A volume measurement method and device for regular logistics packages based on TOF

Abstract

The present invention discloses a volume measurement method and device of a regular logistics package based on TOF, the method comprising: respectively collecting distance data between the outer surface of the regular logistics package moving with the conveyor belt and each TOF sensor arranged on both sides of the conveyor belt; filtering out characteristic data of the regular logistics package from the collected distance data; matching the volume model of the regular logistics package according to the characteristic data of the regular logistics package; and calculating the volume of the regular logistics package according to the volume model and characteristic data of the regular logistics package. The present invention can accurately measure the volume of the regular logistics package without considering the placement position of the package, while reducing the amount of collected data and the measurement cost.

Description

Technical Field

[0001] The present invention belongs to the technical field of logistics application, and in particular relates to a volume measurement method and device for regular logistics packages based on TOF. Background Art

[0002] With the rapid development of the logistics industry, how to improve logistics efficiency, save logistics costs, and how to efficiently use logistics space have become the main direction of the development of the logistics industry. Accurately measuring the volume of logistics packages can better utilize space, reasonably allocate logistics transportation, and improve logistics efficiency. Therefore, being able to efficiently and accurately measure the volume of object packages and calculate freight is a very important link in the logistics system.

[0003] At present, the logistics industry still mostly measures volume manually, which is very inefficient and inaccurate. The existing volume measurement systems on the market have the following defects: First, the instruments for measuring volume are mostly depth cameras or 3D cameras, and the technology and equipment used are too expensive, which is not conducive to popularization in the logistics industry; and the detection is mostly single-sided, collecting tens of thousands of data on one side, resulting in a waste of resources; most of the instruments for measuring volume on the market are fixed in position, with large blind spots and high error rates, and have certain requirements for the placement of packages, which are not convenient to use. Summary of the invention

[0004] In order to address the deficiencies in the prior art, the present invention provides a volume measurement method and device for regular logistics packages based on TOF, which can accurately measure the volume of regular logistics packages without considering the placement of the packages, while reducing the amount of collected data and lowering the measurement cost.

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

[0006] In a first aspect, a method for measuring the volume of a regular logistics package is provided, comprising: respectively collecting distance data between the outer surface of a regular logistics package moving along a conveyor belt and each TOF sensor arranged on both sides of the conveyor belt; filtering out characteristic data of the regular logistics package from the collected distance data; matching a volume model of the regular logistics package according to the characteristic data of the regular logistics package; and calculating the volume of the regular logistics package according to the volume model and characteristic data of the regular logistics package.

[0007] Furthermore, the characteristic data of the regular logistics package include: the average value L2_ave of the distance data measured by the TOF sensor V2 set on one side of the conveyor belt; the first value L1_first, the last value L1_last, the maximum value L1_max, the minimum value L1_min, and the average value L1_ave of the distance data measured by the TOF sensor V1 set on the other side of the conveyor belt opposite to the TOF sensor V2; the middle value L2_mid corresponding to the minimum value L1_min in the distance data measured by the TOF sensor V2; and the average value H0 of the distance data measured by the TOF sensor V0 set above the conveyor belt.

[0008] Furthermore, the volume model of the regular logistics package is matched according to the characteristic data of the regular logistics package, including: if the serial number of the minimum value L1_min exceeds half of the total distance data measured by the TOF sensor V1, and the serial number of the maximum value L1_max is less than half of the total distance data measured by the TOF sensor V1, then the volume model of the regular logistics package is the first dynamic measurement model; if the serial number of the minimum value L1_min exceeds half of the total distance data measured by the TOF sensor V1, and the serial number of the maximum value L1_max exceeds half of the total distance data measured by the TOF sensor V1, then the volume model of the regular logistics package is the second dynamic measurement model; if the serial number of the minimum value L1_min is less than half of the total distance data measured by the TOF sensor V1, and the serial number of the maximum value L1_ max is less than half of the total number of distance data measured by the TOF sensor V1, the volume model of the regular logistics package is the third dynamic measurement model; if the serial number of the minimum value L1_min is less than half of the total number of distance data measured by the TOF sensor V1, and the serial number of the maximum value L1_max exceeds half of the total number of distance data measured by the TOF sensor V1, the volume model of the regular logistics package is the fourth dynamic measurement model; if the serial number of the minimum value L1_min is half of the total number of distance data measured by the TOF sensor V1, the volume model of the regular logistics package is the fifth dynamic measurement model; when using the first to fifth dynamic measurement models, if the calculated deflection angle θ of the regular logistics package is less than the set value, the static measurement model is used as the volume model of the regular logistics package.

