number of moving quasi-real edge combinations is obtained. When the number of moving quasi-real edge combinations is 1, the moving quasi-real edge combination is a moving real edge combination. When the number of moving quasi-real edge combinations is at least 2, the absolute value of the difference between the angle between two moving quasi-real edge combinations and a third preset threshold is obtained, and the moving quasi-real edge combination corresponding to the smallest absolute value is set as the moving real edge combination. The two moving real edge combinations are respectively a first moving real edge and a second moving real edge.

[0075] Step S185, obtaining the moving point position corresponding to the triangle icon on the moving state limit block 42; wherein the moving point position is the intersection position of the first moving real edge line and the second moving real edge line.

[0076] In one embodiment, the method of step S185 is specifically performed as follows:

[0077] A rectangular coordinate system is established to obtain the coordinate values ​​(x1, y1) of the first moving real edge line and the second moving real edge line in the rectangular coordinate system. The coordinate values ​​(x1, y1) are the moving point positions corresponding to the triangle icons on the moving state limit block 42 .

[0078] Step S190, obtain the distance in the horizontal direction between the moving point position corresponding to the triangle icon on the limit block 42 and the initial point position corresponding to the triangle icon on the limit block 42, and when the distance in the horizontal direction between the moving point and the initial point is greater than a preset threshold, control the drive mechanism 20 to drive the tray 10 to move; the drive mechanism 20 starts to run, driving the tray 10 to move, and then transferring the detection card 30 in the tray 10 to the detection mechanism for detection and processing, which can determine the movement displacement of the triangle icon and then realize the determination of the transportation of the tray 10, without manual confirmation of the position of the detection card 30 in the tray 10, effectively improving the detection efficiency.

[0079] A method for determining the conveyance of a pallet according to the present invention obtains the distance in the horizontal direction between the position of a moving point corresponding to a triangular icon on a limit block 42 and the position of an initial point corresponding to the triangular icon on the limit block 42. When the distance in the horizontal direction between the moving point and the initial point is greater than a preset threshold, the driving mechanism 20 is controlled to move the pallet 10, and then the detection card 30 in the pallet 10 is transferred to the detection mechanism for detection and processing. The movement displacement of the triangular icon can be determined, and then the conveyance of the pallet 10 can be determined. There is no need to manually confirm the position of the detection card 30 in the pallet 10, thereby effectively improving the detection efficiency.

[0080] Figure 6 is a structural block diagram of a first pallet conveying distance determination system provided by an embodiment of the present invention, such as Figure 6As shown, corresponding to the above-mentioned pallet conveying determination method, the present invention further provides a pallet conveying distance determination system, which includes a module for executing the above-mentioned pallet conveying determination method. The system can be configured on a terminal such as a smart device. The pallet conveying distance determination system of the present invention is applied to obtain the distance in the horizontal direction between the moving point position corresponding to the triangular icon on the limit block 42 and the initial point position corresponding to the triangular icon on the limit block 42. When the distance between the moving point and the initial point in the horizontal direction is greater than a preset threshold, the driving mechanism 20 is controlled to drive the pallet 10 to move, and then the detection card 30 in the pallet 10 is transferred to the detection mechanism for detection and processing. The movement displacement of the triangular icon can be determined to realize the determination of the conveyance of the pallet 10, and there is no need to manually confirm the position of the detection card 30 in the pallet 10, thereby effectively improving the detection efficiency.

[0081] Specifically, Figure 6 As shown, the pallet conveying distance determination system includes an image acquisition module 100 , an initial point determination module 200 , a moving point determination module 300 and a calculation control module 400 .

[0082] An image acquisition module 100 is used to acquire a first image img1 of a triangular icon on the limiting block 42 in an initial state and to acquire a fourth image img4 of the triangular icon on the limiting block 42 after the limiting block 42 moves;

[0083] An initial point determination module 200 is used to perform image processing on a first image img1 to obtain a plurality of initial quasi-suspected edge lines corresponding to a triangle icon in the first image img1, to obtain an initial suspected edge line set corresponding to the triangle icon by comparing the angle between the initial quasi-suspected edge line and the horizontal line with the initial preset angle, to compare the angle between each two initial suspected edge lines in the initial suspected edge line set corresponding to the triangle icon with a third preset threshold value, and when the angle between each two initial suspected edge lines in the initial suspected edge line set corresponding to the triangle icon is not higher than the third preset threshold value, to set two initial suspected edge lines in the initial suspected edge line set as an initial quasi-real edge line combination, to obtain an initial real edge line combination corresponding to the triangle icon, wherein the two initial real edge lines in the initial real edge line combination are respectively a first initial real edge line and a second initial real edge line, and to obtain an initial point position corresponding to the triangle icon on an initial state limit block 42;

[0084] A moving point determination module 300 is used to obtain the moving point position corresponding to the triangle icon on the limiting block 42 after the limiting block 42 moves according to the fourth image img4;

[0085] The calculation control module 400 is used to obtain the distance in the horizontal direction between the moving point position corresponding to the triangle icon on the limit block 42 and the initial point position corresponding to the triangle icon on the limit block 42. When the distance in the horizontal direction between the moving point and the initial point is greater than a preset threshold, the driving mechanism 20 is controlled to drive the tray 10 to move.

