Parcel separation control strategy algorithm based on parcel real-time pixel coordinate operation

Abstract

The invention discloses a parcel separation control strategy algorithm based on parcel real-time pixel coordinate operation, and relates to the technical field of logistics sorting, and the algorithm comprises the following steps: collecting a diffusion region image through a camera, and carrying out the feature recognition marking of a parcel on the image; establishing a three-dimensional coordinate system based on the diffusion region, collecting coordinate data of each corner of the intersecting parcels on the diffusion region image, and integrating to obtain an intersecting parcel coordinate data set; calling the diffusion coordinate data set to evaluate and calculate the X coordinate data of the separation point of each intersected parcel; and associating the boundary line of the separation area based on intersecting X coordinate data of each parcel separation point to determine separation control time. According to the method, the position of the separation point is accurately determined based on different intersection and superposition modes of the parcels, then the separation control time is calculated to realize automatic separation control of the intersected parcels, accurate control of parcel separation is realized, and the separation effect of the intersected parcels is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics sorting, and in particular to a package separation control strategy algorithm based on real-time pixel coordinate calculation of packages. Background Art

[0002] As is known, with the rapid development of intelligent logistics, more and more research has been conducted on automatic sorting of express parcels. Sorting is a key link in logistics distribution. According to the customer's order requirements, the sorting equipment quickly and accurately sorts the goods from the corresponding area and classifies them according to the logistics process steps. The automatic sorting system is the core equipment of modern advanced distribution centers. It has very high sorting efficiency and extremely low sorting error rate. It can sort tens of thousands of items per hour, and the multi-package express separation control strategy is a key factor in improving sorting efficiency.

[0003] When sorting multiple intersecting parcels in the prior art, the sorting equipment cannot accurately analyze the intersection of the parcels and obtain the separation point positions of the intersecting parcels, which results in poor separation of the intersecting parcels and cannot ensure that the parcels enter the subsequent equipment at appropriate intervals. Summary of the invention

[0004] The purpose of the present invention is to provide a package separation control strategy algorithm based on real-time pixel coordinate calculation of packages to solve the above-mentioned shortcomings in the prior art.

[0005] In order to achieve the above object, the present invention provides the following technical solution: a package separation control strategy algorithm based on real-time pixel coordinate calculation of packages, comprising the following steps:

[0006] S1: The camera collects the diffusion area image and performs feature recognition and marking on the packages in the image;

[0007] S2: A three-dimensional coordinate system is established based on the diffusion area, and the coordinate data of each corner of the intersecting packages on the diffusion area image are collected, and the intersecting package coordinate data sets A1 and A2 are obtained by integration, where A1 represents a coordinate data set of an intersecting package, and A2 represents another coordinate data set of an intersecting package, and the package corresponding to A1 along the conveying direction of the diffusion area is located at the front side of the corresponding package of A2;

[0008] S3: Retrieve the diffusion coordinate data set to evaluate and calculate the X coordinate data of the separation points of each intersecting package;

[0009] S4: Determine the separation control time based on the X-coordinate data of the separation points of each package and the boundary line of the separation area;

[0010] S5: Generate a control instruction based on the separation control time, and control the separation belt conveyor in the separation area through the control instruction to realize automatic separation control of the packages.

[0011] As a further description of the above technical solution: Step S2 also includes identifying features of the intersecting packages on the image, and obtaining the intersection mode of the packages corresponding to A1 and A2, wherein the intersection mode includes:

[0012] The corresponding package of A1 overlaps and intersects the area above the corresponding package of A2;

[0013] The package portion corresponding to A2 overlaps and intersects the area above the package corresponding to A1.

[0014] As a further description of the above technical solution: the diffusion coordinate data set is retrieved to evaluate and calculate the X coordinate data of the separation points of each intersecting package:

[0015] When the corresponding package of A1 overlaps and intersects the area above the corresponding package of A2,

[0016] Identify and read the minimum X coordinate data X in the package coordinate data set corresponding to A1 s1 The corresponding Z-axis coordinate value is recorded as Z s1 And the maximum X coordinate data X s4 ;

[0017] Identify and read the minimum X coordinate data X in the package coordinate data set corresponding to A2 s2 The corresponding Z-axis coordinate value is recorded as Z s2 ;

[0018] Identify and read the X-axis coordinate data X corresponding to the maximum Z coordinate data in the package coordinate data set corresponding to A1 s3 ;

[0019] Calculate the maximum X coordinate data X of the package corresponding to A2 q ;

[0020] Calculate the maximum X coordinate data X of the wrapping diffusion area corresponding to A1 p ;

[0021] Integrate and calculate the X coordinate data of the separation point X sf , separation point X coordinate data X sf The calculation logic is:

[0022] As a further description of the above technical solution: A2 corresponds to the maximum X coordinate data of the package X q The calculation logic is:

[0023] A1 corresponds to the maximum X coordinate data of the diffusion area of ​​the package fitting p The calculation logic is: p =X s4 -(X s3 -Xs1 ).