[0009] Furthermore, the volume of the regular logistics package is calculated according to the volume model and characteristic data of the regular logistics package, including: when the volume model of the regular logistics package is the first dynamic measurement model, the volume of the regular logistics package is:

[0010]

[0011] Among them, K1, K2, and K3 are intermediate variables, L represents the distance between TOF sensor V1 and TOF sensor V2, A represents the width of the regular logistics package, B represents the length of the regular logistics package, C represents the height of the regular logistics package, H represents the distance between TOF sensor V0 and the conveyor belt, V represents the volume of the regular logistics package, and θ represents the deflection angle of the regular logistics package;

[0012] When the volume model of the regular logistics package is the second dynamic measurement model, the volume of the regular logistics package is:

[0013]

[0014] When the volume model of the regular logistics package is the third dynamic measurement model, the volume of the regular logistics package is:

[0015]

[0016] When the volume model of the regular logistics package is the fourth dynamic measurement model, the volume of the regular logistics package is:

[0017]

[0018] When the volume model of the regular logistics package is the fifth dynamic measurement model, the volume of the regular logistics package is:

[0019]

[0020] When using the first to fifth dynamic measurement models, if the calculated deflection angle θ of the regular logistics package is greater than or equal to the set value, the length, width and volume of the regular logistics package obtained above are valid data; if the deflection angle θ of the regular logistics package is less than the set value, the length, width and volume of the logistics package calculated by the corresponding dynamic measurement model are invalid data, and the static measurement model is used as the volume model of the regular logistics package instead;

[0021] When the static measurement model is used as the volume model of the regular logistics package, the volume of the regular logistics package is:

[0022]

[0023] Among them, L3 represents the distance between TOF sensor V4 and the regular logistics package, L4 represents the distance between TOF sensor V3 and the regular logistics package, J represents the distance between TOF sensor V3 and TOF sensor V4, TOF sensor V3, TOF sensor V4 and TOF sensor V2 are located on the same side of the conveyor belt, and TOF sensor V3 and TOF sensor V4 are located on both sides of TOF sensor V2 respectively, B is the average value of all B1, α represents the angle between TOF sensor V4 and the conveyor belt, and β represents the angle between TOF sensor V3 and the conveyor belt.

[0024] In a second aspect, a volume measurement device for a regular logistics package is provided, including: a data acquisition module, used to respectively collect distance data between the outer surface of the regular logistics package moving with the conveyor belt and each TOF sensor arranged on both sides of the conveyor belt; a first data processing module, used to filter out characteristic data of the regular logistics package from the collected distance data; and also used to match the volume model of the regular logistics package according to the characteristic data of the regular logistics package; a second data processing module, used to calculate the volume of the regular logistics package according to the volume model and characteristic data of the regular logistics package.

[0025] Furthermore, the data acquisition module includes: a TOF sensor V2, a TOF sensor V3 and a TOF sensor V4 arranged on one side of the conveyor belt, wherein the TOF sensor V3 and the TOF sensor V4 are respectively located on both sides of the TOF sensor V2; a TOF sensor V1 arranged on the other side of the conveyor belt opposite to the TOF sensor V2; and a TOF sensor V0 arranged above the conveyor belt.

[0026] Furthermore, the models of TOF sensor V0, TOF sensor V1, TOF sensor V2, TOF sensor V3 and TOF sensor V4 are VL53L0X.

