Labeling control method, device and equipment and computer readable storage medium

Abstract

The application provides a labeling control method, device and equipment and a computer readable storage medium. The labeling control method comprises: obtaining a target image containing a target parcel to be labeled; determining a target labeling point on the target parcel and coordinate information corresponding to the target labeling point according to the target image; setting a movement control parameter corresponding to a preset labeling device according to the coordinate information; and controlling the movement of the preset labeling device according to the movement control parameter, so that the preset labeling device completes the labeling operation on the target parcel. The application uses the image corresponding to the parcel to determine the target labeling point on the parcel and the coordinate information thereof. When the movement control parameter set according to the coordinate information containing the position information of the labeling point is used to control the movement of the labeling device, the labeling device can paste the printed label at the labeling point, avoiding the pasting of the label to other abnormal positions and improving the efficiency of subsequent transfer.

Description

Technical Field

[0001] This application relates to the field of transportation management technology, specifically to a labeling control method, apparatus, equipment, and computer-readable storage medium. Background Technology

[0002] In express delivery transfer centers with manual sorting, packages need to be scanned using scanning devices during the unloading process, and the scanned codes are written on the surface of the packages for subsequent centralized sorting. To save manpower, existing technology provides automatic labeling devices. Specifically, when a sensor detects a package passing through the conveyor, it triggers the labeling module to affix the corresponding code label to the package, completing the labeling process.

[0003] However, due to the differences in the three-dimensional dimensions, shape, and transmission angle of packages, coupled with the fact that waybills are affixed to the packages, the existing labeling process is prone to errors such as affixing labels to the waybills or failing to affix them accurately to the packages, which affects the efficiency of subsequent forwarding. Summary of the Invention

[0004] This application provides a labeling control method, apparatus, device, and computer-readable storage medium, aiming to solve the technical problem that existing labeling processes often result in labels being affixed to waybills or failing to be accurately affixed to packages, affecting subsequent transportation efficiency.

[0005] On the one hand, embodiments of this application provide a labeling control method, including:

[0006] Obtain a target image containing the target package to be labeled;

[0007] Based on the target image, determine the target labeling point on the target package, and the coordinate information corresponding to the target labeling point;

[0008] Based on the coordinate information, set the preset movement control parameters corresponding to the labeling device;

[0009] The preset labeling device is moved according to the movement control parameters so that it can complete the labeling operation on the target package.

[0010] As a feasible embodiment of this application, after determining the target labeling point on the target package based on the target image, the method further includes:

[0011] Obtain the three-dimensional dimension information corresponding to the target package;

[0012] The height information corresponding to the target marking point is determined based on the three-dimensional size information and the coordinate information.

[0013] The step of setting the preset movement control parameters corresponding to the labeling device based on the coordinate information includes:

[0014] The first movement control parameter corresponding to the preset labeling device is set according to the coordinate information;

[0015] The second movement control parameter corresponding to the preset labeling device is set based on the height information.

[0016] As a feasible embodiment of this application, the step of setting the movement control parameters corresponding to the preset labeling device according to the coordinate information includes:

[0017] The offset of the centerline corresponding to the preset labeling device is calculated based on the coordinate information.

[0018] Query the preset database to obtain the target movement control parameters corresponding to the centerline offset;

[0019] The target movement control parameters are set to the movement control parameters corresponding to the preset labeling device.

[0020] As a feasible embodiment of this application, the step of calculating the centerline offset of the preset labeling device based on the coordinate information includes:

[0021] Extract the first coordinate component from the coordinate information to obtain the first centerline offset value corresponding to the target marking point;

[0022] Obtain the second centerline offset value corresponding to the preset labeling device;

[0023] The difference between the first centerline offset value and the second centerline offset value is set as the centerline offset amount corresponding to the preset labeling device.

[0024] As a feasible embodiment of this application, obtaining the target image containing the target package to be labeled includes:

[0025] Acquire a region image within a preset target area on a preset transmission device;

[0026] Perform target detection processing on the image of the region;

[0027] If the area image contains the target package to be labeled, then the area image is set as the target image.

[0028] As a possible embodiment of this application, the movement control parameters include start-up time information;

[0029] The step of setting the preset movement control parameters corresponding to the labeling device based on the coordinate information includes:

[0030] Obtain the time information when the target marking point leaves the preset target area;

[0031] The start-up time information of the labeling device is set according to the time information and the coordinate information.

[0032] As a feasible embodiment of this application, determining the target label point on the target package based on the target image includes:

[0033] The target image is segmented to obtain a first region corresponding to the target package and a second region corresponding to the label on the target package.

[0034] The area outside the second area within the first area is set as the target labeling area;

[0035] A target point randomly selected from the target labeling area is set as the target labeling point.

[0036] On the other hand, embodiments of this application also provide a labeling control device, including:

[0037] The image acquisition module is used to acquire a target image containing the target package to be labeled;

[0038] The labeling point determination module is used to determine the target labeling point on the target package and the coordinate information corresponding to the target labeling point based on the target image;

[0039] The parameter setting module is used to set the movement control parameters corresponding to the preset labeling device according to the coordinate information.

[0040] The labeling control module is used to control the movement of the preset labeling device according to the movement control parameters, so that the preset labeling device can complete the labeling operation on the target package.

[0041] On the other hand, this application embodiment also provides a labeling control device, which includes an image acquisition device, a labeling device, a processor, a memory, and a labeling control program stored in the memory and executable on the processor. The processor executes the labeling control program to implement the steps in the labeling control method described above.

[0042] On the other hand, embodiments of this application also provide a computer-readable storage medium storing a labeling control program, which is executed by a processor to implement the steps in the labeling control method described above.

