Flat part sorting auxiliary method, device, equipment, system, medium and product

Abstract

The invention relates to a flat part sorting auxiliary method, device, equipment, system, medium and product, and relates to the technical field of image processing and logistics. The method comprises the following steps: acquiring a code scanning result of a to-be-sorted flat piece at a code scanning position; if the code scanning result determines that the number of the to-be-sorted flat pieces meets the preset number condition, the to-be-sorted flat pieces are moved to a piece supply position; acquiring first image information of the to-be-sorted flat pieces acquired at the piece supply position; if the first image information determines that the number of the to-be-sorted flat pieces meets the preset number condition and the poses of the to-be-sorted flat pieces meet the preset pose condition, the to-be-sorted flat pieces are moved to sorting equipment; second image information, collected by sorting equipment, of the to-be-sorted flat pieces is obtained; and if the second image information determines that the number of the to-be-sorted flat pieces meets the preset number condition, sorting operation is carried out. Effective assistance can be provided for the automatic sorting process of the flat parts, the situation that the flat parts pushed to sorting equipment float, are wrongly sorted, even are damaged and the like is avoided, and the sorting quality is guaranteed.

Description

Technical Field

[0001] The present application relates to the fields of image processing and logistics technology, and particularly to a method, device, equipment, system, medium and product for assisting in sorting flat items. Background Art

[0002] With the development of automation technology, automated sorting equipment has been applied to the sorting of express items in the logistics field.

[0003] In the current automated sorting method, for flat items such as document bills, materials, and certificates packed in document envelopes in express items, they are usually directly pushed from the feeding table onto the sorting equipment. However, this method is likely to cause the flat items pushed onto the sorting equipment to float, be mis-sorted, or even damaged, affecting the sorting quality. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide a method, device, equipment, system, storage medium and computer program product for assisting in sorting flat items.

[0005] In a first aspect, the present application provides a method for assisting in sorting flat items. The method includes:

[0006] Obtaining the scanning result of the flat item to be sorted at the scanning position;

[0007] If it is determined based on the scanning result that the first quantity of the flat item to be sorted meets the preset quantity condition, moving the flat item to the feeding position;

[0008] Obtaining the first image information of the flat item to be sorted collected at the feeding position;

[0009] If it is determined based on the first image information that the second quantity of the flat item to be sorted meets the preset quantity condition, and it is determined based on the first image information that the pose of the flat item to be sorted meets the preset pose condition, moving the flat item to the sorting equipment;

[0010] Obtaining the second image information of the flat item to be sorted collected at the sorting equipment;

[0011] If it is determined based on the second image information that the third quantity of the flat item to be sorted meets the preset quantity condition, then performing a sorting operation on the flat item to be sorted.

[0012] In one embodiment, the scanning result includes a first sub-result and a second sub-result. The first sub-result represents the result obtained by scanning the flat piece to be sorted from a first preset direction, and the second sub-result represents the result obtained by scanning the flat piece to be sorted from a second preset direction. The step of moving the flat piece to be sorted to the feeding position if it is determined that the first quantity of the flat piece to be sorted meets the preset quantity condition based on the scanning result includes: if the first sub-result is equal to the second sub-result, and it is determined that the first quantity of the flat piece to be sorted meets the preset quantity condition based on the first sub-result or the second sub-result, move the flat piece to be sorted to the feeding position.

[0013] In one embodiment, determining that the second quantity of the flat piece to be sorted meets the preset quantity condition based on the first image information includes: obtaining the flat piece corner coordinate information in the first image information; determining the number of the first corner point groups according to the flat piece corner coordinate information; if the number of the first corner point groups meets the corner point group number condition, determining that the second quantity of the flat piece to be sorted meets the preset quantity condition.

[0014] In one embodiment, determining that the pose of the flat piece to be sorted meets the preset pose condition based on the first image information includes: obtaining the flat piece corner coordinate information in the first image information, and obtaining the feeding position reference coordinate information; determining the position relationship information between the flat piece and the feeding position according to the flat piece corner coordinate information and the feeding position reference coordinate information; if the position relationship information meets the preset position condition, determining that the pose of the flat piece to be sorted meets the preset pose condition.

[0015] In one embodiment, the step of determining the position relationship information between the flat piece and the feeding position according to the flat piece corner coordinate information and the feeding position reference coordinate information includes: determining a first direction corresponding to the feeding side of the feeding position according to the feeding position reference coordinate information; determining at least one side corresponding second direction of the flat piece to be sorted according to the flat piece corner coordinate information; determining the position relationship information between the flat piece and the feeding position according to the angle between the first direction and the second direction.