[0086] A pallet conveying distance determination system of the present invention obtains the distance in the horizontal direction between the position of a moving point corresponding to a triangular icon on a limit block 42 and the position of an initial point corresponding to the triangular icon on the limit block 42. When the distance in the horizontal direction between the moving point and the initial point is greater than a preset threshold, the driving mechanism 20 is controlled to move the pallet 10, and then the detection card 30 in the pallet 10 is transferred to the detection mechanism for detection and processing. The movement displacement of the triangular icon can be determined, and then the conveying of the pallet 10 can be determined. There is no need to manually confirm the position of the detection card 30 in the pallet 10, which effectively improves the detection efficiency.

[0087] It should be noted that technicians in the relevant field can clearly understand that the specific implementation process of the above-mentioned pallet conveying distance determination system and each module can refer to the corresponding description in the aforementioned method embodiment, and for the convenience and brevity of description, it will not be repeated here.

[0088] Figure 7 is a block diagram of the internal structure of an intelligent device provided by an embodiment of the present invention, such as Figure 7 As shown, the intelligent device provided by the present invention includes a memory, a processor and a network interface connected through a system bus; a computer program is stored in the memory, and the processor is used to provide computing and control capabilities to support the operation of the entire intelligent device. When the processor executes the computer program, the above-mentioned pallet conveying determination method is implemented.

[0089] The memory may include a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor may implement the tray conveyance determination method.

[0090] The internal memory may also store a computer program, which, when executed by the processor, enables the processor to execute the tray delivery determination method. The network interface is used to communicate with other devices over the network. Those skilled in the art will appreciate that Figure 7 The structure shown in the figure is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the application of the solution of the present application to other smart devices. A specific smart device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0091] In one embodiment, the pallet delivery determination method provided in the present application can be implemented as a computer program. Figure 7 The memory of the smart device can store various program modules that make up the pallet conveying distance determination system, such as: Figure 6 The image acquisition module 100, the initial point determination module 200, the moving point determination module 300 and the calculation control module 400 are shown. The computer program composed of each program module enables the processor to execute the steps of the pallet conveying distance determination system of each embodiment of the present application described in this specification. For example, Figure 7 The smart device shown can be Figure 6 The image acquisition module 100 in the pallet conveying distance determination system shown in the figure obtains the first image img1 of the triangular icon on the limit block 42 in the initial state and obtains the fourth image img4 of the triangular icon on the limit block 42 after the limit block 42 moves; the initial point determination module 200 performs image processing on the first image img1 to obtain multiple initial quasi-suspected edge lines corresponding to the triangular icon in the first image img1, compares the angle between the initial quasi-suspected edge line and the horizontal line with the initial preset angle, obtains the initial suspected edge line set corresponding to the triangular icon, compares the pairwise initial suspected edge line angles in the initial suspected edge line set corresponding to the triangular icon with the third preset threshold value, and when the pairwise initial suspected edge line angles in the initial suspected edge line set corresponding to the triangular icon are not higher than the third preset threshold value, the initial suspected edge line set is obtained. Two initial suspected edge lines in the suspected edge line set are set as the initial quasi-real edge line combination, and the initial real edge line combination corresponding to the triangle icon is obtained, the two initial real edge lines in the initial real edge line combination are respectively the first initial real edge line and the second initial real edge line, and the initial point position corresponding to the triangle icon on the initial state limit block 42 is obtained; the moving point determination module 300 obtains the moving point position corresponding to the triangle icon on the limit block 42 after the limit block 42 moves according to the fourth image img4; the calculation control module 400 obtains the distance between the moving point position corresponding to the triangle icon on the limit block 42 and the initial point position corresponding to the triangle icon on the limit block 42 in the horizontal line direction, and when the distance between the moving point and the initial point in the horizontal line direction is greater than the preset threshold, the drive mechanism 20 is controlled to drive the tray 10 to move.