[0043] The labeling control method provided in this application uses the target image corresponding to the target package to determine the target labeling point on the package and the coordinate information corresponding to the labeling point. Since the coordinate information includes the position information of the labeling point, when the labeling device is controlled to move using the movement control parameters set according to the coordinate information, the labeling device can be controlled to affix the printed label to the given labeling point, avoiding the label being affixed to other abnormal positions during labeling and improving the efficiency of subsequent transportation. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of a scenario for implementing a labeling control method according to an embodiment of this application;

[0046] Figure 2 This is a flowchart illustrating a labeling control method provided in an embodiment of this application;

[0047] Figure 3 This is a flowchart illustrating another method for setting movement control parameters provided in the embodiments of this application;

[0048] Figure 4 This is a flowchart illustrating a method for setting movement control parameters based on coordinate information, as provided in an embodiment of this application.

[0049] Figure 5 This is a flowchart illustrating a method for calculating the offset of the centerline based on coordinate information, as provided in an embodiment of this application.

[0050] Figure 6 This is a flowchart illustrating another method for setting movement control parameters provided in the embodiments of this application;

[0051] Figure 7 This is a flowchart illustrating another method for setting movement control parameters provided in the embodiments of this application;

[0052] Figure 8 This is a flowchart illustrating a method for determining target punctuation points provided in an embodiment of this application;

[0053] Figure 9 This is a complete schematic diagram of labeling control;

[0054] Figure 10This is a schematic diagram of the functional modules of a labeling control device provided in an embodiment of this application;

[0055] Figure 11 This is a schematic diagram of the internal structure of a labeling control device provided in an embodiment of this application. Detailed Implementation

[0056] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of the present invention.

[0057] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to implement and use the invention. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that the invention can be implemented without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid obscuring the description of the invention with unnecessary detail. Therefore, the invention is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in the embodiments of this application.

[0058] This application provides a labeling control method, apparatus, device, and computer-readable storage medium, which will be described in detail below.

[0059] like Figure 1 As shown, Figure 1 This is a schematic diagram illustrating a scenario where the labeling control method is implemented according to an embodiment of this application. The labeling control method provided in this embodiment is mainly used in express delivery transfer centers that require sorting. Specifically, it can be divided into two main areas: an unloading area and a sorting area. After the packages are unloaded in the unloading area, they are transported via a transmission device. During the transmission process, the labeling control device installed on the transmission device reads the barcode of the package's label and affixes the corresponding code label to the package for subsequent sorting in the sorting area. Specifically, the labeling control device consists of an image acquisition device 200, a labeling device 300, and a labeling control device 100 composed of a processor and a memory. The image acquisition device 200, the labeling device 300, and the labeling control device 100 are connected via wireless or wired communication.

[0060] Specifically, the image acquisition device 200 is mainly used to capture images on the transmission device. When the image contains the target package to be labeled, it will send the image as the target image to the labeling control device 100. The labeling control device 100 is mainly used to detect and determine the package and the target labeling point according to the received target image, and to complete the setting of the movement control parameters of the labeling device, so as to control the labeling device 300 to move according to the set movement control parameters. The labeling device 300 is mainly used to move according to the set movement control parameters to affix the printed code label to the package.

[0061] It should be noted that, Figure 1 The schematic diagram of the labeling control method shown is merely an example and does not constitute a limitation on the technical solutions provided in the embodiments of the present invention.

[0062] Based on the above schematic diagram of the scenario for implementing the labeling control method, an embodiment of the labeling control method in the labeling control device is proposed.

[0063] like Figure 2 As shown, Figure 2 A flowchart illustrating a labeling control method provided in this application embodiment specifically includes steps 201-204:

[0064] 201. Obtain the target image containing the target package to be labeled.

[0065] In this embodiment of the application, considering that the packages transported on the unloading area conveyor are usually target packages that need to be labeled, for ease of description, the term "target package" will be used to refer to the target packages to be labeled on the conveyor.

[0066] As described above, the labeling control device acquires images through an image acquisition device. There are many types of image acquisition devices, such as camera terminals and monitoring terminals, which will not be elaborated upon here. Similarly, there are many ways to acquire a target image containing the target package. For example, one common approach is to use sensors in conjunction with the image acquisition device to acquire the target image. Specifically, sensors, such as laser sensors or pressure (gravity) sensors, are placed in front of the image acquisition device. When the sensor detects a package on the transmission device, it triggers the image acquisition function of the image acquisition device, thereby obtaining a target image containing the target package.

[0067] Considering that the above-mentioned method for acquiring target images relies on additional sensing terminals, increasing the cost of labeling control, as another optional embodiment of this application, a method for obtaining a target image containing a target package based on image detection is proposed. Specifically, the image acquisition device acquires a video stream within a preset target area on the transmission device, that is, it continuously acquires images within the preset target area, and uses target detection processing to determine whether a target package exists in the image, thereby obtaining a target image containing the target package. The preset target area can also be understood as the field of view of the image acquisition device.

[0068] The above implementation method saves on labeling control costs and allows for the use of the time information when the target labeling point leaves the preset target area to further set the start-up time information of the labeling device. This provides another solution for setting the movement control parameters of the labeling device. Please refer to the subsequent sections for a detailed implementation scheme. Figure 6 , Figure 7 And its explanations and descriptions.

[0069] 202. Determine the target label point on the target package and the coordinate information corresponding to the target label point based on the target image.