[0016] In one embodiment, determining that the third quantity of the flat piece to be sorted meets the preset quantity condition based on the second image information includes: obtaining the flat piece corner coordinate information in the second image information; determining the number of the second corner point groups according to the flat piece corner coordinate information in the second image information; if the number of the second corner point groups meets the corner point group number condition, determining whether the third quantity of the flat piece to be sorted meets the preset quantity condition.

[0017] In one embodiment, the method further includes: if it is determined based on the scanning result that the first quantity of the flat items to be sorted does not meet the preset quantity condition, or it is determined based on the first image information that the second quantity of the flat items to be sorted does not meet the preset quantity condition, or it is determined based on the first image information that the pose of the flat items to be sorted does not meet the preset pose condition, or it is determined based on the second image information that the third quantity of the flat items to be sorted does not meet the preset quantity condition, then indicating that the flat items to be sorted are abnormal items.

[0018] In a second aspect, the present application further provides a flat item sorting assistance device. The device includes:

[0019] A scanning result acquisition module, configured to acquire the scanning result of the flat items to be sorted at the scanning position;

[0020] A first moving module, configured to move the flat items to be sorted to the feeding position if it is determined based on the scanning result that the first quantity of the flat items to be sorted meets the preset quantity condition;

[0021] A first image information acquisition module, configured to acquire the first image information of the flat items to be sorted collected at the feeding position;

[0022] A second moving module, configured to move the flat items to be sorted to the sorting device if it is determined based on the first image information that the second quantity of the flat items to be sorted meets the preset quantity condition and it is determined based on the first image information that the pose of the flat items to be sorted meets the preset pose condition;

[0023] A second image information acquisition module, configured to acquire the second image information of the flat items to be sorted collected at the sorting device;

[0024] A sorting module, configured to perform a sorting operation on the flat items to be sorted if it is determined based on the second image information that the third quantity of the flat items to be sorted meets the preset quantity condition.

[0025] In a third aspect, the present application further provides a flat item sorting assistance device. The flat item sorting assistance device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0026] Acquire the scanning result of the flat items to be sorted at the scanning position;

[0027] If it is determined based on the scanning result that the first quantity of the flat items to be sorted meets the preset quantity condition, move the flat items to be sorted to the feeding position;

[0028] Acquire the first image information of the flat items to be sorted collected at the feeding position;

[0029] If it is determined based on the first image information that the second quantity of the flat parts to be sorted meets the preset quantity condition, and it is determined based on the first image information that the pose of the flat parts to be sorted meets the preset pose condition, move the flat parts to be sorted to the sorting device;

[0030] Obtain second image information of the flat parts to be sorted collected at the sorting device;

[0031] If it is determined based on the second image information that the third quantity of the flat parts to be sorted meets the preset quantity condition, perform a sorting operation on the flat parts to be sorted.

[0032] In a fourth aspect, the present application also provides a flat part sorting assistance system. The system includes: a scanning camera for scanning the flat parts to be sorted at the scanning position, a first image acquisition device for acquiring images of the flat parts to be sorted at the feeding position, a second image acquisition device for acquiring images of the flat parts to be sorted on the sorting device, and the above-mentioned flat part sorting assistance device.

[0033] In one embodiment, the number of the scanning cameras is at least two, and is used to scan the flat parts to be sorted at the scanning position in at least two directions.

[0034] In one embodiment, at least one of the at least two scanning cameras is used to scan the flat parts to be sorted through the transparent part of the table surface at the scanning position.

[0035] In a fifth aspect, the present application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0036] Obtain the scanning result of the flat parts to be sorted at the scanning position;

[0037] If it is determined based on the scanning result that the first quantity of the flat parts to be sorted meets the preset quantity condition, move the flat parts to be sorted to the feeding position;

[0038] Obtain first image information of the flat parts to be sorted collected at the feeding position;

[0039] If it is determined based on the first image information that the second quantity of the flat parts to be sorted meets the preset quantity condition, and it is determined based on the first image information that the pose of the flat parts to be sorted meets the preset pose condition, move the flat parts to be sorted to the sorting device;

[0040] Obtain second image information of the flat parts to be sorted collected at the sorting device;

[0041] If it is determined that the third quantity of the flat items to be sorted meets the preset quantity condition based on the second image information, a sorting operation is performed on the flat items to be sorted.