[0024] As a further description of the above technical solution: the method of retrieving the diffusion coordinate data set to evaluate and calculate the X coordinate data of the separation points of each intersecting package is specifically:

[0025] When the corresponding package of A2 overlaps and intersects the area above the corresponding package of A1,

[0026] Identify and read the maximum X coordinate data X in the package coordinate data set corresponding to A2 c1 ;

[0027] Identify and read the maximum X coordinate data X in the package coordinate data set corresponding to A1 c2 ;

[0028] Integrate and calculate the X coordinate data of the separation point X cf ,

[0029] As a further description of the above technical solution: the separation control time is determined based on the X-coordinate data of the separation points of each package and the boundary line of the separation area:

[0030] Get the X coordinate data of the separation point;

[0031] Adaptively mapping the separation zone boundary line on the three-dimensional coordinate system and obtaining the separation zone boundary line X-coordinate data;

[0032] The difference between the X-coordinate data of the separation zone boundary line and the X-coordinate data of the separation point is calculated, and then the difference is divided by the conveying speed of the separation belt conveyor in the separation zone to obtain the separation control time of each intersecting package.

[0033] As a further description of the above technical solution: the separation zone boundary line is the boundary between two adjacent separation belt conveyors in the separation area.

[0034] In the above technical solution, the present invention provides a package separation control strategy algorithm based on real-time pixel coordinate calculation of packages.

[0035] The parcel separation control strategy algorithm based on the real-time pixel coordinate calculation of the parcel collects the intersecting parcel coordinate data set, and based on the different intersecting and overlapping modes of the intersecting parcels, independently calculates the X-coordinate data of the separation points of the intersecting parcels in a distributed manner, so as to accurately determine the position of the separation point based on the different intersecting and overlapping modes of the parcels, and then calculates the separation control time to realize automatic separation control of the intersecting parcels, realize precise control of parcel separation, significantly improve the separation effect of the intersecting parcels, ensure that the parcels enter the subsequent equipment at a suitable spacing, and facilitate the subsequent sorting of the parcels. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0037] Figure 1 A schematic flow chart of a package separation control strategy algorithm based on real-time pixel coordinate calculation of packages provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0039] See also Figure 1 , the embodiment of the present invention provides a technical solution: a package separation control strategy algorithm based on real-time pixel coordinate calculation of packages, comprising the following steps:

[0040] S1: Capturing a diffusion area image through a camera, and performing feature recognition and marking on a package on the image. Optionally, when performing feature recognition and marking on a package on the diffusion area image captured by the camera, a contour obtained by edge detection is used to detect and mark the package through contour analysis;

[0041] S2: A three-dimensional coordinate system is established based on the diffusion area, and the coordinate data of each corner of the intersecting packages on the diffusion area image are collected, and the intersecting package coordinate data sets A1 and A2 are obtained by integration, where A1 represents a coordinate data set of an intersecting package, and A2 represents another coordinate data set of an intersecting package, and the package corresponding to A1 along the conveying direction of the diffusion area is located at the front side of the corresponding package of A2;

[0042] The intersection package coordinate dataset is:

[0043] A1{A 11 (X 11 , Y 11 , Z 11 ), A 12 (X 12 , Y 12 , Z 12 )...A 1m (X 1m , Y 1m , Z 1m )},A2{A 21 (X 21 , Y 21 , Z 21 ), A 22 (X 22 , Y 22 , Z22 )...A 2m (X 2m , Y 2m , Z 2m )};

[0044] Among them A 1m represents the mth corner of the package, X 1m Indicates the X coordinate data of the mth corner of the package in the three-dimensional coordinate system, Y 1m Represents the Y coordinate data of the mth corner of the package in the three-dimensional coordinate system, Z 1m Represents the Z coordinate data of the mth corner of the package in the three-dimensional coordinate system, A 2m represents the mth corner that intersects another package, X 2m Represents the X coordinate data of the mth corner of the intersecting package in the three-dimensional coordinate system, Y 2m Represents the Y coordinate data of the mth corner of the intersecting package in the three-dimensional coordinate system, Z 2m Represents the Z coordinate data of the mth corner that intersects another package in the three-dimensional coordinate system;

[0045] Furthermore, step S2 also includes identifying features of intersecting packages on the image, and obtaining the intersection mode of packages A1 and A2, wherein the intersection mode includes:

[0046] The corresponding package of A1 overlaps and intersects the area above the corresponding package of A2;

[0047] The package portion corresponding to A2 overlaps and intersects the area above the package corresponding to A1.

