Cigarette roll height recognition methods, systems, media, and devices

Abstract

The application discloses a kind of identification tobacco roll height method, system, medium and equipment, its method includes the following steps: obtaining the same height and interval preset distance of two cameras on robot, the inside and outside tobacco roll image obtained by shooting tobacco roll on tray;According to the inside and outside tobacco roll image, judge whether there is tobacco roll on tray;If there is tobacco roll on tray, the target tobacco roll image corresponding to inside and outside tobacco roll when the tobacco roll contour in the tobacco roll image obtained by one camera shooting is a complete circle is obtained;According to the target tobacco roll image corresponding to inside and outside tobacco roll, the height of inside and outside tobacco roll is calculated;When the tobacco roll contour in the outside tobacco roll image obtained by two cameras shooting respectively is not a complete circle, then the height of outside tobacco roll is calculated according to the outside tobacco roll image shot by two cameras respectively;Therefore, the application can identify whether there is tobacco roll on tray, and the height of tobacco roll stacking is obtained.

Description

Technical Field

[0001] This invention relates to the field of tobacco rolling technology, and in particular to a method, system, medium, and device for identifying the height of tobacco rolling. Background Technology

[0002] In the scenario of automatic feeding of high-speed machines in the tobacco industry, collaborative robots need to feed the material rolls on the pallet into the conveyor line. However, the number of material rolls piled on the pallet is uncertain. Without judgment, the robotic arm of the collaborative robot cannot accurately judge the gripping height, which means that human intervention is still required in the automated process.

[0003] Therefore, to address the above issues, it is necessary to design a scheme in the automated process to automatically identify the height of tobacco rolls, so as to determine whether there are rolls on the tray and obtain the stacking height of the rolls. Summary of the Invention

[0004] The present invention provides a method, system, medium and device for identifying the height of tobacco rolls, which can identify whether there are tobacco rolls on a tray and obtain the height of the tobacco roll stacking.

[0005] In a first aspect, a method for identifying the height of tobacco rolls is provided, comprising the following steps:

[0006] Two cameras, positioned at the same height on the robot and spaced at a preset distance, capture images of the inner and outer sides of the material rolls on the tray.

[0007] Based on the images of the inner and outer material rolls, determine whether there are material rolls on the pallet;

[0008] If there are material rolls on the pallet, then obtain the target material roll images corresponding to the inner and outer material rolls respectively when the outline of the material roll in the image of the material roll captured by one of the cameras is a complete circle;

[0009] Calculate the height of the inner and outer rolls based on the target roll images corresponding to the inner and outer rolls respectively;

[0010] When it is determined that the outline of the outer roll in the images of the outer roll taken by the two cameras is not a complete circle, the height of the outer roll is calculated based on the images of the outer roll taken by the two cameras.

[0011] According to the first aspect, in a first possible implementation of the first aspect, the step of "determining whether there is a material roll on the pallet based on the inner and outer material roll images" specifically includes the following steps:

[0012] The OpenCV algorithm is used to extract the outline of the material roll in the inner and outer material roll images, and the Hough circle detection algorithm is used to detect the circle in the outline of the material roll.

[0013] If the detected circular radius is within the preset radius range, it is determined that there is a material roll on the pallet.

[0014] According to the first aspect, in a second possible implementation of the first aspect, the step of "calculating the height of the inner roll and the height of the outer roll based on the target roll images corresponding to the inner and outer rolls respectively" specifically includes the following steps:

[0015] Based on the target roll images corresponding to the inner and outer rolls respectively, the cameras corresponding to the inner and outer target roll images are obtained. The formulas for calculating the height H0 of the inner roll or the height H0 of the outer roll are as follows:

[0016] H0=d1-dsitance*cosθ-d2-d3;

[0017] In the formula, θ is the camera mounting angle; d1 is the camera mounting height; d2 is the thickness of the upper surface of the tray; d3 is the height of the upper surface of the robot's fork teeth; and dsitance is the distance between the inner or outer roll of material and the corresponding camera.

[0018] According to the first aspect, in the third possible implementation of the first aspect, the step of "when it is identified that the outline of the outer roll in the outer roll images captured by the two cameras is not a complete circle, then the height of the outer roll is calculated based on the outer roll images captured by the two cameras" specifically includes the following steps:

[0019] When it is identified that the outline of the outer roll in the images of the outer roll captured by the two cameras is not a complete circle, the area of ​​the two outer rolls and the height of the two initial outer rolls are obtained from the images of the outer rolls captured by the two cameras.

[0020] When the difference between the two initial outer roll heights is greater than a preset threshold, the larger of the two initial outer roll heights is taken as the outer roll height.