[0092] In one embodiment, a smart device is proposed, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the following steps: step S110, obtaining a first image img1 of a triangular icon on an initial state limit block 42; step S120, performing image processing on the first image img1 to obtain a plurality of initial quasi-suspected edge lines corresponding to the triangular icon in the first image img1; step S130, obtaining an initial suspected edge line set corresponding to the triangular icon by comparing the angle between the initial quasi-suspected edge line and the horizontal line with the initial preset angle; step S140, comparing the angle between the two initial suspected edge lines in the initial suspected edge line set corresponding to the triangular icon with a third preset threshold value, and when the angle between the two initial suspected edge lines in the initial suspected edge line set corresponding to the triangular icon is not higher than the third preset threshold value, the two initial suspected edge lines in the initial suspected edge line set are compared. Set as the initial quasi-real edge line combination; step S150, obtain the initial real edge line combination corresponding to the triangle icon, the two initial real edge lines in the initial real edge line combination are respectively the first initial real edge line and the second initial real edge line; step S160, obtain the initial point position corresponding to the triangle icon on the initial state limit block 42; wherein the initial point position is the intersection position of the first initial real edge line and the second initial real edge line; step S170, obtain the fourth image img4 of the triangle icon on the limit block 42 after the limit block 42 moves; step S180, obtain the moving point position corresponding to the triangle icon on the limit block 42 after the limit block 42 moves according to the fourth image img4; step S190, obtain the distance between the moving point position corresponding to the triangle icon on the limit block 42 and the initial point position corresponding to the triangle icon on the limit block 42 in the horizontal line direction, when the distance between the moving point and the initial point in the horizontal line direction is greater than the preset threshold value, control the drive mechanism 20 to drive the tray 10 to move.

[0093] It should be understood that in the embodiments of the present application, the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0094] It can be understood by those skilled in the art that all or part of the processes in the method for implementing the above embodiment can be completed by instructing the relevant hardware through a computer program. The computer program includes program instructions, and the computer program can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiment of the above method.

[0095] Therefore, the present invention also provides a storage medium. The storage medium can be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions. When the program instructions are executed by the processor, the processor executes the following steps: Step S110, obtain the first image img1 of the triangular icon on the initial state limit block 42; Step S120, perform image processing on the first image img1 to obtain multiple initial quasi-suspected edge lines corresponding to the triangular icon in the first image img1; Step S130, compare the angle between the initial quasi-suspected edge line and the horizontal line with the initial preset angle to obtain the initial suspected edge line set corresponding to the triangular icon; Step S140, compare the angle between the two initial suspected edge lines in the initial suspected edge line set corresponding to the triangular icon with the third preset threshold value, and when the angle between the two initial suspected edge lines in the initial suspected edge line set corresponding to the triangular icon is not higher than the third preset threshold value, set the two initial suspected edge lines in the initial suspected edge line set as the initial quasi-real edge line combination; Step S150, obtain the initial suspected edge line corresponding to the triangular icon An initial real edge line combination, wherein the two initial real edge lines in the initial real edge line combination are respectively a first initial real edge line and a second initial real edge line; step S160, obtaining the initial point position corresponding to the triangle icon on the initial state limit block 42; wherein the initial point position is the intersection position of the first initial real edge line and the second initial real edge line; step S170, obtaining the fourth image img4 of the triangle icon on the limit block 42 after the limit block 42 moves; step S180, obtaining the moving point position corresponding to the triangle icon on the limit block 42 after the limit block 42 moves according to the fourth image img4; step S190, obtaining the distance between the moving point position corresponding to the triangle icon on the limit block 42 and the initial point position corresponding to the triangle icon on the limit block 42 in the horizontal line direction, and when the distance between the moving point and the initial point in the horizontal line direction is greater than a preset threshold, controlling the drive mechanism 20 to drive the tray 10 to move.

[0096] The storage medium may be a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disk, etc., which are computer-readable storage media that can store program codes.

[0097] In summary, a pallet conveying distance determination system and method, an intelligent device and a pallet conveying device of the present invention obtain the distance in the horizontal direction between the moving point position corresponding to the triangular icon on the limit block 42 and the initial point position corresponding to the triangular icon on the limit block 42. When the distance in the horizontal direction between the moving point and the initial point is greater than a preset threshold, the driving mechanism 20 is controlled to drive the pallet 10 to move, and then the detection card 30 in the pallet 10 is transferred to the detection mechanism for detection and processing. The movement displacement of the triangular icon can be determined, and then the conveying of the pallet 10 can be determined. There is no need to manually confirm the position of the detection card 30 in the pallet 10, which effectively improves the detection efficiency.

[0098] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software 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.

