Object grabbing method, device and equipment and feeding and discharging work station

Abstract

The embodiment of the invention provides an object grabbing method, device and equipment and a feeding and discharging work station, and relates to the field of printing. The method comprises the following steps: receiving character string information sent by an upper computer; wherein the character string information is obtained by performing image processing on an operation interface image of the printing equipment; the character string information represents the working state of the carrying equipment and the information of the to-be-carried object; controlling the carrying equipment to move to a preset position corresponding to the character string information, and determining color information of the target object; wherein the target object is a to-be-carried object at a preset position corresponding to the character string information; and carrying the target object according to the color information. The method is used for achieving the effect that objects such as the printing plates to be carried are protected from being damaged in the carrying process so as to reduce the reject ratio of printed products.

Description

Technical Field

[0001] The present application relates to the field of printing industry, and in particular to an object grasping method, device, equipment and a loading and unloading workstation. Background Art

[0002] At present, object handling technology is widely used in many scenarios. For example, in the printing industry, printing plates need to be transported and waiting for handling objects to transfer the printing plates from the storage location to the printing equipment.

[0003] In the prior art, after manually checking whether the printing plate material to be transported is correct, the printing plate material to be transported is transported to the target location through manual processing.

[0004] However, in the above-mentioned method, the printing plate to be transported is subjected to deformation and surface contamination based on manual handling, thereby causing defective printed products. Summary of the invention

[0005] The embodiments of the present application provide an object grasping method, device, equipment and loading and unloading workstation to solve the technical problem of defective printed products caused by manual handling.

[0006] In a first aspect, an embodiment of the present application provides an object handling method, which is applied to a handling device in a loading and unloading workstation; the loading and unloading workstation also includes a printing device and a host computer; the method includes:

[0007] Receive the string information sent by the host computer; wherein the string information is obtained based on image processing of the operating interface image of the printing device; the string information represents the working status of the transport device and the information of the object to be transported;

[0008] Controlling the transport device to move to a preset position corresponding to the string information, and determining the color information of the target object; wherein the target object is an object to be transported at the preset position corresponding to the string information;

[0009] The target object is transported according to the color information.

[0010] In a possible implementation, the handling device includes a mechanical arm and a vibrating suction cup, and the vibrating suction cup is installed at the end of the mechanical arm; and the target object is handled according to the color information, including:

[0011] Determining type information of the target object according to the color information;

[0012] If it is determined that the type information of the target object is the preset type information, the vibrating suction cup is controlled to absorb the target object through the mechanical arm.

[0013] In a possible implementation, the vibrating suction cup includes a vacuum suction cup and an electromagnet; and controlling the vibrating suction cup to suck the target object through the mechanical arm includes:

[0014] According to a preset power-on frequency, the electromagnet is energized through the mechanical arm to make the vacuum suction cup vibrate and absorb the target object.

[0015] In a possible implementation, the handling device is provided with a light source and an optical fiber; determining the color information of the target object includes:

[0016] Acquire optical signal data of the target object transmitted by the optical fiber; wherein the optical signal data represents the optical signal reflected by the surface of the target object when the light source irradiates the target object;

[0017] The color information of the target object is determined according to the light signal data.

[0018] In a possible implementation, determining the color information of the target object according to the light signal data includes:

[0019] Determine the color matching value and brightness value of the target object according to the light signal data; wherein the color matching value represents the color of the target object in a standard color space; and the brightness value represents the intensity of light reflected by the surface of the target object;

[0020] The color information of the target object is determined according to the color matching value and the brightness value.

[0021] In a possible implementation, the loading and unloading workstation further includes a calibrating device, and the calibrating device includes a universal roller platform; after the target object is transported, the workstation further includes:

[0022] The transport device is controlled to move to a target position and release the target object, so that the target object slides onto the universal roller platform in the alignment device; wherein the universal roller platform is used to correct the placement position of the target object.

[0023] In a second aspect, an embodiment of the present application provides an object handling method, which is applied to a host computer in a loading and unloading workstation; the loading and unloading workstation also includes a printing device and a handling device; the method includes:

[0024] Acquire an operation interface image of the printing device acquired by an image acquisition device; and perform position correction processing on the operation interface image to obtain a corrected image; wherein the corrected image includes status information; the status information represents the working status of the transport device and information about the object to be transported;

[0025] Performing character recognition processing on the state information in the corrected image to obtain at least one first character and at least one second character; wherein each of the first characters represents the working state of the transport equipment; and each of the second characters represents information of the object to be transported;

[0026] Formatting each of the first characters and each of the second characters to generate character string information; wherein the character string information represents the working status of the transport equipment and information about the object to be transported;

[0027] The string information is sent to the transport device; wherein the string information is used to determine the color information of the target object; the target object is an object to be transported at a preset position corresponding to the string information; and the color information is used to control the transport device to transport the target object.

[0028] In a possible implementation manner, performing position correction processing on the operation interface image to obtain a corrected image includes:

[0029] Binarization is performed on the operation interface image to obtain a binary image; wherein the binary image includes binary information; the binary information represents the working state of the handling equipment and the information of the object to be handled;

[0030] The binary information in the binary image is subjected to homogeneous affine transformation processing to obtain the corrected image.

[0031] In a possible implementation, binarizing the operation interface image to obtain a binarized image includes:

[0032] The operation interface image is subjected to a binarization operation to obtain a binarized operation interface image; wherein the binarized operation interface image includes initial information; the initial information represents the working state of the handling equipment and information of the object to be handled;

[0033] Performing filtering on the binarized operation interface image to obtain a filtered operation interface image;

[0034] The filtered operation interface image is subjected to character separation processing to obtain the binary image.

[0035] In a possible implementation, performing position correction processing on the binary information in the binary image to obtain the corrected image includes:

[0036] Performing matching processing on the binary information in the binary image to obtain a reference feature of the binary image; wherein the reference feature represents a text feature of the binary information in the binary image;

[0037] Determining position correction parameters of the binary image according to the reference feature;

[0038] According to the position correction parameter, the binarization information in the binarization image is corrected to obtain the corrected image.

[0039] In a possible implementation, performing character recognition processing on the state information in the corrected image to obtain at least one first character and at least one second character includes:

[0040] Performing character recognition processing on the state information in the corrected image to obtain at least one character information; wherein each character information represents the working state of the transport equipment and the information of the object to be transported; and the character information has character features;

[0041] Template matching is performed on each of the character information according to the character features of each of the character information to obtain each of the first characters and each of the second characters.