[0070] As described in the foregoing background technology, existing labeling processes often suffer from issues such as the inability to accurately and completely affix the code label to the package, or the code label obscuring the package's shipping label. This affects subsequent sorting efficiency. Therefore, in this embodiment, the target labeling point on the target package refers to a location where, when the code label is affixed by the labeling device, it can be completely affixed to the package without obscuring the shipping label. It is evident that the target labeling point depends on the size information of the package in the target image, the area information of the shipping label, and the pre-set size information of the code label to be affixed. Specifically, Figure 8 A feasible implementation scheme for determining target labeling points on a target package based on a target image is shown.

[0071] Furthermore, it can be understood that since the position information of the target labeling point is set according to the actual situation of the target package, in order to accurately affix the code label to the target labeling point, it is necessary to first obtain the position information of the target labeling point. Specifically, the position information of the target labeling point can be represented by the coordinate information of the target labeling point in the target image. Taking the aforementioned example of using an image acquisition device to acquire an image within a preset target area on the transmission device, the target image can essentially be understood as the image within the target area on the transmission device. When the image acquisition device is fixed, the target area is usually also fixed. Therefore, the coordinate information corresponding to the labeling point not only describes the position information of the labeling point relative to the target package, but also describes the position information of the labeling point relative to the transmission device. For example, when a coordinate system is established in the target image with the central axis of the transmission device as the y-axis, the horizontal coordinate of the labeling point can be considered as the offset of the labeling point relative to the central axis of the transmission device. Of course, it should be noted that the implementation of the above scheme requires that the transmission device between the image acquisition device and the labeling device is a straight line transmission, that is, the target package will not change its pose due to collisions with the sides of the transmission device during the transmission process.

[0072] Furthermore, since the distance between the image acquisition module and the labeling module can be considered fixed, the distance between the target labeling point and the labeling module can also be determined based on another coordinate component in the coordinate information. For example, if a coordinate system is established with the boundary of the target area near the labeling module as the x-axis, the sum of the distance between the image acquisition module and the labeling module and the ordinate of the labeling point can be considered as the distance between the target labeling point and the labeling module. When the transmission rate of the transmission device is known, the time it takes for the target labeling point to be transmitted to the labeling module is determined. Obviously, this time information can also be used to subsequently set the corresponding movement control parameters of the labeling device.

[0073] For ease of understanding, such as Figure 9 The diagram shows a complete schematic of the labeling control system, detailing the movement of each component and the package within the system. Please refer to [link / reference needed] for more details. Figure 9 And its explanation.

[0074] 203. Set the movement control parameters corresponding to the preset labeling device according to the coordinate information.

[0075] In this embodiment of the application, as described above, since the coordinate information includes the positional relationship between the target labeling point and the target package and the transmission device, when the movement control parameters of the labeling device are set based on the coordinate information, the movement of the labeling device can be controlled according to the movement control parameters. This allows the labeling device to accurately affix the printed code label to the target labeling point on the target package when the target package is transmitted to the bottom of the labeling device. The entire process does not require the transmission device to stop working.

[0076] It is important to emphasize that, in order to achieve the complete labeling function, the labeling device is relatively large in size. For example, it needs to include a printing device for printing code labels, a robotic arm structure for controlling the movement of the labeling device, and an execution module for finally performing the labeling operation, etc. However, considering that the complete structure of the labeling device is a conventional technical means for those skilled in the art, for the sake of simplicity, the labeling device in the following description refers to the execution module in the labeling device, that is, the functional module located above the transmission device for affixing code labels to the surface of the package.

[0077] Furthermore, it can be understood that when the labeling device can accurately affix the printed code label to the target labeling point on the target package, if described in three-dimensional spatial coordinates (x, y, z), where z corresponds to height and x corresponds to offset relative to the central axis of the transmission device, then during the labeling operation, the labeling device and the target labeling point must be equal on the x and y axes. At this point, by further controlling the height of the labeling device, i.e., the value on the z-axis, the labeling of the target package can be completed. To further reduce the amount of control required on the labeling device, as an optional implementation scheme of this application, specifically, the labeling device can adjust its offset relative to the central axis of the transmission device, i.e., adjust the x-coordinate of the labeling device, so that when the target package is transmitted to the same cross-section as the labeling device on the transmission device (i.e., the y-coordinate is the same), the offset of the labeling device relative to the central axis of the transmission device is exactly equal to the offset of the target labeling point relative to the central axis of the transmission device, thereby achieving the effect of accurately affixing the code label to the target labeling point on the target package. Specifically, a feasible scheme for setting motion control parameters based on coordinate information will be discussed later. Figures 4-5 And its explanations and descriptions.

[0078] Of course, as a further implementation of this application, the z-value, i.e., the height, of the labeling device can also be adjusted synchronously during the package transport process, so that when the target package is transported to the same cross-section as the labeling device in the transport device, the height of the labeling device is exactly equal to the height of the target labeling point. Obviously, the height of the target labeling point also needs to be obtained in advance. For the specific implementation scheme of setting the movement control parameters, please refer to the following. Figure 3 And its explanations and descriptions.

[0079] Furthermore, the movement control parameter can be the movement speed of the labeling device. That is, when the labeling device moves at this speed, the aforementioned effect of "when the target package is transported to the same cross-section as the labeling device on the transmission device, the offset of the labeling device relative to the central axis of the transmission device and the height of the labeling device are exactly equal to the offset of the target labeling point relative to the central axis of the transmission device and the height of the target labeling point, respectively" can be achieved. Alternatively, when the movement speed of the labeling device is a fixed value, the movement control parameter is the start time of the labeling device. When the labeling device starts moving at a fixed speed at the start time, the aforementioned effect of "when the target package is transported to the same cross-section as the labeling device on the transmission device, the offset of the labeling device relative to the central axis of the transmission device and the height of the labeling device are exactly equal to the offset of the target labeling point relative to the central axis of the transmission device and the height of the target labeling point, respectively" can also be achieved. Based on the foregoing description, as a feasible solution of this application, such as... Figure 6 , Figure 7 As shown, an implementation scheme is provided that uses start-up time information as motion control parameters.