[0099] In the several embodiments provided by the present invention, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of each unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0100] The steps in the method of the embodiment of the present invention can be adjusted in order, merged and deleted according to actual needs. The units in the device of the embodiment of the present invention can be merged, divided and deleted according to actual needs. In addition, the functional units in the various embodiments of the present invention can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a device (which can be a personal computer, a terminal, or a network device, etc.) to perform all or part of the steps of the method described in the various embodiments of the present invention.

[0101] The above-described embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A pallet delivery determination method, characterized in that: The steps include: Step S110, obtaining the first image img1 of the triangle icon on the initial state limit block; Step S120, performing image processing on the first image img1 to obtain a plurality of initial quasi-suspected edge lines corresponding to the triangle icon in the first image img1; Step S130, obtaining an initial set of suspected edge lines corresponding to the triangle icon by comparing the angle between the initial quasi-suspicious edge line and the horizontal line with the initial preset angle; Step S140, comparing the angles between the two initial suspected edge lines in the initial suspected edge line set corresponding to the triangle icon with a third preset threshold, and when the angles between the two initial suspected edge lines in the initial suspected edge line set corresponding to the triangle icon are not higher than the third preset threshold, setting the two initial suspected edge lines in the initial suspected edge line set as an initial quasi-real edge line combination; Step S150, obtaining an initial real edge line combination corresponding to the triangle icon, wherein two initial real edge lines in the initial real edge line combination are respectively a first initial real edge line and a second initial real edge line; Step S160, obtaining the initial point position corresponding to the triangle icon on the initial state limit block; wherein the initial point position is the intersection position of the first initial real sideline and the second initial real sideline; Step S170, obtaining a fourth image img4 of the triangle icon on the limiting block after the limiting block moves; Step S180, obtaining the moving point position corresponding to the triangle icon on the limiting block after the limiting block moves according to the fourth image img4; Step S190, obtaining the distance between the moving point position corresponding to the triangle icon on the limit block and the initial point position corresponding to the triangle icon on the limit block in the horizontal direction, and when the distance between the moving point and the initial point in the horizontal direction is greater than a preset threshold, controlling the driving mechanism to drive the tray to move; The method of step S130 includes the following steps: Step S131, obtaining a first initial preset angle and a second initial preset angle between the initial preset sidelines of the triangle icon and the horizontal line respectively; the initial preset sidelines corresponding to the triangle icon include a first sideline, a second sideline and a third sideline, the angles between the first sideline and the second sideline and the horizontal line are the first initial preset angle and the second initial preset angle respectively, and the third sideline is set perpendicular to the horizontal line; Step S132, obtaining angle values ​​between a plurality of initial quasi-suspected edge lines and a horizontal line; Step S133, compare the angle values ​​between multiple initial quasi-suspected edge lines and the horizontal line with the first initial preset angle and the second initial preset angle respectively; when the absolute value of the difference between the angle value between the initial quasi-suspected edge line and the horizontal line and the first initial preset angle is not higher than the first preset threshold, set the initial quasi-suspected edge line as the first initial suspected edge line; when the absolute value of the difference between the angle value between the initial quasi-suspected edge line and the horizontal line and the first initial preset angle is not higher than the second preset threshold, set the initial quasi-suspected edge line as the second initial suspected edge line; the first initial suspected edge line and the second initial suspected edge line together constitute the initial suspected edge line set corresponding to the triangle icon.

2. The pallet delivery determination method according to claim 1, characterized in that: The method of step S120 comprises the following steps: Step S121, converting the first image img1 into the second image img2 through preliminary image processing; wherein the second image img2 is a grayscale image; Step S122, using the canny edge detection algorithm to extract edge features corresponding to the triangle icon in the second image img2 to obtain a third image img3; Step S123: Use Hough transform to perform straight line detection on the third image img3 to obtain multiple initial quasi-suspected edge lines corresponding to the triangle icon.

3. The pallet conveyance determination method according to claim 1, characterized in that: The method of step S150 is specifically performed as follows: The number of initial quasi-real edge line combinations is obtained. When the number of initial quasi-real edge line combinations is 1, the initial quasi-real edge line combination is the initial real edge line combination. When the number of initial quasi-real edge line combinations is at least 2, the absolute value of the difference between the angle between two initial quasi-real edge lines in the multiple initial quasi-real edge line combinations and a third preset threshold is obtained, and the initial quasi-real edge line combination corresponding to the smallest absolute value is set as the initial real edge line combination. The two initial real edge lines in the initial real edge line combination are respectively the first initial real edge line and the second initial real edge line.