[0042] In a possible implementation manner, character recognition processing is performed on the state information in the corrected image to obtain at least one character information, including:

[0043] Extracting character features from the state information in the corrected image to obtain at least one initial character information; wherein each initial character information represents the working state of the transport equipment and the information of the object to be transported; and the initial character information has character features;

[0044] According to the character features of the initial character information, the preset character information corresponding to the initial character information is determined from a preset character model library; wherein the preset character model library includes at least one preset character information and the character features of the preset character information;

[0045] According to the state parameter of the preset character information corresponding to the initial character information, the preset character information corresponding to the initial character information is adjusted to obtain the character information.

[0046] In a third aspect, an embodiment of the present application provides an object handling device, which is applied to a handling device in a loading and unloading workstation; the loading and unloading workstation also includes a printing device and a host computer; the device includes:

[0047] A receiving module, used to receive the string information sent by the host computer; wherein the string information is obtained based on image processing of the operating interface image of the printing device; the string information represents the working status of the transport device and the information of the object to be transported;

[0048] A control module, used to control the transport device to move to a preset position corresponding to the string information, and determine the color information of the target object; wherein the target object is an object to be transported at the preset position corresponding to the string information;

[0049] A transport module is used to carry out transport processing on the target object according to the color information.

[0050] In a fourth aspect, an embodiment of the present application provides an object handling device, which is applied to a host computer in a loading and unloading workstation; the loading and unloading workstation also includes a printing device and a handling device; the device includes:

[0051] A correction module is used to obtain the operation interface image of the printing device acquired by the image acquisition device; and perform position correction processing on the operation interface image to obtain a corrected image; wherein the corrected image includes state information; the state information represents the working state of the transport device and the information of the object to be transported;

[0052] A recognition module, configured to perform character recognition processing on the state information in the corrected image to obtain at least one first character and at least one second character; wherein each of the first characters represents the working state of the transport equipment; and each of the second characters represents information of the object to be transported;

[0053] A processing module, used for formatting each of the first characters and each of the second characters to generate character string information; wherein the character string information represents the working state of the transport equipment and the information of the object to be transported;

[0054] A sending module is used to send the string information to the handling equipment; wherein the string information is used to determine the color information of the target object; the target object is an object to be handled at a preset position corresponding to the string information; and the color information is used to control the handling equipment to handle the target object.

[0055] In a fifth aspect, an embodiment of the present application provides a transport device, including: a memory, a processor;

[0056] The memory stores computer-executable instructions;

[0057] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0058] In a sixth aspect, an embodiment of the present application provides a host computer, including: a memory, a processor;

[0059] The memory stores computer-executable instructions;

[0060] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above second aspect and / or various possible implementations of the second aspect.

[0061] In the seventh aspect, an embodiment of the present application provides a loading and unloading workstation, which includes a handling device, a printing device and a host computer. The handling device is used to implement the first aspect above and / or various possible implementation methods of the first aspect; the host computer is used to implement the second aspect above and / or various possible implementation methods of the second aspect.

[0062] In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed by a processor, they are used to implement the first aspect and / or various possible implementation methods of the first aspect as above, or to implement the second aspect and / or various possible implementation methods of the second aspect as above.

[0063] In the ninth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the first aspect and / or various possible implementations of the first aspect, or to implement the second aspect and / or various possible implementations of the second aspect.

[0064] The object grasping method, device, equipment and loading and unloading workstation provided in the embodiments of the present application perform image processing on the operating interface image of the printing equipment through the host computer in the loading and unloading workstation to obtain the working status of the handling equipment and the information of the object to be handled. Based on the handling equipment in the loading and unloading workstation, the working status of the handling equipment and the information of the object to be handled sent by the host computer are used to control the handling equipment to move to the corresponding preset position, identify the color information of the object to be handled at the preset position, and perform handling on the object to be handled; further, combined with the image processing of the operating interface image of the printing equipment and the color recognition of the object to be handled, the handling equipment is controlled to handle the object, so as to protect the objects such as the printing plates to be handled from being damaged during the handling process, so as to reduce the defective rate of printed products. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0066] Figure 1 A schematic diagram of an application scenario provided for this application;

[0067] Figure 2 A schematic diagram of a flow chart of an object transport method provided in an embodiment of the present application;

[0068] Figure 3 An overall flow chart of an object handling process provided in an embodiment of the present application;

[0069] Figure 4 A schematic flow chart of another object transport method provided in an embodiment of the present application;

[0070] Figure 5 A schematic diagram of an operating interface image provided in an embodiment of the present application;

[0071] Figure 6 A schematic diagram of a formatting processing result provided in an embodiment of the present application;

[0072] Figure 7 A schematic diagram of a flow chart of another object transport method provided in an embodiment of the present application;

[0073] Figure 8 A schematic flow chart of another object transport method provided in an embodiment of the present application;

[0074] Fig. 9 A schematic diagram of a binary image provided in an embodiment of the present application;

[0075] Fig.10 A schematic diagram of a position correction parameter provided in an embodiment of the present application;

[0076] Fig.11 A schematic diagram of a character training process provided in an embodiment of the present application;

[0077] Fig.12 A schematic diagram of a state parameter provided in an embodiment of the present application;

[0078] Fig.13 A schematic diagram of a template matching state provided in an embodiment of the present application;

[0079] Fig.14 A schematic diagram of the structure of an object transporting device provided in an embodiment of the present application;

[0080] Fig.15 A schematic diagram of the structure of an object transporting device provided in an embodiment of the present application;

[0081] Fig.16 A schematic diagram of the structure of a transport device provided in an embodiment of the present application;

[0082] Fig.17 A schematic diagram of the structure of a host computer provided in an embodiment of the present application.

[0083] These drawings and textual descriptions are not intended to limit the scope of the present application in any way, but rather to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0084] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0085] It should be noted that the object grasping method, device, equipment and loading and unloading workstation of the present application can be used in the printing field, and can also be used in any field other than the printing field. The application field of the object grasping method, device, equipment and loading and unloading workstation of the present application is not limited.

[0086] At present, object handling technology is widely used in many scenarios. For example, in the printing industry, printing plates need to be transported and waiting for handling objects to transfer the printing plates from the storage location to the printing equipment.

[0087] In the prior art, after manually checking whether the printing plate material to be transported is correct, the printing plate material to be transported is transported to the target location through manual processing.