[0027] Furthermore, it also includes a first data storage module for storing the distance data collected by the data collection module.

[0028] Furthermore, it also includes a second data storage module for storing output data of the first data processing module.

[0029] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the present invention respectively collects the distance data between the outer surface of the regular logistics package moving with the conveyor belt and the TOF sensors arranged on both sides of the conveyor belt; screens out the characteristic data of the regular logistics package from the collected distance data; matches the volume model of the regular logistics package according to the characteristic data of the regular logistics package; calculates the volume of the regular logistics package according to the volume model and characteristic data of the regular logistics package, and does not need to consider the placement position of the package, so as to accurately measure the volume of the regular logistics package, and at the same time reduces the amount of collected data and reduces the measurement cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a main flow chart of a volume measurement method of a regular logistics package based on TOF provided by an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the first dynamic measurement model in an embodiment of the present invention;

[0032] Figure 3 is a schematic diagram of a second dynamic measurement model in an embodiment of the present invention;

[0033] Figure 4 is a schematic diagram of a third dynamic measurement model in an embodiment of the present invention;

[0034] Figure 5 is a schematic diagram of a fourth dynamic measurement model in an embodiment of the present invention;

[0035] Figure 6 is a fifth dynamic measurement model principle diagram in an embodiment of the present invention;

[0036] Figure 7 It is a schematic diagram of a static measurement model in an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0038] Embodiment 1:

[0039] like Figure 1 to Figure 7As shown, a volume measurement method for regular logistics packages based on TOF (Time of flight) includes: respectively collecting distance data between the outer surface of the regular logistics package moving with the conveyor belt and each TOF sensor arranged on both sides of the conveyor belt; filtering out characteristic data of the regular logistics package from the collected distance data; matching the volume model of the regular logistics package according to the characteristic data of the regular logistics package; and calculating the volume of the regular logistics package according to the volume model and characteristic data of the regular logistics package.

[0040] In this embodiment, a TOF sensor V2, a TOF sensor V3 and a TOF sensor V4 are arranged on one side of the conveyor belt, wherein the TOF sensor V3 and the TOF sensor V4 are respectively located on both sides of the TOF sensor V2 (the distance between the TOF sensor V3 and the TOF sensor V4 is within 3 meters). A TOF sensor V1 is arranged on the other side of the conveyor belt opposite to the TOF sensor V2. A TOF sensor V0 is arranged above the conveyor belt (within 1 meter). The TOF sensor described in this embodiment is a distance measuring sensor based on TOF technology. When the logistics package is on the conveyor belt, the sensor will be triggered to collect the surface feature data of the logistics package, and multiple sets of distance data between the surface of the logistics package and the sensor will be obtained according to the flight time of the light pulse; the algorithm control program analyzes and processes the distance data through the program to obtain useful data (i.e., the feature data of the regular logistics package), and then the corresponding measurement model (i.e., the volume model of the regular logistics package) is determined according to the useful data to calculate the length, width and height of the logistics package, and finally the volume of the logistics package is calculated.

[0041] (i) After the five TOF sensors are installed respectively, it is necessary to store the height data of TOF sensor V0 from the conveyor belt into the reference value H in advance, the distance between TOF sensor V1 and TOF sensor V2 into the reference value L, the distance between TOF sensor V3 and TOF sensor V4 into the reference value J, and the angles (less than 90°) between TOF sensor V3 and TOF sensor V4 and the conveyor belt into the reference value β and the reference value α respectively.

[0042] (ii) When starting to work, only TOF sensor V1 and TOF sensor V2 start to work. When TOF sensor V1 and TOF sensor V2 detect an object, all sensors start to work and the data acquisition module starts to collect data. At this time, the first data storage module stores the data measured by TOF sensor V0 into array L0, the data measured by TOF sensor V1 into array L1, the data measured by TOF sensor V2 into array L2, the data measured by TOF sensor V3 into array L3, and the data measured by TOF sensor V4 into array L4.