[0080] 204. Control the labeling device to move according to the movement control parameters so that the preset labeling device can complete the labeling operation on the target package.

[0081] In this embodiment of the application, in conjunction with the foregoing description, when the movement control parameters corresponding to the coordinate information of the target label are set, the labeling device is moved according to the movement control parameters, so that the preset labeling device completes the labeling operation at the target labeling point on the target package. Further details are omitted here.

[0082] The labeling control method provided in this application uses the target image corresponding to the target package to determine the target labeling point on the package and the coordinate information corresponding to the labeling point. Since the coordinate information includes the position information of the labeling point, when the labeling device is controlled to move using the movement control parameters set according to the coordinate information, the labeling device can be controlled to affix the printed label to the given labeling point, avoiding the label being affixed to other abnormal positions during labeling and improving the efficiency of subsequent transportation.

[0083] like Figure 3 As shown, Figure 3 The following is a flowchart illustrating another method for setting motion control parameters provided in this application embodiment.

[0084] In this embodiment of the application, as described above, to improve the accuracy of labeling control, the movement control of the labeling device needs to be controlled in two dimensions: lateral (the offset relative to the central axis of the transmission device) and vertical (the height). Therefore, the steps for setting the movement control parameters mainly include 301 to 303:

[0085] 301, Obtain the three-dimensional dimension information corresponding to the target package.

[0086] In this embodiment, considering that the target image corresponding to the target package can only contain two-dimensional information about the package, meaning that the three-dimensional size information of the target package cannot be directly obtained from the target image, it is necessary to acquire the three-dimensional size information through other means. There are many specific implementation methods. For example, two image acquisition devices set at different angles can be used to acquire the three-dimensional size information of the target package. Alternatively, as a simpler solution, the three-dimensional size information of the target package can be obtained through point cloud data. Specifically, a point cloud scanning device, such as a laser scanner, can be used to scan the target package, and the resulting point cloud data describes the three-dimensional size information of the target package. Of course, there are many specific ways to acquire three-dimensional size information, which will not be elaborated upon here. This application does not limit the specific method for acquiring three-dimensional size information.

[0087] 302. Determine the height information corresponding to the target marking point based on the three-dimensional size information and the coordinate information.

[0088] In this embodiment, it is readily understood that the three-dimensional size information describes the information of each point on the target package in three dimensions, while the coordinate information describes the information of the target labeling point in two dimensions. Matching the three-dimensional size information and the coordinate information, where the three-dimensional size information is identical to the coordinate information in the two corresponding dimensions, the value of the third dimension is the height value corresponding to the target labeling point. Of course, in the process of matching the coordinate information and the three-dimensional size information, both need to be placed in the same reference coordinate system; however, considering that the above process is a conventional technique for those skilled in the art, this application will not elaborate on it here.

[0089] 303. Set the preset movement control parameters corresponding to the labeling device according to the coordinate information and the height information.

[0090] In this embodiment of the application, as described above, the movement control of the labeling device needs to be controlled from two dimensions: horizontal and vertical. The coordinate information describes the offset value of the target labeling point corresponding to the central axis of the transmission device. Therefore, the movement control parameters of the labeling device in the horizontal dimension, i.e., the horizontal movement control parameters, can be set based on the coordinate information. Correspondingly, the height information of the target labeling point describes the amount of movement of the labeling device in the vertical direction. Therefore, the vertical movement control parameters of the labeling device can be set based on the height information.

[0091] It should be noted that, considering that the approach to setting the vertical movement control parameters of the labeling device based on height information is the same as the approach to setting the lateral movement control parameters based on coordinate information, the implementation process of setting the vertical movement control parameters of the labeling device based on height information will be described in the subsequent description of how to set the lateral movement control parameters based on coordinate information.

[0092] like Figure 4 As shown, Figure 4 This is a flowchart illustrating a method for setting movement control parameters based on coordinate information, as provided in this application embodiment, specifically including steps 401 to 403:

[0093] 401. The offset of the centerline corresponding to the preset labeling device is calculated based on the coordinate information.

[0094] Based on the preceding steps, if a coordinate system is established with the central axis of the transmission device as the y-axis, the x-value in the coordinate information represents the offset of the target labeling point relative to the central axis. It should be noted that the offset value can be positive or negative, representing different directions of offset. To control the labeling device to complete the labeling operation, the offset of the labeling device relative to the central axis needs to be adjusted to match the offset of the target labeling point relative to the central axis. Therefore, after obtaining the initial offset of the labeling device relative to the central axis before performing the labeling operation, the difference between the initial offset and the final target offset can be used to obtain the lateral movement of the labeling device, which is the central axis offset. Similarly, the central axis offset can also be positive or negative. For details on how to calculate the central axis offset based on coordinate information, please refer to the following sections. Figure 5 And its explanations and descriptions.

[0095] Furthermore, similar to the offset of the central axis, the height change of the labeling device can also be calculated based on the height information of the target labeling point. Specifically, the height value of the labeling device needs to be adjusted to be equal to the height value of the target labeling point. Therefore, when the initial height value of the labeling device before performing the labeling operation is obtained, the vertical movement of the labeling device, that is, the height change, can be obtained based on the difference between the initial height value and the final target height value that needs to be adjusted.

[0096] 402. Query the preset database to obtain the target movement control parameters corresponding to the centerline offset.