[0088] However, in the above-mentioned method, the printing plate to be transported is subjected to deformation and surface contamination based on manual handling, thereby causing defective printed products.

[0089] In response to the above technical problems, the present application proposes the following technical concept: by using the host computer in the loading and unloading workstation, the operating interface image of the printing device is processed to obtain the working status of the handling device and the information of the object to be handled. Based on the handling device in the loading and unloading workstation, the handling device is controlled to move to the corresponding preset position through the working status of the handling device and the information of the object to be handled sent by the host computer, and the color information of the object to be handled at the preset position is identified, and the object to be handled is handled. In this way, the problem of defective printed products caused by manual handling in the prior art can be solved.

[0090] Figure 1 A schematic diagram of an application scenario provided by this application. Figure 1 As shown, the specific application scenario of the present application includes a handling device 101, a printing device 102 and a host computer 103 in a loading and unloading workstation. Based on the handling device 101, according to the information obtained by the printing device 102 through image processing of the operation interface image, the object to be handled is transported to the target position for the printing device 102 to perform printing processing.

[0091] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0092] Figure 2 A flow chart of an object transport method provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the method is applied to a handling device in a loading and unloading workstation, such as a handling robot; the loading and unloading workstation also includes a printing device and a host computer; the method includes:

[0093] 201. Receive character string information sent by a host computer; wherein the character string information is obtained based on image processing of an operating interface image of a printing device; and the character string information represents the working state of the transport device and information of an object to be transported.

[0094] For example, Figure 3 The overall flow chart of an object handling process provided by the embodiment of the present application is as follows: Figure 3 As shown, based on the host computer in the loading and unloading workstation, the operation interface image of the printing equipment is collected, and based on the visual judgment module, the operation interface image of the printing equipment in the loading and unloading workstation is processed to obtain the working status of the handling equipment in the loading and unloading workstation and the information of the object to be handled, that is, the character string information, and the character string information is sent to the handling robot, and the handling robot receives the character string information for processing.

[0095] 202. Control the transport device to move to a preset position corresponding to the string information, and determine the color information of the target object; wherein the target object is an object to be transported located at the preset position corresponding to the string information.

[0096] For example, in combination Figure 3The handling robot determines the information of the object to be grasped according to the received character string information, and determines the corresponding preset position based on the information of the object to be grasped, so as to control the handling equipment to move to the preset position. For example, according to the character string information, the model of the object to be grasped is determined to be model A or model B, and the corresponding grasping position can be determined to be material number A or material number B, thereby controlling the handling robot to move to the corresponding position; after the movement, the color of the object to be grasped, i.e., the target object, which is at the current preset position, can be recognized based on the preset color recognition module to obtain the color information of the target object.

[0097] 203. Carry out transport processing on the target object according to the color information.

[0098] For example, in combination Figure 3 The handling robot can determine the material type corresponding to the color information according to the color information, and judge the determined material type, and carry the target object according to the judgment result; for example, the object to be carried is white release paper or blue aluminum plate, and the target object is judged to be white release paper or blue aluminum plate according to the color. If it is a blue aluminum plate, the handling robot grabs the blue aluminum plate and carries it to the loading position corresponding to the aluminum plate for printing to obtain a printed product; if it is white release paper, no handling is performed, or the white release paper is grabbed and carried to other storage positions corresponding to the release paper.

[0099] In this embodiment, a method for transporting objects is provided, which combines image processing of the operating interface image of the printing equipment and color recognition of the object to be transported, and controls the transporting equipment to transport the object, so as to protect the printing plates and other objects to be transported from being damaged during the transportation process, thereby reducing the defective rate of printed products.

[0100] Figure 4 A flow chart of another object transport method provided in an embodiment of the present application is shown as follows: Figure 4 As shown, the method includes:

[0101] 301. The host computer obtains the operation interface image of the printing device acquired by the image acquisition device; and performs position correction processing on the operation interface image to obtain a corrected image; wherein the corrected image includes status information; the status information represents the working status of the transport device and information of the object to be transported.

[0102] Exemplarily, based on the host computer in the loading and unloading workstation, an operation interface image of the printing equipment captured by a high-precision camera is obtained, and the operation interface image includes the operation status of the loading and unloading workstation; since offset and rotation may occur during the image acquisition process, resulting in position deviations in subsequent identification and measurement, the operation interface image is position-corrected based on the visual recognition module to adjust the position of the content included in the operation interface image to obtain a corrected image, which includes the working status of the handling equipment and information on the object to be handled, that is, status information.

[0103] For example, Figure 5 A schematic diagram of an operating interface image provided for an embodiment of the present application, as shown in the figure, is based on a host computer in a loading and unloading workstation, using a high-precision 5-megapixel black-and-white camera, an 8mm lens, and a white ring light source. According to the SDK file of the camera, a soft trigger method is used to control the camera to capture images, and image data is read from the camera buffer area, such as the status signal on the developer screen, and based on the visual recognition module, the image is subjected to secondary offset corrections, such as rotation and offset.

[0104] 302. The host computer performs character recognition processing on the state information in the corrected image to obtain at least one first character and at least one second character; wherein each first character represents the working state of the transport device; and each second character represents the information of the object to be transported.

[0105] Exemplarily, based on the visual recognition module of the host computer, character and status recognition processing is performed on the position-corrected image, i.e., the corrected image, to identify at least one first character and at least one second character corresponding to the status information in the corrected image for processing, wherein all first characters represent the working status of the handling equipment, and all second characters represent the information of the object to be handled.

[0106] 303. The host computer formats each first character and each second character to generate character string information; wherein the character string information represents the working state of the transport device and the information of the object to be transported.

[0107] Exemplarily, based on a preset data interaction method, the host computer combines all first characters and all second characters through a preset data processing method, and performs formatting processing to obtain character string information that conforms to a preset format, that is, to obtain the working status of the transport equipment and the information of the object to be transported; Figure 6 A schematic diagram of a formatting processing result provided for an embodiment of the present application, as shown in the figure, based on basic parameters such as character recognition and quick matching, all first characters corresponding to the character information and all second characters corresponding to the module status are processed to obtain string information.

[0108] 304. The host computer sends the string information to the handling device; wherein the string information is used to determine the color information of the target object; the target object is the object to be handled at the preset position corresponding to the string information; the color information is used to control the handling device to handle the target object.