[0043] (iii) Useful data (characteristic data of regular logistics packages) are filtered out from the measured data through the first data processing module, and the working mode (the working mode is divided into dynamic measurement mode and static measurement mode) is determined according to the serial number corresponding to the useful data in the array, and the volume model of the regular logistics package is matched at the same time.

[0044] Useful data includes:

[0045] The maximum value L2_max, the minimum value L2_min, the first value L2_first, the last value L2_last, and the average value L2_ave of the distance data measured by the TOF sensor V2;

[0046] The maximum value L1_max, the minimum value L1_min, the intermediate value L1_mid1 corresponding to the maximum value L2_max, the intermediate value L1_mid2 corresponding to the minimum value L2_min, and the average value L1_ave of the distance data measured by the TOF sensor V1;

[0047] The middle value L2_mid corresponding to the minimum value L1_min in the distance data measured by the TOF sensor V2;

[0048] The average value H0 of the distance data measured by the TOF sensor V0.

[0049] The maximum and minimum values ​​in the data measured by the TOF sensor V1 are compared and stored as L1_max and L1_min respectively. Meanwhile, the data value corresponding to the serial number of L1_min in the data measured by the TOF sensor V2 is stored as L2_mid. L1_max and L1_min are judged respectively: for the maximum value L1_max, whether the serial number of the data L1_max measured at this time exceeds half of the total number of data measured by the TOF sensor V1 is judged; for the minimum value L1_min, whether the serial number of the data L1_min measured at this time exceeds half of the total number of data measured by the TOF sensor V1 is judged. Five dynamic measurement models under the dynamic measurement mode are derived.

[0050] 1) The first dynamic measurement model: the serial number of the minimum value L1_min exceeds half of the total number of distance data measured by the TOF sensor V1, and the serial number of the maximum value L1_max is less than half of the total number of distance data measured by the TOF sensor V1.

[0051] Establish a measurement model such as Figure 2As shown, the deflection angle of the regular logistics package is set to θ, the length of the logistics package is B, the width is A, and the last data obtained by the TOF sensor V1 is stored as L1_last. At this time, we can get: K1 = L1_last-L1_min, K2 = L1_max-L1_min, K3 = L-L2_mid-L1_min; by Figure 2 The relationship between θ and K1, K2, and K3 can be obtained, namely sinθ=K2 / B, cosθ=A / K3, and cosθ=K1 / A. The values ​​of A, B, and θ, i.e., the length and width of the logistics package and the deflection angle of the regular logistics package, can be calculated from these three equations.

[0052] 2) The second dynamic measurement model: the serial number of the minimum value L1_min exceeds half of the total number of distance data measured by the TOF sensor V1, and the serial number of the maximum value L1_max exceeds half of the total number of distance data measured by the TOF sensor V1.

[0053] Establish a measurement model such as Figure 3 As shown, the deflection angle of the regular logistics package is set to θ, the length of the logistics package is B, the width is A, and the data first obtained by the TOF sensor V1 is stored as L1_first. At this time, we can get: K1 = L1_first-L1_min, K2 = L1_max-L1_min, K3 = L-L2_mid-L1_min; by Figure 3 The relationship between θ and K1, K2, and K3 can be obtained, namely sinθ=K1 / B, cosθ=A / K3, and cosθ=K2 / A. The values ​​of A, B, and θ, i.e. the length and width of the logistics package and the deflection angle of the regular logistics package, can be calculated from these three equations respectively.

[0054] 3) The third dynamic measurement model: the serial number of the minimum value L1_min is less than half of the total number of distance data measured by the TOF sensor V1, and the serial number of the maximum value L1_max is less than half of the total number of distance data measured by the TOF sensor V1.