[0097] In this embodiment, it is readily understood that to enable the labeling device to move a given lateral movement amount, if the lateral movement speed of the labeling device is kept constant, the lateral movement duration of the labeling device needs to be set. Correspondingly, if the lateral movement duration of the labeling device is controlled, the lateral movement speed of the labeling device needs to be set. Of course, it is also feasible to set both the lateral movement speed and the lateral movement start time of the labeling device to enable the labeling device to move a given lateral movement amount, and this application does not limit this. However, considering that the above control requires a larger number of parameters, this application will only use the aforementioned two methods, that is, taking the lateral movement duration or lateral movement speed as examples for further explanation.

[0098] In this embodiment, when the transmission speed v of the transmission device is fixed, the time when the target labeling point is transmitted to the labeling device is also relatively fixed. Specifically, since the image acquisition device and the labeling device remain relatively fixed, the distance L between the target area acquired by the image acquisition device and the labeling device is fixed. Therefore, by detecting whether the target labeling point leaves the field of view of the image acquisition device, and taking the time T when the target labeling point leaves the field of view as the starting time, the time T0 when the target labeling point is transmitted to the labeling device satisfies T0 = T + L / v. In other words, setting the lateral movement duration of the labeling device is equivalent to setting the corresponding lateral movement start time of the labeling device. When the labeling device starts to move laterally at a given (or set) lateral movement speed at the given (or set) lateral movement start time, after a specific lateral movement duration, it can be controlled so that the labeling device moves exactly above the target labeling point at the time T0 when the target labeling point is transmitted to the labeling device.

[0099] Specifically, for ease of understanding, the following provides the mapping relationship between the centerline offset and the movement control parameters:

[0100] 1) If the lateral movement speed of the labeling device is v0 and the offset of the central axis is S, it can be understood that the movement time required for the labeling device to move laterally is S / v0. When the time T when the target labeling point leaves the field of view is taken as the starting time, the time T0 when the target labeling point is transmitted to the labeling device is determined to be T0 = T + L / v. Therefore, the movement control parameter that needs to be set is the time T′ when the labeling device starts to move laterally T′ = T + L / vS / v0. That is, at the (L / vS / v0)th time after the target labeling point leaves the field of view, the labeling device needs to be controlled to start moving laterally at a speed of v0. Specifically, a timer can be used to control the labeling device.

[0101] 2) Similarly, if the time T when the target label point leaves the field of view is taken as the starting time, and the labeling device is controlled to start moving laterally, the time required for the target label point to be transmitted to the labeling device can be determined to be L / v. At this time, the movement control parameter to be set is the lateral movement speed v′ of the labeling device = S / (L / v). That is, when the target label point is detected to leave the field of view of the image acquisition device, the labeling device is controlled to move at a lateral movement speed of S / (L / v). This can also ensure that when the target label point is transmitted to the labeling device, the labeling device is exactly above the target label point.

[0102] The definitions of each letter in the above formula have been given in the preceding sections and will not be repeated here.

[0103] Furthermore, based on the foregoing description, given other parameters such as the transmission speed of the transmission device and the distance between the target area and the labeling device remaining constant, if the lateral movement duration of the labeling device (i.e., the start time of the lateral movement) remains constant, then there is a unique correspondence between the lateral movement speed and the lateral movement amount. Similarly, if the lateral movement speed remains constant, then there is a unique correspondence between the lateral movement duration (i.e., the start time of the lateral movement) and the lateral movement amount. Therefore, the mapping table obtained based on the above mapping relationship can be directly stored in the database, facilitating the direct acquisition of the corresponding target movement control parameters when the centerline offset, i.e., the lateral movement amount, is obtained.

[0104] Of course, similar to lateral movement, for vertical movement, after obtaining the amount of vertical movement, that is, the amount of height change, based on the same control idea, we can also obtain the movement control parameters of the labeling device in the vertical dimension, such as the vertical movement speed, etc., which will not be elaborated here.

[0105] 403, Set the target movement control parameters to the movement control parameters corresponding to the preset labeling device.

[0106] As can be seen from the foregoing description in this embodiment, the labeling operation can be achieved by controlling the movement of the labeling device using the target movement control parameters obtained by utilizing the mapping relationship between the aforementioned centerline offset and the movement control parameters. This application will not elaborate further here.

[0107] like Figure 5 As shown, Figure 5 The following is a flowchart illustrating a method for calculating the offset of the centerline based on coordinate information, as provided in an embodiment of this application.

[0108] In this embodiment of the application, specifically, steps 501 to 503 are included:

[0109] 501. Extract the first coordinate component from the coordinate information to obtain the first centerline offset value corresponding to the target marking point.

[0110] In this embodiment of the application, as can be seen from the foregoing description, when a coordinate system is established with the central axis of the transmission device as the y-axis, the horizontal coordinate corresponding to the target marking point is the first central axis offset value corresponding to the target marking point.

[0111] 502, Obtain the second centerline offset value corresponding to the preset labeling device.

[0112] In this embodiment, the second centerline offset value corresponding to the labeling device can be understood as the offset value of the labeling device relative to the centerline of the transmission device. Specifically, there are many ways to obtain the offset value. For example, the most common method is to reset the labeling device to a given initial position after each labeling operation. The centerline offset value corresponding to this initial position is then the second centerline offset value of the labeling device. This offset value is constant, but it adds control to the labeling device. As another simplified solution, after completing the labeling operation in the previous labeling process, the labeling device remains stationary. Therefore, in the current labeling operation, the obtained second centerline offset value of the labeling device is the same as the first centerline offset value of the target labeling point in the previous labeling process. In other words, after the current labeling operation is completed, the first centerline offset value corresponding to the target labeling point can be set as the second centerline offset value of the labeling device in the next operation.

[0113] 503, the difference between the first centerline offset value and the second centerline offset value is set as the centerline offset amount corresponding to the preset labeling device.