[0109] Exemplarily, the host computer sends the obtained string information to the handling equipment, so that the handling equipment processes the string information to obtain the color information of the object to be handled at the preset position corresponding to the string information, and then the handling equipment handles the object to be handled at the corresponding preset position according to the color information.

[0110] 305. The transport device receives the character string information sent by the host computer; wherein the character string information is obtained based on image processing of the operating interface image of the printing device; and the character string information represents the working state of the transport device and the information of the object to be transported.

[0111] Exemplarily, this step may refer to step 201 and will not be described in detail here.

[0112] 306. The transport device controls the transport device to move to a preset position corresponding to the string information, and determines color information of the target object; wherein the target object is an object to be transported that is at the preset position corresponding to the string information.

[0113] Exemplarily, this step may refer to step 202 and will not be described in detail here.

[0114] 307. The handling equipment carries out handling of the target object according to the color information.

[0115] Exemplarily, this step may refer to step 203 and will not be described in detail here.

[0116] In this embodiment, on the basis of the above embodiment, the upper computer performs position correction processing and character recognition processing on the operating interface image of the printing device to obtain multiple characters, and format these recognized characters to obtain character string information and send it to the handling device, so that the handling device can carry out object transportation based on the color information obtained from the character string information; thereby, the transported objects can be protected from deformation, surface contamination and other damage caused by manual handling, thereby reducing the defective rate of printed products. At the same time, the object handling efficiency can be improved through the automated object handling process of the loading and unloading workstations.

[0117] Figure 7 A flow chart of another object transport method provided in an embodiment of the present application is shown as follows: Figure 7 As shown, the method includes:

[0118] 401. The host computer obtains the operation interface image of the printing device acquired by the image acquisition device; and performs position correction processing on the operation interface image to obtain a corrected image; wherein the corrected image includes status information; the status information represents the working status of the transport device and information of the object to be transported.

[0119] Exemplarily, this step may refer to step 301 and will not be described in detail here.

[0120] 402. The host computer performs character recognition processing on the state information in the corrected image to obtain at least one first character and at least one second character; wherein each first character represents the working state of the transport device; and each second character represents the information of the object to be transported.

[0121] Exemplarily, this step may refer to step 302 and will not be described in detail here.

[0122] 403. The host computer formats each first character and each second character to generate character string information; wherein the character string information represents the working state of the transport device and the information of the object to be transported.

[0123] Exemplarily, this step may refer to step 303 and will not be described in detail here.

[0124] 404. The host computer sends the string information to the handling device; wherein the string information is used to determine the color information of the target object; the target object is the object to be handled at the preset position corresponding to the string information; the color information is used to control the handling device to handle the target object.

[0125] Exemplarily, this step may refer to step 304 and will not be described in detail here.

[0126] 405. The transport device receives the character string information sent by the host computer; wherein the character string information is obtained based on image processing of the operating interface image of the printing device; and the character string information represents the working state of the transport device and the information of the object to be transported.

[0127] Exemplarily, this step may refer to step 201 and will not be described in detail here.

[0128] 406. The transport device controls the transport device to move to a preset position corresponding to the character string information, and obtains optical signal data of the target object transmitted by the optical fiber; wherein the optical signal data represents an optical signal reflected by the surface of the target object when the light source irradiates the target object.

[0129] Wherein, a light source and an optical fiber are arranged in the handling equipment.

[0130] Exemplarily, a light source and an optical fiber are pre-installed in the handling equipment, such as a three-primary-color light-emitting diode and an optical fiber are installed on a handling robot. By controlling the three-primary-color light-emitting diode to emit light and illuminate the target object, the optical fiber collects the light signal reflected by the surface of the target object, that is, the light signal data of the target object, and transmits it to the interior of the handling robot for processing.

[0131] 407. The handling device determines the color information of the target object based on the light signal data.

[0132] Exemplarily, based on the color recognition module of the handling equipment, the collected light signal data is processed through light signal processing and color detection technology to obtain the color information of the target object, such as white or blue.

[0133] In one example, step 407 includes:

[0134] Step 1: Determine the color matching value and brightness value of the target object according to the light signal data; wherein the color matching value represents the color of the target object in the standard color space; and the brightness value represents the intensity of light reflected from the surface of the target object.

[0135] Step 2: Determine the color information of the target object based on the color matching value and the brightness value.

[0136] Specifically, based on the color recognition module of the handling equipment, the collected light signal data, such as spectrum, is processed through optical signal processing technology, and a color matching algorithm (such as standard color space conversion) can be used to convert the detected spectral data into a standard color matching value (such as Lab value), that is, the color of the target object in the standard color space, and the light signal data can be measured by a photoelectric detector to obtain the intensity of light reflected by the surface of the target object to determine the brightness value of the object; the brightness value is combined with the color value to determine the color information of the target object.

[0137] 408. The handling device determines type information of the target object according to the color information.

[0138] Exemplarily, the handling device determines the type information of the target object according to the color of the identified target object, such as determining whether the currently detected object is white isolation paper or a blue aluminum plate.

[0139] 409. If the handling device determines that the type information of the target object is the preset type information, the handling device controls the vibrating suction cup to absorb the target object through the mechanical arm.

[0140] The handling equipment includes a mechanical arm and a vibrating suction cup, and the vibrating suction cup is installed at the end of the mechanical arm.

[0141] Exemplarily, in order to avoid electrostatic adhesion between the aluminum plate and the white paper in the printed plate, which may cause grasping failure, a robotic arm and a vibrating suction cup may be set in the handling equipment, that is, the handling robot includes a robotic arm, and the vibrating suction cup is installed at the end of the robotic arm. When the handling equipment determines that the type information of the target object is the preset type information, such as the current target object is a blue aluminum plate, the robotic arm is controlled to drive the suction cup to move and grasp the aluminum plate.

[0142] In one example, the vibrating suction cup includes a vacuum suction cup and an electromagnet; step 409 includes: according to a preset power-on frequency, the electromagnet is energized by the robotic arm to make the vacuum suction cup vibrate and absorb the target object.

[0143] Specifically, the vibrating suction cup is composed of a vacuum suction cup and an electromagnet. When the suction cup sucks a target object such as an aluminum plate, the electromagnet is energized through a robotic arm based on a preset power-on frequency to control the on-off current of the electromagnet. The on-off current of the electromagnet controls the magnetic force on the hardware action of the suction cup, so that the vacuum suction cup vibrates periodically. For example, the vibrating suction cup can vibrate at a high frequency of up to 50 Hz, with a maximum vibration amplitude of 1 mm. At the same time, the target object is sucked by the vacuum suction cup, so that in the process of sucking the target object, the vacuum suction cup drives the sucked target object to vibrate periodically to avoid electrostatic adhesion between the aluminum plate and the white paper in the printed plate, which may cause grasping failure.