[0055] Establish a measurement model such as Figure 4 As shown, the deflection angle of the regular logistics package is set to θ, the length of the logistics package is B, the width is A, and the last data obtained by the TOF sensor V1 is stored as L1_last. At this time, we can get: K1 = L1_last-L1_min, K2 = L1_max-L1_min, K3 = L-L2_mid-L1_min; by Figure 4 The relationship between θ and K1, K2, and K3 can be obtained, namely sinθ=K1 / B, cosθ=A / K3, and cosθ=K2 / A. The values ​​of A, B, and θ, i.e. the length and width of the logistics package and the deflection angle of the regular logistics package, can be calculated from these three equations respectively.

[0056] 4) The fourth dynamic measurement model: the serial number of the minimum value L1_min is less than half of the total number of distance data measured by the TOF sensor V1, and the serial number of the maximum value L1_max exceeds half of the total number of distance data measured by the TOF sensor V1.

[0057] Establish a measurement model such as Figure 5 As shown, the deflection angle of the regular logistics package is set to θ, the length of the logistics package is B, the width is A, and the data obtained by L1 first is stored as L1_first. At this time, we can get: K1 = L1_first-L1_min, K2 = L1_max-L1_min, K3 = L-L2_mid-L1_min; by Figure 5 The relationship between θ and K1, K2, and K3 can be obtained, namely sinθ=K2 / B, cosθ=A / K3, and cosθ=K1 / A. The values ​​of A, B, and θ, i.e., the length and width of the logistics package and the deflection angle of the regular logistics package, can be calculated from these three equations.

[0058] 5) The fifth dynamic measurement model: the serial number of the minimum value L1_min is exactly half of the total number of distance data measured by the TOF sensor V1.

[0059] Establish a measurement model such as Figure 6 As shown, the deflection angle of the regular logistics package is set to θ, the length of the logistics package is B, and the width is A. At this time, the model is approximately a square, and the value of the deflection angle θ of the regular logistics package is 45°, and A=B. At this time, K=L1_max-L1_min, sinθ=K / A, from which the values ​​of A and B, that is, the length and width of the package, can be calculated.

[0060] (iv) Calculate the average value in the data set L0, set the logistics package height to C, and C = H-H0, and obtain the value of the package height.

[0061] (V) The deflection angle θ of the required regular logistics package is judged. If the value of θ is greater than the set value, in this embodiment, the set value is 5°, then the length and width of the package previously obtained by the dynamic model are valid data; if the value of θ is less than 5°, the data measured by the dynamic model is invalid, and the static measurement mode is turned on at the same time to obtain a static measurement model.

[0062] like Figure 7 As shown, the length of the package is set to B and the width is set to A, and the average value of the data measured by TOF sensor V1 and TOF sensor V2 is calculated and stored as L1_ave and L2_ave respectively. At this time, A = L-L1_ave-L2_ave, and Figure 7 It can be concluded that K1=L3×cosα, K2=L4×cosβ, B1=J-K1-K2, and then the average of all B1 values ​​is calculated and stored as B1_ave. At this time, B=B1_ave.

[0063] (VI) Based on the length, width and height of the regular logistics package calculated above, i.e. the values ​​of A, B and C, the volume of the regular logistics package can be calculated:

[0064] When the volume model of the regular logistics package is the first dynamic measurement model, the volume of the regular logistics package is:

[0065]

[0066] Among them, K1, K2, and K3 are intermediate variables, L represents the distance between TOF sensor V1 and TOF sensor V2, A represents the width of the regular logistics package, B represents the length of the regular logistics package, C represents the height of the regular logistics package, H represents the distance between TOF sensor V0 and the conveyor belt, V represents the volume of the regular logistics package, and θ represents the deflection angle of the regular logistics package;

[0067] When the volume model of the regular logistics package is the second dynamic measurement model, the volume of the regular logistics package is:

[0068]

[0069] When the volume model of the regular logistics package is the third dynamic measurement model, the volume of the regular logistics package is:

[0070]

[0071] When the volume model of the regular logistics package is the fourth dynamic measurement model, the volume of the regular logistics package is:

[0072]

[0073] When the volume model of the regular logistics package is the fifth dynamic measurement model, the volume of the regular logistics package is:

[0074]

[0075] When using the first to fifth dynamic measurement models, if the calculated deflection angle θ of the regular logistics package satisfies: θ≥5°, ​​then the length, width and volume of the regular logistics package required above are valid data; if the deflection angle θ of the regular logistics package is <5°, then the length, width and volume of the logistics package calculated by the corresponding dynamic measurement model are invalid data, and the static measurement model is used instead as the volume model of the regular logistics package.