[0042] In a sixth aspect, the present application also provides a computer program product. The computer program product includes a computer program which, when executed by a processor, implements the following steps:

[0043] Obtain the scanning result of the flat items to be sorted at the scanning position;

[0044] If it is determined that the first quantity of the flat items to be sorted meets the preset quantity condition based on the scanning result, move the flat items to be sorted to the feeding position;

[0045] Obtain the first image information of the flat items to be sorted collected at the feeding position;

[0046] If it is determined that the second quantity of the flat items to be sorted meets the preset quantity condition based on the first image information, and it is determined that the pose of the flat items to be sorted meets the preset pose condition based on the first image information, move the flat items to be sorted to the sorting device;

[0047] Obtain the second image information of the flat items to be sorted collected at the sorting device;

[0048] If it is determined that the third quantity of the flat items to be sorted meets the preset quantity condition based on the second image information, a sorting operation is performed on the flat items to be sorted.

[0049] The above-mentioned flat piece sorting assistance method, device, equipment, system, storage medium and computer program product obtain the scanning result of the flat piece to be sorted at the scanning position. If it is determined based on the scanning result that the first quantity of the flat piece to be sorted meets the preset quantity condition, the flat piece to be sorted is moved to the feeding position. Then, the first image information of the flat piece to be sorted collected at the feeding position is obtained. If it is determined based on the first image information that the second quantity of the flat piece to be sorted meets the preset quantity condition and the pose of the flat piece to be sorted meets the preset pose condition, the flat piece to be sorted is moved to the sorting equipment. Then, the second image information of the flat piece to be sorted collected at the sorting equipment is obtained. If it is determined based on the second image information table that the third quantity of the flat piece to be sorted meets the preset quantity condition, a sorting operation is performed on the flat piece to be sorted. This solution detects the quantity of the flat piece to be sorted at the scanning position, feeding position and sorting equipment respectively for the multiple links that the flat piece goes through in the automatic sorting process, which can avoid the abnormal quantity situation of the flat piece to the greatest extent. Moreover, the pose of the flat piece to be sorted is detected at the feeding position to prevent the flat piece with abnormal pose at the feeding position from being pushed to the sorting equipment. Therefore, it can provide effective assistance for the automatic sorting process of the flat piece, avoid situations such as floating pieces, mis-sorting or even damage of the flat pieces pushed to the sorting equipment, and ensure the sorting quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a schematic flowchart of the flat piece sorting assistance method in an embodiment;

[0051] Figure 2 It is a schematic flowchart of the steps for determining the position relationship information between the flat piece to be sorted and the feeding position in an embodiment;

[0052] Figure 3 It is a schematic diagram of the scenario for determining the position relationship information between the flat piece to be sorted and the feeding position in an embodiment;

[0053] Figure 4 It is a schematic flowchart of the flat piece sorting assistance method in an embodiment;

[0054] Figure 5 It is a schematic diagram of the setting method of the scanning camera in an embodiment;

[0055] Figure 6 It is a schematic diagram of the setting method of the first image acquisition device in an embodiment;

[0056] Figure 7 It is a structural block diagram of the flat piece sorting assistance device in an embodiment;

[0057] Figure 8 It is an internal structure diagram of the flat piece sorting assistance equipment in an embodiment;

[0058] Figure 9 It is a schematic structural diagram of a flat-piece sorting assistance system in an embodiment. Specific Embodiments

[0059] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0060] In one embodiment, as Figure 1 shown, a flat-piece sorting assistance method is provided. In this embodiment, it is exemplified that the method is applied to a terminal. It can be understood that the method can also be applied to a server and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0061] Step S101: Obtain the scanning result of the flat piece to be sorted at the scanning position.

[0062] Specifically, the scanning position can be the position where the manipulator places the topmost flat piece after sucking it from a stack of flat pieces during the flat-piece sorting process. In order to distinguish and label flat pieces, a graphic code is usually attached to the surface of the flat piece. Based on this, the graphic code of the flat piece to be sorted is recognized at the scanning position, and the corresponding scanning result can be obtained. Among them, the scanning result can include the content of the graphic code, such as the express waybill number of the flat piece, etc.

[0063] Exemplarily, the scanning result of the flat piece to be sorted can be output after the graphic code of the flat piece to be sorted is scanned by a scanning camera arranged at the scanning position, or can be obtained after the graphic code part in the image is recognized after the flat piece to be sorted is image-captured by an image acquisition device arranged at the scanning position.

[0064] Step S102: If it is determined based on the scanning result that the first quantity of the flat piece to be sorted meets the preset quantity condition, move the flat piece to be sorted to the feeding position.