[0114] In this embodiment of the application, it can be understood that the second center axis offset value describes the current lateral position information of the labeling device, while the first center axis offset value describes the lateral position information that the labeling device needs to move, that is, the target position information. Therefore, the difference between the first center axis offset value and the second center axis offset value is the distance that the labeling device moves from the current position to the corresponding target position, which is the center axis offset amount of the labeling device, that is, the lateral movement amount.

[0115] like Figure 6 As shown, Figure 6 The following is a flowchart illustrating another method for setting motion control parameters provided in this application embodiment.

[0116] In this embodiment of the application, the target image is obtained through image detection, specifically including steps 601 to 603:

[0117] 601, Obtain the regional image within the preset target area on the preset transmission device.

[0118] In this embodiment, the image acquisition device is installed on the transmission device and can continuously acquire regional images within a preset target area on the transmission device. As an optional implementation of this application, considering that the target package needs a certain amount of time to pass through the field of view of the image acquisition device on the transmission device, it is necessary to control the acquisition frequency of the image acquisition device to avoid the anomaly of missed acquisition of the target package. Specifically, the acquisition frequency of the image acquisition device needs to be close to the ratio of its field of view width to the transmission belt speed, for example, slightly less than the ratio of the field of view width to the transmission belt speed.

[0119] 602, Perform target detection processing on the image of the region.

[0120] In this application, there are many ways to perform target detection on a region image, which will not be elaborated here. As an optional solution of this application, in order to improve the detection effect of packages, target detection on the region image can be achieved by using target detection networks related to artificial intelligence algorithms. For example, it can be based on recurrent neural networks, long short-term memory artificial neural networks, or any other network structure that can achieve target detection, such as the YOLO network, etc.

[0121] In this embodiment of the application, by performing target detection processing on the regional image, the target package can be detected quickly, thereby determining whether the regional image contains the target package to be labeled.

[0122] 603. If the area image contains a target package to be labeled, then the area image is set as the target image.

[0123] In this embodiment, if target detection determines that a target package is present in the area image, the captured area image becomes the target image. The image acquisition device transmits the acquired target image to the labeling control device via wired or wireless means, so that the labeling control device can set the labeling device parameters based on the image containing the target package. Of course, if the area image does not contain the target package to be labeled, no corresponding operation is required, and it can be cleaned up after a preset cleaning cycle.

[0124] like Figure 7 As shown, Figure 7 This is a flowchart illustrating another method for setting movement control parameters provided in this application embodiment, specifically including steps 701-702:

[0125] 701, Obtain the time information when the target marking point leaves the preset target area.

[0126] In this embodiment of the application, as described in the aforementioned step 402, when the movement control parameter is the start time of movement, it is necessary to obtain the time information T when the target label point leaves the target area. Specifically, it is necessary to detect the region image within the target area. When it is detected that the target label point has left the target area, that is, when the target label point is at the boundary of the region image, the time information at this time is the time information T when the target label point leaves the target area. There are many ways to detect the region image to determine whether the target label point has left the target area, which will not be elaborated here.

[0127] 702. Set the start time information corresponding to the labeling device according to the time information and the coordinate information.

[0128] As described in step 402 above, taking lateral movement as an example, the final set time for the labeling device to start lateral movement is T′=T+L / vS / v0. The lateral movement amount S of the labeling device is obtained based on coordinate information. Furthermore, T is the time information when the target labeling point leaves the preset target area, while v and v0 are the pre-given transmission speed and lateral movement speed of the labeling device, respectively, which are two constants. Therefore, the start time information of the labeling device is set according to the time information and coordinate information.

[0129] Of course, in addition to setting the start time information of the labeling device in the horizontal dimension based on the time information and coordinate information, the embodiments of this application can further set the start time information of the labeling device in the vertical dimension based on the time information and height information.

[0130] This application embodiment obtains the time information when the target labeling point leaves the target area. The time information and coordinate information can be used to set the start time information of the labeling device, which can be applied to scenarios where the moving speed of the labeling device is relatively fixed.

[0131] like Figure 8 As shown, Figure 8 This is a flowchart illustrating a method for determining target marking points provided in an embodiment of this application, specifically including steps 801 to 803:

[0132] 801, Perform image segmentation processing on the target image to obtain a first region corresponding to the target package in the target image and a second region corresponding to the label on the target package.

[0133] In this embodiment of the application, image segmentation refers to dividing an image into several specific regions with unique properties. Specifically, in this embodiment of the application, it can be understood that the package and the background in the target image can be divided into different regions, and the label on the package can also be further divided into other regions. Therefore, by image segmentation of the target image, the region information where the package is located and the region information where the label on the package is located can be extracted from the target image.

[0134] Specifically, there are many ways to implement image segmentation, such as region-based or boundary-based segmentation schemes. Of course, to improve the image segmentation effect, artificial intelligence-based visual algorithms can also be used to segment images. This application does not limit the specific implementation scheme of image segmentation.

[0135] It should be noted that, in fact, considering that the posted code labels also have different sizes, in order to avoid the anomaly of the labels covering the waybill, after directly obtaining the package area and the waybill area through image segmentation, it is necessary to further combine the size information of the code labels to remove the area at the boundary between the package area and the waybill area, so as to obtain the first area corresponding to the package and the second area corresponding to the waybill respectively.

[0136] 802, set the area outside the second area within the first area as the target labeling area.

[0137] In this embodiment of the application, it can be understood that since the label is affixed to the package, the second area corresponding to the label is located within the first area corresponding to the package. Therefore, the area that the code label is allowed to be affixed to is the area outside the second area within the first area, that is, the area outside the label on the target package.

[0138] 803, a target point randomly selected from the target labeling area is set as the target labeling point.