[0048] S3: Retrieve the diffusion coordinate data set to evaluate and calculate the separation point X coordinate data of each intersecting package; the separation point X coordinate data is the X coordinate position data of the gap between two adjacent separation belt conveyors in the separation area when the two intersecting packages enter the separation area. For the two packages intersecting front and back, there are two situations: the A1 corresponding package partially overlaps and intersects in the area above the A2 corresponding package, and the A2 corresponding package partially overlaps and intersects in the area above the A1 corresponding package. Due to the different overlapping and intersecting modes of the two packages, the calculation and processing methods of the separation point X coordinate data of the two packages are different.

[0049] When the corresponding package of A1 overlaps and intersects the area above the corresponding package of A2,

[0050] Identify and read the minimum X coordinate data X in the package coordinate data set corresponding to A1 s1 The corresponding Z-axis coordinate value is recorded as Z s1 And the maximum X coordinate data X s4 ;

[0051] Identify and read the minimum X coordinate data X in the package coordinate data set corresponding to A2s2 The corresponding Z-axis coordinate value is recorded as Z s2 ;

[0052] Identify and read the X-axis coordinate data X corresponding to the maximum Z coordinate data in the package coordinate data set corresponding to A1 s3 ;

[0053] Calculate the maximum X coordinate data X of the package corresponding to A2 q ; Among them, A2 corresponds to the maximum X coordinate data of the package X q The calculation logic is:

[0054] Calculate the maximum X coordinate data X of the wrapping diffusion area corresponding to A1 p ; A1 corresponds to the maximum X coordinate data X of the parcel lamination diffusion area p The calculation logic is: p =X s4 -(X s3 -X s1 ).

[0055] Integrate and calculate the X coordinate data of the separation point X sf , separation point X coordinate data X sf The calculation logic is:

[0056] When the corresponding package of A2 overlaps and intersects the area above the corresponding package of A1,

[0057] Identify and read the maximum X coordinate data X in the package coordinate data set corresponding to A2 c1 ;

[0058] Identify and read the maximum X coordinate data X in the package coordinate data set corresponding to A1 c2 ;

[0059] Integrate and calculate the X coordinate data of the separation point X cf ,

[0060] S4: Determine the separation control time based on the X-coordinate data of the separation points of each intersecting package and associating the separation zone boundary line; the separation zone boundary line is the boundary between two adjacent separation belt conveyors in the separation area, and the X-coordinate data of the separation points of each intersecting package obtained by evaluating and calculating the diffusion coordinate data set is specifically:

[0061] The method of determining the separation control time based on associating the separation area boundary line with the X-coordinate data of the separation points of the intersecting packages is specifically as follows: obtaining the X-coordinate data of the separation point; adaptively mapping the separation area boundary line on the three-dimensional coordinate system and obtaining the X-coordinate data of the separation area boundary line; calculating the difference between the X-coordinate data of the separation area boundary line and the X-coordinate data of the separation point, and then dividing the difference by the conveying speed of the separation belt conveyor in the separation area, so as to obtain the separation control time of each intersecting package.

[0062] S5: Generate a control instruction based on the separation control time, and control the separation belt conveyor in the separation area through the control instruction to realize automatic separation control of the packages.

[0063] The specific separation control of the packages is that when the intersecting packages have been separated and controlled for a certain period of time, the separation point of the intersecting packages corresponds to the gap between two adjacent separation belt conveyors in the separation area. At this time, the separation belt conveyor on the rear side is controlled to stop, and the separation belt conveyor on the front side drives the intersecting front side packages to move, while the separation belt conveyor on the rear side stops so that the intersecting rear side packages remain stationary, thereby achieving automatic separation control of the packages.

[0064] It should be noted that the present invention collects intersecting package coordinate data sets, and based on the different intersecting and overlapping modes of the intersecting packages, independently calculates the X-coordinate data of the separation points of the intersecting packages in a distributed manner, thereby accurately determining the position of the separation point based on the different intersecting and overlapping modes of the packages, and then calculating the separation control time to automatically perform separation control on the intersecting packages, thereby achieving precise control of package separation, significantly improving the separation effect of the intersecting packages, and ensuring that the packages enter the subsequent equipment at an appropriate spacing, so as to facilitate the subsequent sorting of the packages.