[0144] 410. Control the transport device to move to the target position and release the target object so that the target object slides onto the universal roller platform in the alignment device; wherein the universal roller platform is used to correct the placement position of the target object.

[0145] Among them, the loading and unloading workstation also includes aligning equipment, and the aligning equipment includes a universal roller platform.

[0146] Exemplarily, the loading and unloading workstation also includes a gauging device, which includes a universal roller platform, such as a stainless steel universal ball bearing; after the transporting device absorbs the target object, the position of the target object can be adjusted, and then the transporting device is controlled to move to the target position and release the target object, so that the target object relies on its own gravity to slide to the target position in the universal roller platform in the gauging device, and through secondary correction of the universal roller platform, the placement position of the target object in the universal roller platform is corrected to facilitate subsequent printing processing.

[0147] In this embodiment, based on the above embodiment, the electromagnet is energized by the robotic arm to control the vacuum suction cup to vibrate periodically, so that in the process of sucking the target object, the vacuum suction cup drives the sucked target object to vibrate periodically, so as to avoid electrostatic adhesion between the aluminum plate and the white paper in the printing plate, which may cause grasping failure, thereby improving the object handling efficiency.

[0148] Figure 8 A flow chart of another object transport method provided in an embodiment of the present application is shown as follows: Figure 8 As shown, the method includes:

[0149] 501. The host computer obtains the operating interface image of the printing device acquired by the image acquisition device.

[0150] Exemplarily, this step may refer to step 301 and will not be described in detail here.

[0151] 502. The host computer performs binarization processing on the operation interface image to obtain a binarized image; wherein the binarized image includes binarized information; and the binarized information represents the working state of the transport device and the information of the object to be transported.

[0152] Exemplarily, the visual recognition module of the host computer binarizes the image based on a preset binarization processing technology, that is, it uses threshold segmentation to highlight the required information in the grayscale processing of the operating interface image, that is, the black and white image, to obtain a binary image, in which the working status of the handling equipment and the information of the objects to be handled, that is, the binary information, are highlighted.

[0153] In one example, step 502 includes:

[0154] Step 1: binarize the operation interface image to obtain a binarized operation interface image; wherein the binarized operation interface image includes initial information; the initial information represents the working state of the handling equipment and information of the object to be handled.

[0155] Step 2: Filter the binarized running interface image to obtain a filtered running interface image.

[0156] Step 3: Perform character separation processing on the filtered running interface image to obtain a binary image.

[0157] Specifically, traverse each pixel in the image, if the pixel value is greater than or equal to 187, set the pixel to white; otherwise, set it to black. After threshold segmentation processing, the pixel value of the target information (character) with a higher value is retained as white, and the background part is set to black due to its lower pixel value, and a binary operation interface image is obtained; wherein the binary operation interface image includes the highlighted working status of the handling equipment and the information of the object to be handled, that is, the initial information; filter the binary operation interface image, remove some image noise and image, and obtain a filtered operation interface image to make the image features clearer, for example, using median filtering, the filter kernel size is 6 in width and 4 in height; using morphological corrosion and expansion methods, separate the adhered characters in the filtered operation interface image, such as based on the morphological corrosion method, using corrosion parameters of 3 iterations, 3 in kernel width, and 2 in kernel height; based on the expansion method, using expansion parameters of 4 iterations, 2 in kernel width, and 2 in kernel height, and obtaining the binary information in the binary image, for example, Fig. 9 A schematic diagram of a binary image provided in an embodiment of the present application is shown as follows: Fig. 9 As shown, the binary information in the image is "Please load 1 printing plate: corresponding to the specific printing plate model".

[0158] 503. The host computer performs homogeneous affine transformation processing on the binary information in the binary image to obtain a corrected image.

[0159] Exemplarily, the visual recognition module of the host computer performs homogeneous affine transformation processing on the image based on a preset homogeneous affine transformation technology, that is, performs secondary offset correction on the binary information in the binary image, such as rotation and offset, to obtain state information in the corrected image.

[0160] In one example, step 503 includes:

[0161] Step 1: Perform matching processing on the binary information in the binary image to obtain the reference features of the binary image; wherein the reference features represent the text features of the binary information in the binary image.

[0162] Step 2: Determine the position correction parameters of the binary image based on the reference features.

[0163] Step 3: According to the position correction parameter, the binary information in the binary image is corrected to obtain a corrected image.

[0164] Specifically, a fixed reference feature is found by using a high-precision template matching tool to characterize the text features of the binary information in the binary image. The reference feature is used as the origin, and the position of subsequent image recognition remains unchanged relative to the origin. The binary information in the binary image is matched, the reference feature of the binary image is identified, and the position correction parameter of the binary image is determined according to the reference feature. Fig.10 A schematic diagram of a position correction parameter provided in an embodiment of the present application, such as Fig.10 As shown, the parameters include the origin, angle, X-direction scale, Y-direction scale, etc.; according to the position correction parameters, the binary information in the binary image is corrected by rotation, offset, etc. to obtain the corrected image.

[0165] 504. The host computer performs character recognition processing on the state information in the corrected image to obtain at least one character information; wherein each character information represents the working state of the transport device and the information of the object to be transported; and the character information has character features.

[0166] Exemplarily, the host computer recognizes and extracts each character in the status information in the corrected image based on character recognition processing technology, such as Region of Interest (ROI), to obtain multiple character information. All character information represents the working status of the handling equipment and the information of the object to be handled. At the same time, based on feature extraction technology, character features of each character information are extracted for processing.

[0167] In one example, step 504 includes:

[0168] Step 1: extract character features from the state information in the corrected image to obtain at least one initial character information; wherein each initial character information represents the working state of the transport equipment and the information of the object to be transported; and the initial character information has character features.

[0169] Step 2: According to the character features of the initial character information, determine the preset character information corresponding to the initial character information from a preset character model library; wherein the preset character model library includes at least one preset character information and the character features of the preset character information.

[0170] Step three: adjusting the preset character information corresponding to the initial character information according to the state parameters of the preset character information corresponding to the initial character information to obtain the character information.