[0021] When the difference between the heights of the two initial outer rolls is less than a preset threshold, the height of the outer roll is calculated based on the area of ​​the two outer rolls and the height of the two initial outer rolls.

[0022] According to the third possible implementation of the first aspect, in the fourth possible implementation of the first aspect, the step of "calculating the height of the outer roll based on the areas of the two outer rolls and the heights of the two initial outer rolls" specifically includes the following steps:

[0023] The formula for calculating the height H of the outer coil is as follows:

[0024] H=H1*(S1 / S)+H2*(S2 / S)+(H1+H2) / 2*[(1-S1-S2) / S];

[0025] In the formula, H1 and S1 are the initial outer roll height and outer roll area corresponding to one of the cameras, respectively; H2 and S2 are the initial outer roll height and outer roll area corresponding to the other camera, respectively; and S is the complete upper surface area of ​​the roll.

[0026] Secondly, a system for identifying the height of tobacco rolls is provided, including:

[0027] The image acquisition module is used to acquire images of the inner and outer sides of the material rolls on the pallet by two cameras positioned at the same height on the robot and spaced at a preset distance.

[0028] The judgment module is communicatively connected to the image acquisition module and is used to determine whether there is a material roll on the pallet based on the inner and outer material roll images;

[0029] The target image module is communicatively connected to the judgment module and is used to obtain the target material roll images corresponding to the inner and outer material rolls respectively when the outline of the material roll in the image of the material roll captured by one of the cameras is a complete circle if there is a material roll on the tray.

[0030] A primary calculation module, communicatively connected to the target image module, is used to calculate the height of the inner and outer material rolls based on the target material roll images corresponding to the inner and outer material rolls, respectively; and,

[0031] The secondary calculation module, which is communicatively connected to the judgment module, is used to calculate the height of the outer roll based on the outer roll images captured by the two cameras when it is determined that the roll outline in the outer roll images captured by the two cameras is not a complete circle.

[0032] Thirdly, a storage medium is provided on which a computer program is stored, which, when executed by a processor, implements the method for identifying the height of tobacco rolls as described above.

[0033] Fourthly, an electronic device is provided, including a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, wherein the processor, when executing the computer program, implements the method for identifying the height of tobacco rolls as described above.

[0034] Compared with existing technologies, the advantages of this invention are as follows: First, it identifies whether there are material rolls on the tray using a camera. If there are material rolls, it identifies the stacking height of the rolls. Furthermore, when the rolls obstruct each other, it simultaneously identifies them using cameras on both sides, calculating the height of the outer rolls based on the images of the outer rolls captured by the two cameras. Therefore, it provides a gripping height for collaborative robots to grasp materials, enhancing accuracy and safety. Attached Figure Description

[0035] Figure 1 This is a flowchart illustrating a method for identifying the height of tobacco rolls according to the present invention;

[0036] Figure 2 This is a side view of the robot of the present invention;

[0037] Figure 3 This is a top view of the robot transport tray of the present invention;

[0038] Figure 4 This is a side view of an embodiment of the robot transport pallet of the present invention;

[0039] Figure 5 This is a schematic diagram of the material roll stacking of the present invention;

[0040] Figure 6 This is a side view of yet another embodiment of the robot transport tray of the present invention;

[0041] Figure 7 This is a schematic diagram of the structure of a tobacco roll height identification system according to the present invention. Detailed Implementation

[0042] Referring now to specific embodiments of the invention, examples of which are illustrated in the accompanying drawings. Although the invention will be described in conjunction with specific embodiments, it will be understood that it is not intended to limit the invention to the described embodiments. Rather, it is intended to cover variations, modifications, and equivalents included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein can be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of both.

[0043] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] Note: The examples described below are merely specific examples and are not intended to limit the embodiments of the present invention to the specific steps, values, conditions, data, order, etc. Those skilled in the art can utilize the concept of the present invention to construct more embodiments not mentioned herein by reading this specification.

[0045] See Figure 1 As shown, this embodiment of the invention provides a method for identifying the height of tobacco rolls, including the following steps:

[0046] S100, see S100. Figure 2 and 3 As shown, two cameras positioned at the same height on the robot and spaced at a preset distance are used to capture images of the inner and outer sides of the material rolls on the tray.