[0076] When the static measurement model is used as the volume model of the regular logistics package, the volume of the regular logistics package is:

[0077]

[0078] Among them, L1_ave represents the average value of the distance data measured by TOF sensor V1, L2_ave represents the average value of the distance data measured by TOF sensor V2, L3 represents the distance between TOF sensor V4 and the regular logistics package, L4 represents the distance between TOF sensor V3 and the regular logistics package, J represents the distance between TOF sensor V3 and TOF sensor V4, TOF sensor V3, TOF sensor V4 and TOF sensor V2 are located on the same side of the conveyor belt, and TOF sensor V3 and TOF sensor V4 are located on both sides of TOF sensor V2 respectively, B is the average value of all B1, α represents the angle between TOF sensor V4 and the conveyor belt, and β represents the angle between TOF sensor V3 and the conveyor belt.

[0079] The present invention collects some data of regular logistics packages by adopting TOF technology, obtains regular logistics package model parameters, and uses different measurement models according to different situations, so as to intelligently measure the volume of regular logistics packages. The volume of regular logistics packages can be accurately measured without considering the placement of the package, while reducing the amount of collected data and reducing the measurement cost. The regular logistics package volume measurement method of the present invention, by installing a TOF device, uses the principle of calculating the distance to the target object using the time of flight, and designs different calculation methods for calculating the model parameters of the regular logistics package according to the different situations of the placement of the logistics package on the conveyor belt, obtains the volume of the logistics package, and then combines with the weight of the package to intelligently calculate the cost required for the package transportation, so that the logistics transportation cost is more accurate and the cost is lower.

[0080] Embodiment 2:

[0081] Based on the volume measurement method of a regular logistics package described in Example 1, this embodiment provides a volume measurement device for a regular logistics package, including:

[0082] The data acquisition module is used to respectively collect the distance data between the outer surface of the regular logistics package moving with the conveyor belt and the TOF sensors arranged on both sides of the conveyor belt; the first data processing module is used to filter out the characteristic data of the regular logistics package from the collected distance data; and is also used to match the volume model of the regular logistics package according to the characteristic data of the regular logistics package; the second data processing module is used to calculate the volume of the regular logistics package according to the volume model and characteristic data of the regular logistics package.

[0083] The data acquisition module includes: TOF sensor V2, TOF sensor V3 and TOF sensor V4 arranged on one side of the conveyor belt, wherein TOF sensor V3 and TOF sensor V4 are respectively located on both sides of TOF sensor V2; TOF sensor V1 arranged on the other side of the conveyor belt opposite to TOF sensor V2; TOF sensor V0 arranged above the conveyor belt. The model of TOF sensor V0, TOF sensor V1, TOF sensor V2, TOF sensor V3 and TOF sensor V4 is VL53L0X.

[0084] The present invention also includes a first data storage module and a second data storage module. The first data storage module is used to store all data measured by TOF sensors V0, V1, V2, V3, and V4; the second data storage module is used to store useful data and working modes obtained by the first data processing module.