[0171] Specifically, the character recognition area of ​​the status information in the corrected image is identified and selected, and the characteristic data of the character, that is, the character feature, is extracted to obtain a plurality of initial character information; wherein all the initial character information represent the working status of the handling equipment and the information of the object to be handled, and each initial character information has a character feature; a preset character model library is called, and the preset character model library includes at least one preset character information and the character feature of each preset character information, and the character feature of each initial character information is matched with the character feature of each preset character information in the preset character model library to obtain the preset character information corresponding to each initial character information; the state parameter of the preset character information corresponding to each initial character information is determined, and the preset character information corresponding to each initial character information is adjusted and processed to obtain each character information.

[0172] For example, to select the ROI of the character recognition area and extract the feature data of the characters, we can use the contour detection algorithm (such as the `findContours` function in OpenCV) to detect the contours in the image. Contour detection can help us find all the connected areas in the image, which may contain characters; after the contours are detected, we need to filter out the contours that may contain characters based on some features (such as area, shape, aspect ratio, etc.); for each filtered contour, we can calculate its bounding box, which is our ROI. The coordinates and size of the bounding box can be used to extract the sub-image containing the characters from the original image; Fig.11 A schematic diagram of a character training process provided in an embodiment of the present application, such as Fig.11 As shown, the recognized characters are trained with features and then added to the character library. This cycle is repeated several times to add various types of character features to the character library. The character library is trained using deep learning to obtain a character model library. Each time a character is recognized, the character model library is called for matching, and then some state parameters are used, such as Fig.12 A schematic diagram of a state parameter provided in an embodiment of the present application, such as Fig.12 As shown, the correct character is identified based on parameters such as character polarity and character width range.

[0173] 505. The host computer performs template matching processing on each character information according to the character features of each character information to obtain each first character and each second character.

[0174] Exemplarily, the host computer judges the character features of all the recognized character information based on functions such as template matching and line measurement, so as to perform template matching processing on all the character information to see whether it meets the requirements, and obtain each first character and each second character, for example, Fig.13A schematic diagram of the template matching status provided by the embodiment of the present application, as Fig.13 shown, "loading" is recognized and template matching is performed. The matching is correct, and the correct characters "load" are obtained.

[0175] 506. The host computer formats each first character and each second character to generate string information; wherein, the string information characterizes the working state of the handling device and the information of the object to be handled.

[0176] Exemplarily, this step can refer to step 303, which will not be elaborated here.

[0177] 507. The host computer sends the string information to the handling device; wherein, the string information is used to determine the color information of the target object; the target object is the object to be handled at the preset position corresponding to the string information; the color information is used to control the handling device to handle the target object.

[0178] Exemplarily, this step can refer to step 304, which will not be elaborated here.

[0179] 508. The handling device receives the string information sent by the host computer; wherein, the string information is obtained by performing image processing on the operation interface image of the printing device; the string information characterizes the working state of the handling device and the information of the object to be handled.

[0180] Exemplarily, this step can refer to step 201, which will not be elaborated here.

[0181] 509. The handling device controls the handling device to move to the preset position corresponding to the string information and determines the color information of the target object; wherein, the target object is the object to be handled at the preset position corresponding to the string information.

[0182] Exemplarily, this step can refer to step 202, which will not be elaborated here.

[0183] 510. The handling device performs handling on the target object according to the color information.

[0184] Exemplarily, this step can refer to step 203, which will not be elaborated here.

[0185] In this embodiment, on the basis of the above embodiment, the upper computer performs binarization, homogeneous affine transformation, character recognition, feature processing, and template matching processing on the operating interface image of the printing device to obtain more accurate multiple characters, and then, based on the string information obtained by formatting these recognized characters, the handling equipment can be controlled to accurately perform object handling operations; further, the objects being transported can be protected from deformation, surface contamination and other damage caused by manual handling, thereby reducing the defective rate of printed products. At the same time, the object handling efficiency can be improved through the automated object handling process of the loading and unloading workstations.

[0186] Fig.14 A schematic diagram of the structure of an object transport device provided in an embodiment of the present application is shown in FIG. Fig.14 As shown, the device is applied to the handling equipment in the loading and unloading workstation; the loading and unloading workstation also includes printing equipment and a host computer; the device includes:

[0187] The receiving module 601 is used to receive the string information sent by the host computer; wherein the string information is obtained based on image processing of the operating interface image of the printing device; the string information represents the working state of the transport device and the information of the object to be transported;

[0188] The control module 602 is used to control the transport device to move to the preset position corresponding to the string information, and determine the color information of the target object; wherein the target object is the object to be transported at the preset position corresponding to the string information;

[0189] The transport module 603 is used to carry out transport processing on the target object according to the color information.

[0190] In a possible implementation, the handling equipment includes a robotic arm and a vibrating suction cup, and the vibrating suction cup is installed at the end of the robotic arm; the handling module 603 is specifically used to: determine the type information of the target object based on the color information; if the type information of the target object is determined to be preset type information, control the vibrating suction cup to absorb the target object through the robotic arm.

[0191] In a possible implementation, the vibrating suction cup includes a vacuum suction cup and an electromagnet; the handling module 603 is specifically used to: according to a preset power-on frequency, energize the electromagnet through the robotic arm to make the vacuum suction cup vibrate and absorb the target object.

[0192] In one possible implementation, a light source and an optical fiber are provided in the handling equipment; the control module 602 is specifically used to: obtain optical signal data of the target object transmitted by the optical fiber; wherein the optical signal data represents the optical signal reflected by the surface of the target object when the light source irradiates the target object; and determine the color information of the target object based on the optical signal data.

[0193] In one possible implementation, the control module 602 is specifically used to: determine the color matching value and brightness value of the target object based on the light signal data; wherein the color matching value represents the color of the target object in the standard color space; the brightness value represents the intensity of light reflected by the surface of the target object; and determine the color information of the target object based on the color matching value and the brightness value.

[0194] In a possible embodiment, the loading and unloading workstation also includes a gauging device, which includes a universal roller platform; after the transport module 603 is specifically used to transport the target object, it is also used to: control the transport device to move to the target position and release the target object so that the target object slides to the universal roller platform in the gauging device; wherein the universal roller platform is used to correct the placement position of the target object.

[0195] The device of this embodiment can execute the technical solution in the above method. Its specific implementation process and technical principles are the same and will not be repeated here.