[0047] S200, based on the inner and outer images of the material rolls, determine whether there are material rolls on the tray;

[0048] S300, if there is a roll of material on the tray, then acquire the target roll images corresponding to the inner and outer rolls respectively when the outline of the roll in the roll image captured by one of the cameras is a complete circle;

[0049] S400: Calculate the height of the inner and outer material rolls based on the target material roll images corresponding to the inner and outer material rolls respectively;

[0050] S500: When it is identified that the outline of the outer roll in the images of the outer roll taken by the two cameras is not a complete circle, the height of the outer roll is calculated based on the images of the outer roll taken by the two cameras.

[0051] Specifically, in this embodiment, in the tobacco industry, a collaborative robot uses forks to lift a pallet and transport it to the conveyor line, where a robotic arm places the tobacco rolls onto the conveyor line. This invention first uses a ToF camera to identify whether there are tobacco rolls on the pallet. If there are rolls, it then identifies the stacking height of the rolls. Furthermore, when rolls obscure each other, it simultaneously uses ToF cameras on both sides to identify the stacking height, calculating the height of the outer rolls based on the images of the outer rolls captured by the two cameras. Therefore, this provides a gripping height for the collaborative robot to grasp materials, and also allows for timely alarms when there are no materials on the pallet, enhancing accuracy and safety.

[0052] Preferably, in another embodiment of this application, the step "S200, determining whether there is a material roll on the pallet based on the inner and outer material roll images" specifically includes the following steps:

[0053] The OpenCV algorithm is used to extract the outline of the material roll in the inner and outer material roll images, and the Hough circle detection algorithm is used to detect the circle in the outline of the material roll.

[0054] If the detected circular radius is within the preset radius range, it is determined that there is a material roll on the pallet.

[0055] Specifically, in this embodiment, the image information of the material roll output by the camera is first used to read the image frame from the camera and perform the following processing: the image is converted into a grayscale image using OpenCV, the material roll outline in the grayscale image is extracted using OpenCV, and all circles in the material roll outline are detected using the Hough circle detection algorithm.

[0056] Then set a preset radius range: the maximum radius threshold rmax and the minimum radius threshold rmin. If the radius of the detected circle is within this range, the circle is added to the list. If it is outside the range, it means that it is a false detection and the result is discarded.

[0057] After the inspection is completed, if a circle appears in the list, it means there is material on the pallet. If no circle is detected, it means there is no material on the pallet, and the process ends directly.

[0058] Preferably, in another embodiment of this application, the step "S400, calculating the height of the inner material roll and the height of the outer material roll based on the target material roll images corresponding to the inner and outer material rolls respectively" specifically includes the following steps:

[0059] Based on the target roll images corresponding to the inner and outer rolls respectively, the cameras corresponding to the inner and outer target roll images are obtained. The formulas for calculating the height H0 of the inner roll or the height H0 of the outer roll are as follows:

[0060] H0=d1-dsitance*cosθ-d2-d3 (Formula 1);

[0061] In the formula, θ is the camera mounting angle; d1 is the camera mounting height; d2 is the thickness of the upper surface of the tray; d3 is the height of the upper surface of the robot's fork teeth; and dsitance is the distance between the inner or outer roll of material and the corresponding camera.

[0062] Specifically, in this embodiment, the collaborative robot reaches the front of the tray and then uses its forks to pick up the tray. At this time, as... Figure 4 As shown, at this point, the TOF camera can see all the coils on the tray, and the inner and outer coils are at the same height. Therefore, the calculated inner and outer coil heights are based on the condition that one of the cameras can capture a complete circle in the outline of the inner and outer coils.

[0063] However, when the height of the inner material is much higher than that of the outer material, the camera's field of view will be obstructed when identifying the height of the outer material, which may result in failure to identify or incorrect identification. Therefore, this invention proposes the following solution to this situation.

[0064] Preferably, in another embodiment of this application, the step "S500, when it is identified that the outline of the outer roll in the images of the outer roll captured by the two cameras is not a complete circle, then the height of the outer roll is calculated based on the images of the outer roll captured by the two cameras" specifically includes the following steps:

[0065] When it is identified that the outline of the outer roll in the images of the outer roll captured by the two cameras is not a complete circle, the area of ​​the two outer rolls and the height of the two initial outer rolls are obtained from the images of the outer rolls captured by the two cameras.

[0066] When the difference between the two initial outer roll heights is greater than a preset threshold, the larger of the two initial outer roll heights is taken as the outer roll height.

[0067] When the difference between the heights of the two initial outer rolls is less than a preset threshold, the height of the outer roll is calculated based on the area of ​​the two outer rolls and the height of the two initial outer rolls.