[0139] In the embodiments of this application, it can be understood that any point within the target labeling area can theoretically be used as a target labeling point. Therefore, a target point within the target labeling area can be randomly selected and set as the target labeling point. Of course, rules for target point selection can also be pre-defined according to actual needs to select target points that meet the rules as target labeling points. This application does not limit the implementation method for determining the target labeling point.

[0140] This application provides a scheme for detecting target labeling regions through image segmentation, and further sets target points randomly selected from the target labeling regions as target labeling points, thereby realizing the setting of target labeling points.

[0141] It should be noted that the technical solutions provided in the above embodiments can be combined with each other. To facilitate understanding of the complete logic of the labeling control method provided in this application's embodiments, as follows... Figure 9 As shown, a complete schematic diagram of labeling control is presented, specifically as follows: Figure 9 As shown.

[0142] like Figure 9 As shown, the package is transported from top to bottom, where A is the label on the package. During transport, when it passes through the field of view, the target labeling point B on the package can be determined. A coordinate axis is established as shown in the diagram; the horizontal coordinate of labeling point B is the offset relative to the central axis of the transport device. Furthermore, when B is detected to have left the end point of the image acquisition device's field of view, the distance from the target labeling point B to the labeling device is L2 in the diagram, which is the L mentioned earlier. At this point, by controlling the movement of the labeling device, the labeling device is positioned exactly above the target labeling point when it is transported to the labeling device's operation execution point.

[0143] To better implement the labeling control method in the embodiments of this application, a labeling control device is also provided in the embodiments of this application, based on the labeling control method. For example... Figure 10 and Figure 11 The labeling control device is described from the perspectives of functional modules and internal structure.

[0144] like Figure 10 The diagram shown is a functional block diagram of a labeling control device provided in an embodiment of this application. Specifically, the labeling control device includes:

[0145] Image acquisition module 1001 is used to acquire a target image containing the target package to be labeled;

[0146] The labeling point determination module 1002 is used to determine the target labeling point on the target package and the coordinate information corresponding to the target labeling point based on the target image.

[0147] The parameter setting module 1003 is used to set the movement control parameters corresponding to the preset labeling device according to the coordinate information;

[0148] The labeling control module 1004 is used to control the movement of the preset labeling device according to the movement control parameters, so that the preset labeling device can complete the labeling operation on the target package.

[0149] In some embodiments of this application, the labeling control device includes:

[0150] The size information acquisition module is used to acquire the three-dimensional size information corresponding to the target package;

[0151] The height determination module is used to determine the height information corresponding to the target marking point based on the three-dimensional size information and the coordinate information.

[0152] The parameter setting module described above is used to set the movement control parameters corresponding to the preset labeling device based on the coordinate information and the height information.

[0153] In some embodiments of this application, the parameter setting module includes:

[0154] The centerline offset calculation unit is used to calculate the centerline offset corresponding to the preset labeling device based on the coordinate information.

[0155] The query unit is used to query a preset database to obtain the target movement control parameters corresponding to the central axis offset.

[0156] The parameter setting unit is used to set the target movement control parameters to the movement control parameters corresponding to the preset labeling device.

[0157] In some embodiments of this application, the above-mentioned centerline offset calculation unit includes:

[0158] The first offset value acquisition sub-unit is used to extract the first coordinate component in the coordinate information and obtain the first centerline offset value corresponding to the target marking point;

[0159] The second offset value acquisition sub-unit is used to acquire the second centerline offset value corresponding to the preset labeling device;

[0160] The centerline offset calculation sub-unit is used to set the difference between the first centerline offset value and the second centerline offset value as the centerline offset value corresponding to the preset labeling device.

[0161] In some embodiments of this application, the above-mentioned centerline offset calculation unit further includes:

[0162] The second offset value setting sub-unit is used to set the first centerline offset value corresponding to the target labeling point to the second centerline offset value corresponding to the preset labeling device, so as to set the movement control parameters corresponding to the preset labeling device according to the coordinate information corresponding to the next target labeling point.

[0163] In some embodiments of this application, the image acquisition module includes:

[0164] The area image acquisition sub-module is used to acquire area images within a preset target area on a preset transmission device;

[0165] The target detection sub-module is used to perform target detection processing on the region image;

[0166] The target image setting submodule is used to set the region image as the target image if the region image contains the target package to be labeled.

[0167] In some embodiments of this application, the parameter setting module includes:

[0168] The time information acquisition module is used to acquire the time information when the target marking point leaves the preset target area;

[0169] The start-up time setting module is used to set the start-up time information corresponding to the labeling device based on the time information and the coordinate information.

[0170] In some embodiments of this application, the above-mentioned labeling point determination module includes:

[0171] The image segmentation submodule is used to perform image segmentation processing on the target image to obtain a first region corresponding to the target package in the target image and a second region corresponding to the label on the target package.

[0172] The target labeling area setting sub-module is used to set the area outside the second area within the first area as the target labeling area;

[0173] The target labeling point setting sub-module is used to set a target point randomly selected from the target labeling area as the target labeling point.

[0174] like Figure 11 The diagram shown is a schematic representation of the internal structure of a labeling control device according to an embodiment of this application. Specifically, the labeling control device includes a memory, a processor, and a labeling control program stored in the memory and executable on the processor. When the processor executes the labeling control program, it implements the steps of the labeling control method in any embodiment of this application.