[0196] Fig.15 A schematic diagram of the structure of an object transport device provided in an embodiment of the present application is shown in FIG. Fig.15 As shown, the device is applied to a host computer in a loading and unloading workstation; the loading and unloading workstation also includes printing equipment and handling equipment; the device includes:

[0197] The correction module 701 is used to obtain the operation interface image of the printing device acquired by the image acquisition device; and perform position correction processing on the operation interface image to obtain a corrected image; wherein the corrected image includes state information; the state information represents the working state of the transport device and the information of the object to be transported;

[0198] The recognition module 702 is used to perform character recognition processing on the state information in the corrected image to obtain at least one first character and at least one second character; wherein each first character represents the working state of the transport equipment; and each second character represents the information of the object to be transported;

[0199] The processing module 703 is used to format each first character and each second character to generate character string information; wherein the character string information represents the working state of the transport device and the information of the object to be transported;

[0200] The sending module 704 is used to send the string information to the handling equipment; wherein the string information is used to determine the color information of the target object; the target object is the object to be handled at the preset position corresponding to the string information; the color information is used to control the handling equipment to handle the target object.

[0201] In one possible implementation, the correction module 701 is specifically used to: perform binarization processing on the operation interface image to obtain a binary image; wherein the binary image includes binary information; the binary information represents the working status of the handling equipment and the information of the object to be handled; perform homogeneous affine transformation processing on the binary information in the binary image to obtain a corrected image.

[0202] In one possible implementation, the correction module 701 is specifically used to: perform a binarization operation on the operation interface image to obtain a binarized operation interface image; wherein the binarized operation interface image includes initial information; the initial information represents the working status of the handling equipment and information about the object to be handled; perform filtering on the binarized operation interface image to obtain a filtered operation interface image; perform character separation on the filtered operation interface image to obtain a binarized image.

[0203] In a possible implementation, the correction module 701 is further specifically used to: perform matching processing on the binary information in the binary image to obtain the benchmark features of the binary image; wherein the benchmark features represent the text features of the binary information in the binary image; determine the position correction parameters of the binary image based on the benchmark features; and perform correction processing on the binary information in the binary image based on the position correction parameters to obtain a corrected image.

[0204] In a possible implementation, the recognition module 702 is specifically used to: perform character recognition processing on the status information in the corrected image to obtain at least one character information; wherein each character information represents the working status of the handling equipment and the information of the object to be handled; the character information has character features; based on the character features of each character information, perform template matching processing on each character information to obtain each first character and each second character.

[0205] In a possible implementation, the recognition module 702 is specifically used to: extract character features from the status information in the corrected image to obtain at least one initial character information; wherein each initial character information represents the working status of the handling equipment and the information of the object to be handled; the initial character information has character features; according to the character features of the initial character information, determine the preset character information corresponding to the initial character information from a preset character model library; wherein the preset character model library includes at least one preset character information and the character features of the preset character information; according to the state parameters of the preset character information corresponding to the initial character information, adjust the preset character information corresponding to the initial character information to obtain the character information.

[0206] The device of this embodiment can execute the technical solution in the above method. Its specific implementation process and technical principles are the same and will not be repeated here.

[0207] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software called by processing elements; they can also be all implemented in the form of hardware; some modules can also be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. Each module can be a separately established processing element, or it can be integrated in a chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called and executed by a processing element of the above device. The functions of each module. In addition, all or part of these modules can be integrated together, or they can be implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0208] Fig.16 A schematic diagram of a transport device provided in an embodiment of the present application is shown in FIG. Fig.16 As shown, the transport device includes: a memory 801 and a processor 802; the memory 801 is a memory for storing instructions executable by the processor 802.

[0209] The processor 802 is configured to execute the method provided in the above embodiment.

[0210] The handling device further includes a receiver 803 and a transmitter 804. The receiver 803 is used to receive instructions and data sent by other devices, and the transmitter 804 is used to send instructions and data to external devices.

[0211] The specific implementation process of the processor can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0212] Fig.17 A schematic diagram of the structure of a host computer provided in an embodiment of the present application is shown in FIG. Fig.17 As shown, the host computer includes: a memory 901 and a processor 902; the memory 901 is a memory for storing instructions executable by the processor 902.

[0213] The processor 902 is configured to execute the method provided in the above embodiment.

[0214] The host computer also includes a receiver 903 and a transmitter 904. The receiver 903 is used to receive instructions and data sent by other devices, and the transmitter 904 is used to send instructions and data to external devices.

[0215] The specific implementation process of the processor can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0216] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0217] The memory may include a high-speed memory (Random Access Memory, referred to as RAM), and may also include a non-volatile memory (Non-volatile Memory, referred to as NVM), such as at least one disk memory.

[0218] An embodiment of the present application also provides a chip for executing instructions, which is used to execute the technical solution of the processing method in the above embodiment.

[0219] The embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed on a computer, the computer executes the technical solution of the processing method of the above embodiment.

[0220] An embodiment of the present application provides a loading and unloading workstation, which includes a handling device, a printing device and a host computer. When the computer execution instruction of the handling device runs on the computer, the computer executes the technical solution of the processing method of the above embodiment; when the computer execution instruction of the host computer runs on the computer, the computer executes the technical solution of the processing method of the above embodiment.

[0221] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, programmable read-only memory, read-only memory, magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0222] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in a dedicated integrated circuit. Of course, the processor and the readable storage medium can also exist in a device as discrete components.

[0223] An embodiment of the present application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium. When at least one processor executes the computer program, the technical solution of the processing method in the above embodiment can be implemented.

[0224] Those skilled in the art will appreciate that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed.

[0225] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for transporting an object, characterized in that: The method is applied to a handling device in a loading and unloading workstation; the loading and unloading workstation also includes a printing device and a host computer; the method includes: Receive the string information sent by the host computer; wherein the string information is obtained based on image processing of the operating interface image of the printing device; the string information represents the working status of the transport device and the information of the object to be transported; Controlling the transport device to move to a preset position corresponding to the string information, and determining the color information of the target object; wherein the target object is an object to be transported at the preset position corresponding to the string information; The target object is transported according to the color information.

2. The method according to claim 1, characterized in that The handling equipment comprises a mechanical arm and a vibrating suction cup, wherein the vibrating suction cup is installed at the end of the mechanical arm; Carrying the target object according to the color information includes: Determining type information of the target object according to the color information; If it is determined that the type information of the target object is the preset type information, the vibrating suction cup is controlled to absorb the target object through the mechanical arm.