[0068] Specifically, in this embodiment, two cameras are used for joint identification. Due to occlusion, both the left and right cameras can only see a portion of the outer material. The outline areas S1 and S2 of the material roll seen by the left and right cameras are calculated, along with the corresponding initial outer material roll heights H1 and H2. It should be noted that the initial outer material roll heights H1 and H2 are calculated using Equation 1 above, i.e., H1 / H2 = d1 - dsitance * cosθ - d2 - d3. dsitance represents the distance between the outer material roll and the corresponding camera.

[0069] When manually stacking material coils, uneven stacking of the upper and lower coils may occur. See details below. Figure 5 As shown, this can lead to a problem where the two cameras see different rolls of material, causing height calculation errors. Therefore, a preset threshold needs to be set, which is the height value of a single roll. When the difference between the heights H1 and H2 of the two initial outer rolls is greater than the preset threshold, the larger of the two initial outer roll heights is used as the outer roll height.

[0070] When the difference between the heights of the two initial outer rolls is less than a preset threshold, the height of the outer roll is calculated based on the area of ​​the two outer rolls and the height of the two initial outer rolls. See [link to calculation process] for details. Figure 6 As shown.

[0071] Preferably, in another embodiment of this application, the step of "calculating the height of the outer roll based on the areas of the two outer rolls and the heights of the two initial outer rolls" specifically includes the following steps:

[0072] The formula for calculating the height H of the outer coil is as follows:

[0073] H=H1*(S1 / S)+H2*(S2 / S)+(H1+H2) / 2*[(1-S1-S2) / S];

[0074] In the formula, H1 and S1 are the initial outer roll height and outer roll area corresponding to one of the cameras, respectively; H2 and S2 are the initial outer roll height and outer roll area corresponding to the other camera, respectively; and S is the complete upper surface area of ​​the roll.

[0075] It should be noted that the first two terms of this calculation formula (H1*(S1 / S), H2*(S2 / S)) are terms for calculating weights based on the recognition area, and the third term ((H1+H2) / 2*[(1-S1-S2) / S)) is set to prevent the total recognition area of ​​the two cameras from not covering all materials or from overlapping recognition areas.

[0076] See also Figure 7 As shown, an embodiment of the present invention provides a system for identifying the height of tobacco rolls, comprising:

[0077] The image acquisition module is used to acquire images of the inner and outer sides of the material rolls on the pallet by two cameras positioned at the same height on the robot and spaced at a preset distance.

[0078] The judgment module is communicatively connected to the image acquisition module and is used to determine whether there is a material roll on the pallet based on the inner and outer material roll images;

[0079] The target image module is communicatively connected to the judgment module and is used to obtain the target material roll images corresponding to the inner and outer material rolls respectively when the outline of the material roll in the image of the material roll captured by one of the cameras is a complete circle if there is a material roll on the tray.

[0080] A primary calculation module, communicatively connected to the target image module, is used to calculate the height of the inner and outer material rolls based on the target material roll images corresponding to the inner and outer material rolls, respectively; and,

[0081] The secondary calculation module, which is communicatively connected to the judgment module, is used to calculate the height of the outer roll based on the outer roll images captured by the two cameras when it is determined that the roll outline in the outer roll images captured by the two cameras is not a complete circle.

[0082] Therefore, this invention first identifies whether there are material rolls on the tray using a camera. If there are material rolls, it then identifies the stacking height of the rolls. Furthermore, when the rolls obstruct each other, it simultaneously identifies them using cameras on both sides, calculating the height of the outer rolls based on the images of the outer rolls captured by the two cameras. This provides a gripping height for collaborative robots to grasp materials, enhancing accuracy and safety.

[0083] Specifically, this embodiment corresponds one-to-one with the above method embodiments. The functions of each module have been described in detail in the corresponding method embodiments, so they will not be repeated here.

[0084] Based on the same inventive concept, embodiments of this application also provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements all or part of the method steps of the above method.

[0085] The present invention can implement all or part of the processes in the above methods, or it can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0086] Based on the same inventive concept, embodiments of this application also provide an electronic device, including a memory and a processor. The memory stores a computer program that runs on the processor. When the processor executes the computer program, it implements all or part of the method steps described above.

[0087] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the computer device, connecting all parts of the computer device through various interfaces and lines.