[0085] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for measuring the volume of a regular logistics package, characterized in that: include: The distance data between the outer surface of the regular logistics package moving along the conveyor belt and each TOF sensor arranged on both sides of the conveyor belt are respectively collected; Filter out the characteristic data of regular logistics packages from the collected distance data; According to the characteristic data of the regular logistics package, the volume model of the regular logistics package is matched; According to the volume model and characteristic data of the regular logistics package, the volume of the regular logistics package is calculated; The characteristic data of the regular logistics package include: The average value L2_ave of the distance data measured by the TOF sensor V2 set on one side of the conveyor belt; The first value L1_first, the last value L1_last, the maximum value L1_max, the minimum value L1_min, and the average value L1_ave of the distance data measured by the TOF sensor V1 arranged on the other side of the conveyor belt opposite to the TOF sensor V2; The middle value L2_mid corresponding to the minimum value L1_min in the distance data measured by the TOF sensor V2; The average value H0 of the distance data measured by the TOF sensor V0 set above the conveyor belt; The step of matching the volume model of the regular logistics package according to the characteristic data of the regular logistics package includes: If the serial number of the minimum value L1_min exceeds half of the total number of distance data measured by the TOF sensor V1, and the serial number of the maximum value L1_max is less than half of the total number of distance data measured by the TOF sensor V1, the volume model of the regular logistics package is the first dynamic measurement model; If the serial number of the minimum value L1_min exceeds half of the total number of distance data measured by the TOF sensor V1, and the serial number of the maximum value L1_max exceeds half of the total number of distance data measured by the TOF sensor V1, then the volume model of the regular logistics package is the second dynamic measurement model; If the serial number of the minimum value L1_min is less than half of the total number of distance data measured by the TOF sensor V1, and the serial number of the maximum value L1_max is less than half of the total number of distance data measured by the TOF sensor V1, then the volume model of the regular logistics package is the third dynamic measurement model; If the serial number of the minimum value L1_min is less than half of the total number of distance data measured by the TOF sensor V1, and the serial number of the maximum value L1_max is more than half of the total number of distance data measured by the TOF sensor V1, then the volume model of the regular logistics package is the fourth dynamic measurement model; If the sequence number of the minimum value L1_min is half of the total number of distance data measured by the TOF sensor V1, the volume model of the regular logistics package is the fifth dynamic measurement model; When using the first to fifth dynamic measurement models, if the calculated deflection angle θ of the regular logistics package is smaller than the set value, the static measurement model is used as the volume model of the regular logistics package.

2. The method for measuring the volume of a regular logistics package according to claim 1, characterized in that: The method of calculating the volume of the regular logistics package according to the volume model and characteristic data of the regular logistics package includes: When the volume model of the regular logistics package is the first dynamic measurement model, the volume of the regular logistics package is: （1） Among them, K1, K2, and K3 are intermediate variables, L represents the distance between TOF sensor V1 and TOF sensor V2, A represents the width of the regular logistics package, B represents the length of the regular logistics package, C represents the height of the regular logistics package, H represents the distance between TOF sensor V0 and the conveyor belt, V represents the volume of the regular logistics package, and θ represents the deflection angle of the regular logistics package; When the volume model of the regular logistics package is the second dynamic measurement model, the volume of the regular logistics package is: （2） When the volume model of the regular logistics package is the third dynamic measurement model, the volume of the regular logistics package is: （3） When the volume model of the regular logistics package is the fourth dynamic measurement model, the volume of the regular logistics package is: （4） When the volume model of the regular logistics package is the fifth dynamic measurement model, the volume of the regular logistics package is: （5） When using the first to fifth dynamic measurement models, if the calculated deflection angle θ of the regular logistics package is greater than or equal to the set value, the length, width and volume of the regular logistics package obtained above are valid data; if the deflection angle θ of the regular logistics package is less than the set value, the length, width and volume of the logistics package calculated by the corresponding dynamic measurement model are invalid data, and the static measurement model is used as the volume model of the regular logistics package instead; When the static measurement model is used as the volume model of the regular logistics package, the volume of the regular logistics package is: （6） Wherein, L3 represents the distance between the TOF sensor V4 and the regular logistics package, L4 represents the distance between the TOF sensor V3 and the regular logistics package, J represents the distance between the TOF sensor V3 and the TOF sensor V4, TOF sensor V3, TOF sensor V4 and TOF sensor V2 are located on the same side of the conveyor belt, and TOF sensor V3 and TOF sensor V4 are located on both sides of TOF sensor V2 respectively, B is the average value of all B1, It represents the angle between TOF sensor V4 and the conveyor belt. Indicates the angle between the TOF sensor V3 and the conveyor belt.