3. The method according to claim 2, characterized in that The vibrating suction cup includes a vacuum suction cup and an electromagnet; and controlling the vibrating suction cup to absorb the target object through the mechanical arm includes: According to a preset power-on frequency, the electromagnet is energized through the mechanical arm to make the vacuum suction cup vibrate and absorb the target object.

4. The method according to claim 1, characterized in that: The handling device is provided with a light source and an optical fiber; determining the color information of the target object includes: Acquire optical signal data of the target object transmitted by the optical fiber; wherein the optical signal data represents the optical signal reflected by the surface of the target object when the light source irradiates the target object; The color information of the target object is determined according to the light signal data.

5. The method according to claim 4, characterized in that Determining the color information of the target object according to the light signal data includes: Determine the color matching value and brightness value of the target object according to the light signal data; wherein the color matching value represents the color of the target object in a standard color space; and the brightness value represents the intensity of light reflected from the surface of the target object; The color information of the target object is determined according to the color matching value and the brightness value.

6. The method according to any one of claims 1 to 5, characterized in that The loading and unloading workstation also includes a calibrating device, and the calibrating device includes a universal roller platform; after the target object is transported, it also includes: The transport device is controlled to move to a target position and release the target object, so that the target object slides onto the universal roller platform in the alignment device; wherein the universal roller platform is used to correct the placement position of the target object.

7. A method for transporting an object, characterized in that: The method is applied to a host computer in a loading and unloading workstation; the loading and unloading workstation also includes a printing device and a handling device; the method includes: Acquire an operation interface image of the printing device acquired by an image acquisition device; and perform position correction processing on the operation interface image to obtain a corrected image; wherein the corrected image includes status information; the status information represents the working status of the transport device and information about the object to be transported; Performing character recognition processing on the state information in the corrected image to obtain at least one first character and at least one second character; wherein each of the first characters represents the working state of the transport equipment; and each of the second characters represents information of the object to be transported; Formatting each of the first characters and each of the second characters to generate character string information; wherein the character string information represents the working status of the transport equipment and information about the object to be transported; The string information is sent to the transport device; wherein the string information is used to determine the color information of the target object; the target object is an object to be transported at a preset position corresponding to the string information; and the color information is used to control the transport device to transport the target object.

8. The method according to claim 7, characterized in that Performing position correction processing on the operation interface image to obtain a corrected image includes: Binarization is performed on the operation interface image to obtain a binary image; wherein the binary image includes binary information; the binary information represents the working state of the handling equipment and the information of the object to be handled; The binary information in the binary image is subjected to homogeneous affine transformation processing to obtain the corrected image.

9. The method according to claim 8, characterized in that Binarizing the operation interface image to obtain a binary image includes: The operation interface image is subjected to a binarization operation to obtain a binarized operation interface image; wherein the binarized operation interface image includes initial information; the initial information represents the working state of the handling equipment and information of the object to be handled; Performing filtering on the binarized operation interface image to obtain a filtered operation interface image; The filtered operation interface image is subjected to character separation processing to obtain the binary image.

10. The method according to claim 8, characterized in that Performing position correction processing on the binary information in the binary image to obtain the corrected image includes: Performing matching processing on the binary information in the binary image to obtain a reference feature of the binary image; wherein the reference feature represents a text feature of the binary information in the binary image; Determining position correction parameters of the binary image according to the reference feature; According to the position correction parameter, the binarization information in the binarization image is corrected to obtain the corrected image.

11. The method according to any one of claims 7 to 10, characterized in that: Performing character recognition processing on the state information in the corrected image to obtain at least one first character and at least one second character, including: Performing character recognition processing on the state information in the corrected image to obtain at least one character information; wherein each character information represents the working state of the transport equipment and the information of the object to be transported; and the character information has character features; Template matching is performed on each of the character information according to the character features of each of the character information to obtain each of the first characters and each of the second characters.

12. The method according to claim 11, characterized in that Performing character recognition processing on the state information in the corrected image to obtain at least one character information includes: Extracting character features from the state information in the corrected image to obtain at least one initial character information; wherein each initial character information represents the working state of the transport equipment and the information of the object to be transported; and the initial character information has character features; According to the character features of the initial character information, the preset character information corresponding to the initial character information is determined from a preset character model library; wherein the preset character model library includes at least one preset character information and the character features of the preset character information; According to the state parameter of the preset character information corresponding to the initial character information, the preset character information corresponding to the initial character information is adjusted to obtain the character information.

13. An object transporting device, characterized in that: The device is applied to the handling equipment in the loading and unloading workstation; the loading and unloading workstation also includes printing equipment and a host computer; the device includes: A receiving module, used to receive the string information sent by the host computer; wherein the string information is obtained based on image processing of the operating interface image of the printing device; the string information represents the working status of the transport device and the information of the object to be transported; A control module, used to control the transport device to move to a preset position corresponding to the string information, and determine the color information of the target object; wherein the target object is an object to be transported at the preset position corresponding to the string information; A transport module is used to carry out transport processing on the target object according to the color information.

14. An object transporting device, characterized in that: The device is applied to a host computer in a loading and unloading workstation; the loading and unloading workstation also includes printing equipment and handling equipment; the device includes: A correction module is used to obtain the operation interface image of the printing device acquired by the image acquisition device; and perform position correction processing on the operation interface image to obtain a corrected image; wherein the corrected image includes state information; the state information represents the working state of the transport device and the information of the object to be transported; A recognition module, configured to perform character recognition processing on the state information in the corrected image to obtain at least one first character and at least one second character; wherein each of the first characters represents the working state of the transport equipment; and each of the second characters represents information of the object to be transported; A processing module, used for formatting each of the first characters and each of the second characters to generate character string information; wherein the character string information represents the working state of the transport equipment and the information of the object to be transported; A sending module is used to send the string information to the handling equipment; wherein the string information is used to determine the color information of the target object; the target object is an object to be handled at a preset position corresponding to the string information; and the color information is used to control the handling equipment to handle the target object.

15. A handling device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 6.

16. A host computer, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 7 to 12.

17. A loading and unloading workstation, characterized in that: The loading and unloading workstation includes a handling device, a printing device and a host computer. The handling device is used to implement the method described in any one of claims 1 to 6; the host computer is used to implement the method described in any one of claims 7 to 12.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method according to any one of claims 1 to 6 or the method according to any one of claims 7 to 12.

19. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program is used to implement the method according to any one of claims 1 to 6 or the method according to any one of claims 7 to 12.

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