[0088] Memory can be used to store computer programs and / or modules. The processor performs various functions of the computer device by running or executing the computer programs and / or modules stored in the memory, and by accessing data stored in the memory. Memory can primarily include a program storage area and a data storage area. The program storage area can store the operating system and at least one application program required for a function (e.g., sound playback, image playback, etc.); the data storage area can store data created based on the use of the mobile phone (e.g., audio data, video data, etc.). Furthermore, memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, smart memory cards (SMC), secure digital cards (SD cards), flash memory cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0089] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, servers, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0090] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), servers, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0091] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0092] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0093] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for identifying the height of tobacco rolls, characterized in that, Includes the following steps: Two cameras, positioned at the same height on the robot and spaced at a preset distance, capture images of the inner and outer sides of the material rolls on the tray. Based on the images of the inner and outer material rolls, determine whether there are material rolls on the pallet; If there are material rolls on the pallet, then obtain the target material roll images corresponding to the inner and outer material rolls respectively when the outline of the material roll in the image of the material roll captured by one of the cameras is a complete circle; Calculate the height of the inner and outer rolls based on the target roll images corresponding to the inner and outer rolls respectively; When it is identified that the outline of the outer roll in the images of the outer roll captured by the two cameras is not a complete circle, the height of the outer roll is calculated based on the images of the outer roll captured by the two cameras. The step of "calculating the height of the inner and outer material rolls based on the target material roll images corresponding to the inner and outer material rolls" specifically includes the following steps: Based on the target roll images corresponding to the inner and outer rolls respectively, the cameras corresponding to the inner and outer target roll images are obtained. The formulas for calculating the height H0 of the inner roll or the height H0 of the outer roll are as follows: H0=d1-dsitance cos -d2-d3; In the formula, d1 is the camera's mounting angle; d2 is the camera's mounting height; d3 is the thickness of the pallet's upper surface; d4 is the height of the robot's fork tooth's upper surface; d5 is the distance between the inner or outer roll of material and the corresponding camera.

2. The method for identifying the height of tobacco rolls as described in claim 1, characterized in that, The step of "determining whether there is a material roll on the pallet based on the inner and outer material roll images" specifically includes the following steps: The OpenCV algorithm is used to extract the outline of the material roll in the inner and outer material roll images, and the Hough circle detection algorithm is used to detect the circle in the outline of the material roll. If the detected circular radius is within the preset radius range, it is determined that there is a material roll on the pallet.

3. The method for identifying the height of tobacco rolls as described in claim 1, characterized in that, The step of "calculating the height of the outer roll based on the outer roll images captured by the two cameras when it is determined that the roll outline in each of the two cameras is not a complete circle" specifically includes the following steps: When it is identified that the outline of the outer roll in the images of the outer roll captured by the two cameras is not a complete circle, the area of ​​the two outer rolls and the height of the two initial outer rolls are obtained from the images of the outer rolls captured by the two cameras. When the difference between the two initial outer roll heights is greater than a preset threshold, the larger of the two initial outer roll heights is taken as the outer roll height. When the difference between the heights of the two initial outer rolls is less than a preset threshold, the height of the outer roll is calculated based on the area of ​​the two outer rolls and the height of the two initial outer rolls.

4. A system for identifying the height of tobacco rolls, characterized in that, include: The image acquisition module is used to acquire images of the inner and outer sides of the material rolls on the pallet by two cameras positioned at the same height on the robot and spaced at a preset distance. The judgment module is communicatively connected to the image acquisition module and is used to determine whether there is a material roll on the pallet based on the inner and outer material roll images; The target image module is communicatively connected to the judgment module and is used to obtain the target material roll images corresponding to the inner and outer material rolls respectively when the outline of the material roll in the material roll image captured by one of the cameras is a complete circle if there is a material roll on the tray. A primary calculation module, which is communicatively connected to the target image module, is used to calculate the height of the inner and outer material rolls based on the target material roll images corresponding to the inner and outer material rolls, respectively. as well as, The secondary calculation module, which is communicatively connected to the judgment module, is used to calculate the height of the outer roll based on the outer roll images captured by the two cameras when it is determined that the roll outline in the outer roll images captured by the two cameras is not a complete circle. The step of "calculating the height of the inner and outer material rolls based on the target material roll images corresponding to the inner and outer material rolls" specifically includes the following steps: Based on the target roll images corresponding to the inner and outer rolls respectively, the cameras corresponding to the inner and outer target roll images are obtained. The formulas for calculating the height H0 of the inner roll or the height H0 of the outer roll are as follows: H0=d1-dsitance cos -d2-d3; In the formula, d1 is the camera's mounting angle; d2 is the camera's mounting height; d3 is the thickness of the pallet's upper surface; d4 is the height of the robot's fork tooth's upper surface; d5 is the distance between the inner or outer roll of material and the corresponding camera.

5. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method for identifying the height of tobacco rolls as described in any one of claims 1 to 3.

6. An electronic device comprising a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, characterized in that, When the processor runs the computer program, it implements the method for identifying the height of tobacco rolls as described in any one of claims 1 to 3.

Images