3. A volume measurement device for regular logistics packages, characterized in that: include: A data acquisition module, used to respectively collect distance data between the outer surface of the regular logistics package moving along the conveyor belt and each TOF sensor arranged on both sides of the conveyor belt; The first data processing module is used to filter out characteristic data of regular logistics packages from the collected distance data; The second data processing module is used to match the volume model of the regular logistics package according to the characteristic data of the regular logistics package; It is also used to calculate the volume of the regular logistics package according to the volume model and characteristic data of the regular logistics package; The characteristic data of the regular logistics package include: The average value L2_ave of the distance data measured by the TOF sensor V2 set on one side of the conveyor belt; The first value L1_first, the last value L1_last, the maximum value L1_max, the minimum value L1_min, and the average value L1_ave of the distance data measured by the TOF sensor V1 arranged on the other side of the conveyor belt opposite to the TOF sensor V2; The middle value L2_mid corresponding to the minimum value L1_min in the distance data measured by the TOF sensor V2; The average value H0 of the distance data measured by the TOF sensor V0 set above the conveyor belt; The step of matching the volume model of the regular logistics package according to the characteristic data of the regular logistics package includes: If the serial number of the minimum value L1_min exceeds half of the total number of distance data measured by the TOF sensor V1, and the serial number of the maximum value L1_max is less than half of the total number of distance data measured by the TOF sensor V1, the volume model of the regular logistics package is the first dynamic measurement model; If the serial number of the minimum value L1_min exceeds half of the total number of distance data measured by the TOF sensor V1, and the serial number of the maximum value L1_max exceeds half of the total number of distance data measured by the TOF sensor V1, then the volume model of the regular logistics package is the second dynamic measurement model; If the serial number of the minimum value L1_min is less than half of the total number of distance data measured by the TOF sensor V1, and the serial number of the maximum value L1_max is less than half of the total number of distance data measured by the TOF sensor V1, then the volume model of the regular logistics package is the third dynamic measurement model; If the serial number of the minimum value L1_min is less than half of the total number of distance data measured by the TOF sensor V1, and the serial number of the maximum value L1_max is more than half of the total number of distance data measured by the TOF sensor V1, then the volume model of the regular logistics package is the fourth dynamic measurement model; If the sequence number of the minimum value L1_min is half of the total number of distance data measured by the TOF sensor V1, the volume model of the regular logistics package is the fifth dynamic measurement model; When using the first to fifth dynamic measurement models, if the calculated deflection angle θ of the regular logistics package is smaller than the set value, the static measurement model is used as the volume model of the regular logistics package.

4. The volume measuring device for regular logistics packages according to claim 3, characterized in that: The data acquisition module comprises: A TOF sensor V2, a TOF sensor V3 and a TOF sensor V4 are arranged on one side of the conveyor belt, wherein the TOF sensor V3 and the TOF sensor V4 are respectively located on both sides of the TOF sensor V2; A TOF sensor V1 is arranged on the other side of the conveyor belt opposite to the TOF sensor V2; TOF sensor V0 is set above the conveyor belt.

5. The volume measuring device for regular logistics packages according to claim 4, characterized in that: The model of TOF sensor V0, TOF sensor V1, TOF sensor V2, TOF sensor V3 and TOF sensor V4 is VL53L0X.

6. The volume measuring device for regular logistics packages according to claim 3, characterized in that: It also includes a first data storage module for storing the distance data collected by the data collection module.

7. The volume measuring device for regular logistics packages according to claim 3, characterized in that: It also includes a second data storage module for storing output data of the first data processing module.

Images