[0065] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. The package separation control strategy algorithm based on the real-time pixel coordinate calculation of the package is characterized by: The following steps are involved: S1: The camera collects the diffusion area image and performs feature recognition and marking on the packages in the image; S2: A three-dimensional coordinate system is established based on the diffusion area, and the coordinate data of each corner of the intersecting packages on the diffusion area image are collected, and the intersecting package coordinate data sets A1 and A2 are obtained by integration, where A1 represents a coordinate data set of an intersecting package, and A2 represents another coordinate data set of an intersecting package, and the package corresponding to A1 along the conveying direction of the diffusion area is located at the front side of the corresponding package of A2; S3: Retrieve the diffusion coordinate data set to evaluate and calculate the X coordinate data of the separation points of each intersecting package; S4: Determine the separation control time based on the X-coordinate data of the separation points of each package and the boundary line of the separation area; S5: Generate a control instruction based on the separation control time, and control the separation belt conveyor in the separation area through the control instruction to realize automatic separation control of the packages.

2. The package separation control strategy algorithm based on real-time pixel coordinate calculation of packages according to claim 1 is characterized in that: The intersection parcel coordinate data set is: A1{A 11 (X 11 ,Y 11 ,Z 11 ),A 12 (X 12 ,Y 12 ,Z 12 )...A 1m (X 1m ,Y 1m ,Z 1m )}, A2{A 21 (X 21 ,Y 21 ,Z 21 ),A 22 (X 22 ,Y 22 ,Z 22 )...A 2m (X 2m ,Y 2m ,Z 2m )}; Among them A 1m represents the mth corner of the package, X 1m Indicates the X coordinate data of the mth corner of the package in the three-dimensional coordinate system, Y 1m Represents the Y coordinate data of the mth corner of the package in the three-dimensional coordinate system, Z 1m Represents the Z coordinate data of the mth corner of the package in the three-dimensional coordinate system.

3. The package separation control strategy algorithm based on real-time pixel coordinate calculation of packages according to claim 2 is characterized in that: Step S2 also includes identifying the features of the intersecting packages on the image, and obtaining the intersection mode of the packages A1 and A2, where the intersection mode include: The corresponding package of A1 overlaps and intersects the area above the corresponding package of A2; The package portion corresponding to A2 overlaps and intersects the area above the package corresponding to A1.

4. The package separation control strategy algorithm based on real-time pixel coordinate calculation of packages according to claim 3 is characterized in that: The diffusion coordinate data set is retrieved to evaluate and calculate the X coordinate data of the separation points of each intersecting package: When the corresponding package of A1 overlaps and intersects the area above the corresponding package of A2, Identify and read the minimum X coordinate data X in the package coordinate data set corresponding to A1 s1 The corresponding Z-axis coordinate value is recorded as Z s1 And the maximum X coordinate data X s4 ; Identify and read the minimum X coordinate data X in the package coordinate data set corresponding to A2 s2 The corresponding Z-axis coordinate value is recorded as Z s2 ; Identify and read the X-axis coordinate data X corresponding to the maximum Z coordinate data in the package coordinate data set corresponding to A1 s3 ; Calculate the maximum X coordinate data X of the package corresponding to A2 q ; Calculate the maximum X coordinate data X of the wrapping diffusion area corresponding to A1 p ; Integrate and calculate the X coordinate data of the separation point X sf , separation point X coordinate data X sf The calculation logic is:

5. The package separation control strategy algorithm based on real-time pixel coordinate calculation of packages according to claim 4 is characterized in that: A2 corresponds to the maximum X coordinate data of the package X q The calculation logic is: A1 corresponds to the maximum X coordinate data of the diffusion area of ​​the package fitting p The calculation logic is: p =X s4 -(X s3 -X s1 ).

6. The package separation control strategy algorithm based on real-time pixel coordinate calculation of packages according to claim 3 is characterized in that: The X coordinate data of the separation points of each intersecting package is specifically retrieved and evaluated by the diffusion coordinate data set: When the corresponding package of A2 overlaps and intersects the area above the corresponding package of A1, Identify and read the maximum X coordinate data X in the package coordinate data set corresponding to A2 c1 ; Identify and read the maximum X coordinate data X in the package coordinate data set corresponding to A1 c2 ; Integrate and calculate the X coordinate data of the separation point X cf , 7. The package separation control strategy algorithm based on real-time pixel coordinate calculation of packages according to claim 1 is characterized in that: The separation control time is determined based on the X-coordinate data of the separation points of each package and the boundary line of the separation area: Get the X coordinate data of the separation point; Adaptively mapping the separation zone boundary line on the three-dimensional coordinate system and obtaining the separation zone boundary line X-coordinate data; The difference between the X-coordinate data of the separation zone boundary line and the X-coordinate data of the separation point is calculated, and then the difference is divided by the conveying speed of the separation belt conveyor in the separation zone to obtain the separation control time of each intersecting package.

8. The package separation control strategy algorithm based on package real-time pixel coordinate calculation according to claim 7 is characterized in that: The separation zone boundary line is the boundary between two adjacent separation belt conveyors in the separation area.

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