4. The pallet delivery determination method according to claim 1, characterized in that: The method of step S160 is specifically performed as follows: A rectangular coordinate system is established to obtain the coordinate values ​​(x0, y0) of the first initial real sideline and the second initial real sideline in the rectangular coordinate system. The coordinate values ​​(x0, y0) are the initial point positions corresponding to the triangle icons on the initial state limit blocks.

5. The pallet delivery determination method according to claim 1, characterized in that: The method of step S180 is specifically performed as follows: Step S181, performing image processing on the fourth image img4 to obtain a plurality of moving quasi-suspected edge lines corresponding to the triangle icon in the fourth image img4; Step S182, obtaining a set of moving suspected edge lines corresponding to the triangle icon by comparing the angle between the moving quasi-suspicious edge line and the horizontal line with the moving preset angle; Step S183, comparing the angles between the two moving suspected edge lines in the moving suspected edge line set corresponding to the triangle icon with a third preset threshold, and when the angles between the two moving suspected edge lines in the moving suspected edge line set corresponding to the triangle icon are not higher than the third preset threshold, setting the two moving suspected edge lines in the moving suspected edge line set as a moving quasi-real edge line combination; Step S184, obtaining a moving real sideline combination corresponding to the triangle icon, wherein two moving real sidelines in the moving real sideline combination are respectively a first moving real sideline and a second moving real sideline; Step S185, obtaining the moving point position corresponding to the triangle icon on the moving state limit block; wherein the moving point position is the intersection position of the first moving real edge line and the second moving real edge line.

6. A pallet conveying distance determination system, characterized in that: include: An image acquisition module, used for acquiring a first image img1 of the triangular icon on the limiting block in an initial state and acquiring a fourth image img4 of the triangular icon on the limiting block after the limiting block moves; An initial point determination module is used to perform image processing on the first image img1 to obtain multiple initial quasi-suspected edge lines corresponding to the triangle icon in the first image img1, to obtain an initial suspected edge line set corresponding to the triangle icon by comparing the angle between the initial quasi-suspected edge line and the horizontal line with the initial preset angle, to compare the angle between each two initial suspected edge lines in the initial suspected edge line set corresponding to the triangle icon with a third preset threshold value, and when the angle between each two initial suspected edge lines in the initial suspected edge line set corresponding to the triangle icon is not higher than the third preset threshold value, to set two initial suspected edge lines in the initial suspected edge line set as an initial quasi-real edge line combination, to obtain an initial real edge line combination corresponding to the triangle icon, wherein the two initial real edge lines in the initial real edge line combination are respectively the first initial real edge line and the second initial real edge line, and to obtain the initial point position corresponding to the triangle icon on the initial state limit block; The method in which the initial point determination module is used to obtain the initial suspected edge line set corresponding to the triangle icon by comparing the angle between the initial quasi-suspected edge line and the horizontal line with the initial preset angle includes the following steps: Obtaining a first initial preset angle and a second initial preset angle between the initial preset sidelines of the triangle icon and the horizontal line, respectively; the initial preset sidelines corresponding to the triangle icon include a first sideline, a second sideline and a third sideline, the angles between the first sideline and the second sideline and the horizontal line are respectively the first initial preset angle and the second initial preset angle, and the third sideline is set perpendicular to the horizontal line; Obtain the angle values ​​between multiple initial quasi-suspected edge lines and the horizontal line; Compare the angle values ​​between the multiple initial quasi-suspected edge lines and the horizontal line with the first initial preset angle and the second initial preset angle respectively; when the absolute value of the difference between the angle value between the initial quasi-suspected edge line and the horizontal line and the first initial preset angle is not higher than the first preset threshold, set the initial quasi-suspected edge line as the first initial suspected edge line; when the absolute value of the difference between the angle value between the initial quasi-suspected edge line and the horizontal line and the first initial preset angle is not higher than the second preset threshold, set the initial quasi-suspected edge line as the second initial suspected edge line, and the first initial suspected edge line and the second initial suspected edge line together constitute an initial suspected edge line set corresponding to the triangle icon; A moving point determination module, used for obtaining the moving point position corresponding to the triangle icon on the limiting block after the limiting block moves according to the fourth image img4; The calculation control module is used to obtain the distance in the horizontal direction between the moving point position corresponding to the triangle icon on the limit block and the initial point position corresponding to the triangle icon on the limit block. When the distance between the moving point and the initial point in the horizontal direction is greater than a preset threshold, the driving mechanism is controlled to drive the tray to move.

7. A smart device, characterized in that: The device includes a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the pallet conveyance determination method according to any one of claims 1 to 5 is implemented.

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