[0175] Specifically, the labeling control device may include components such as a processor 1101 with one or more processing cores, a memory 1102 with one or more storage media, a power supply 1103, and an input unit 1104. Those skilled in the art will understand that... Figure 11 The labeling control device structure shown does not constitute a limitation on the labeling control device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0176] The processor 1101 is the control center of the labeling control device. It connects various parts of the labeling control device via various interfaces and lines. By running or executing software programs and / or modules stored in the memory 1102, and by calling data stored in the memory 1102, it performs various functions and processes data of the labeling control device, thereby providing overall monitoring of the labeling control device. Optionally, the processor 1101 may include one or more processing cores; preferably, the processor 1101 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 1101.

[0177] The memory 1102 can be used to store software programs and modules. The processor 1101 executes various functional applications and data processing by running the software programs and modules stored in the memory 1102. The memory 1102 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created based on the use of the labeling control device, etc. In addition, the memory 1102 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 1102 may also include a memory controller to provide the processor 1101 with access to the memory 1102.

[0178] The labeling control device also includes a power supply 1103 that supplies power to the various components. Preferably, the power supply 1103 can be logically connected to the processor 1101 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 1103 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0179] The labeling control device may also include an input unit 1104, which can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0180] Although not shown, the labeling control device may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 1101 in the labeling control device loads the executable files corresponding to the processes of one or more application programs into the memory 1102 according to the following instructions, and the processor 1101 runs the application programs stored in the memory 1102, thereby implementing the steps in any of the labeling control methods provided in the embodiments of the present invention.

[0181] Therefore, embodiments of the present invention provide a computer-readable storage medium. The computer-readable storage medium stores a labeling control program, which, when executed, implements the steps of any of the labeling control methods provided in the embodiments of the present invention. Specifically, the computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0182] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the detailed descriptions of other embodiments above, which will not be repeated here.

[0183] In practice, each of the above units or structures can be implemented as an independent entity or can be arbitrarily combined to be implemented as the same or several entities. For the specific implementation of each of the above units or structures, please refer to the previous method embodiments, which will not be repeated here.

[0184] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0185] The labeling control method provided in the embodiments of this application has been described in detail above. Specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A labeling control method characterized by, The method comprises the following steps: acquiring a target image containing a target package to be labeled and corresponding three-dimensional size information; determining a target labeling point on the target package according to the target image and corresponding coordinate information of the target labeling point; determining height information corresponding to the target labeling point according to the three-dimensional size information and the coordinate information; calculating a middle axis offset of a preset labeling device according to the coordinate information; setting a moving control parameter corresponding to the preset labeling device according to the coordinate information and the height information; controlling the preset labeling device to move according to the moving control parameter; when the target package is transported to a same cross section of the preset labeling device and a conveying device, an offset of the preset labeling device relative to a middle axis of the conveying device and a height of the preset labeling device are respectively equal to an offset of the target labeling point relative to the middle axis of the conveying device and a height of the target labeling point, so that the preset labeling device completes a labeling operation on the target package.

2. The labeling control method according to claim 1, characterized by, The step of setting the moving control parameter corresponding to the preset labeling device according to the coordinate information comprises the following steps: inquiring a preset database to acquire a target moving control parameter corresponding to the middle axis offset; setting the target moving control parameter as the moving control parameter corresponding to the preset labeling device.

3. The labeling control method according to claim 2, characterized by, The step of calculating the middle axis offset of the preset labeling device according to the coordinate information comprises the following steps: extracting a first coordinate component in the coordinate information to obtain a first middle axis offset value corresponding to the target labeling point; acquiring a second middle axis offset value corresponding to the preset labeling device; setting a difference between the first middle axis offset value and the second middle axis offset value as the middle axis offset corresponding to the preset labeling device.

4. The labeling control method according to claim 1, characterized by The step of acquiring the target image containing the target package to be labeled comprises the following steps: acquiring a region image in a preset target region on a preset conveying device; performing target detection processing on the region image; if the target package to be labeled is contained in the region image, setting the region image as the target image.

5. The labelling control method according to any of claims 1 or 4, characterized in that, The moving control parameter comprises start time information. The step of setting the moving control parameter corresponding to the preset labeling device according to the coordinate information comprises the following steps: acquiring time information when the target labeling point leaves the preset target region; setting start time information corresponding to the labeling device according to the time information and the coordinate information.

6. The labeling control method according to claim 1, characterized by The step of determining the target labeling point on the target package according to the target image comprises the following steps: performing image segmentation processing on the target image to obtain a first region corresponding to the target package and a second region corresponding to a surface of the target package in the target image; setting a region inside the first region and outside the second region as a target labeling region; setting a target point randomly selected from the target labeling region as the target labeling point.

7. A labelling control device, characterised in that The method comprises the following steps: an image acquisition module, configured to acquire a target image containing a target package to be labeled and corresponding three-dimensional size information; a labeling point determination module, configured to determine a target labeling point on the target package according to the target image and corresponding coordinate information of the target labeling point; Determine the height information corresponding to the target labeling point according to the three-dimensional size information and the coordinate information; calculate the offset of the central axis of the preset labeling device according to the coordinate information; The parameter setting module is configured to set the movement control parameter of the preset labeling device according to the coordinate information and the height information; The labeling control module is configured to control the movement of the preset labeling device according to the movement control parameter, and when the target package is transported to the same cross section as the preset labeling device, the offset of the preset labeling device relative to the central axis of the transport device and the height of the preset labeling device are equal to the offset of the target labeling point relative to the central axis of the transport device and the height of the target labeling point, respectively; so that the preset labeling device completes the labeling operation on the target package.

8. A labelling control apparatus characterised by The labeling control device comprises an image acquisition device, a labeling device, a processor, a memory, and a labeling control program stored in the memory and executable on the processor, and the processor executes the labeling control program to implement the steps in the labeling control method of any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a labeling control program, and the labeling control program is executed by the processor to implement the steps in the labeling control method of any one of claims 1 to 6.

Images