[0065] Specifically, the preset quantity condition of the flat piece to be sorted can be determined according to the specific scenario of flat-piece sorting. For example, when it is necessary to distribute flat pieces to different sorting compartments, the preset quantity condition can be that the quantity of the flat piece to be sorted is one piece; or for another example, when multiple flat pieces need to be transferred to other processing stations via sorting equipment during this sorting, the predicted quantity condition can be determined according to the maximum load capacity of the flat pieces of the sorting equipment and the target processing station, that is, the quantity of the flat piece to be sorted is less than the maximum load capacity.

[0066] Among them, since the same flat part usually corresponds to the same graphic code, the first quantity of the flat parts to be sorted at the scanning position can be determined according to the quantity of the corresponding graphic code content in the scanning result. When the first quantity meets the preset quantity condition, the flat parts to be sorted can be transferred from the scanning position to the feeding position.

[0067] Step S103: Obtain the first image information of the flat parts to be sorted collected at the feeding position.

[0068] Specifically, the feeding position can push the received flat parts to be sorted onto the sorting device. Through the first image acquisition device arranged at the feeding position, the first image information of the flat parts to be sorted at the feeding position can be obtained.

[0069] Among them, the first image acquisition device can be a depth camera, and the first image information collected by it can include the depth map of the flat parts to be sorted at the feeding position and the coordinate information of the sampling points corresponding to the flat parts to be sorted obtained after processing the depth map.

[0070] Step S104: If it is determined based on the first image information that the second quantity of the flat parts to be sorted meets the preset quantity condition and the pose of the flat parts to be sorted meets the preset pose condition, move the flat parts to be sorted to the sorting device.

[0071] Specifically, according to the two-dimensional image corresponding to the flat parts to be sorted and the corresponding depth map in the first image information, the quantity and pose of the non-overlapping flat parts to be sorted at the feeding position can be identified. Among them, the pose of the flat parts to be sorted can be the position of the flat parts to be sorted at the feeding position, the rotation angle relative to the feeding position, etc.

[0072] Among them, according to the sizes of the feeding position and the sorting device and the positional relationship between the two, the preset pose condition can be set. For example, the preset pose condition can be the rotation angle of the flat parts to be sorted relative to the feeding position, the orientation, etc.

[0073] When the first image information collected at the feeding position indicates that the second quantity of the flat parts to be sorted meets the preset quantity condition and the pose meets the preset pose condition, it can be considered that the flat parts to be sorted at the feeding position can be smoothly pushed to the sorting device. Therefore, the flat parts to be sorted at the feeding position can be transferred to the sorting device.

[0074] Step S105: Obtain the second image information of the flat parts to be sorted collected at the sorting device.

[0075] Specifically, the sorting device can be a device for sorting the flat parts to be sorted, such as a sorting vehicle, etc. At the sorting device, the second image information of the flat parts to be sorted can be collected through the second image acquisition device.

[0076] Among them, the second image acquisition device may be a depth camera, and the second image information acquired thereby may include a depth map and coordinate information of a plurality of sampling points corresponding to the flat articles to be sorted on the sorting device.

[0077] Step S106: If it is determined based on the second image information that the third quantity of the flat articles to be sorted meets the preset quantity condition, perform a sorting operation on the flat articles to be sorted.

[0078] Specifically, since flat articles generally have a relatively large horizontal speed when being pushed from the feeding position to the sorting device, the flat articles are likely to collide with the baffle on the sorting device after entering the sorting device, causing the adhered flat articles to separate. Therefore, the flat articles adhered and overlapped at the barcode scanning position and the feeding position are likely to be in an incompletely overlapped state on the sorting device. Based on this, the quantity of the flat articles to be sorted can be further identified through the second image information acquired on the sorting device. When it is identified that the third quantity of the flat articles to be sorted on the sorting device meets the preset quantity condition, a sorting operation can be performed on the flat articles to be sorted.

[0079] For the above flat article sorting assistance method, obtain the barcode scanning result of the flat articles to be sorted at the barcode scanning position. If it is determined based on the barcode scanning result that the first quantity of the flat articles to be sorted meets the preset quantity condition, move the flat articles to be sorted to the feeding position. Then, obtain the first image information of the flat articles to be sorted acquired at the feeding position. If it is determined based on the first image information that the second quantity of the flat articles to be sorted meets the preset quantity condition and the pose of the flat articles to be sorted meets the preset pose condition, move the flat articles to be sorted to the sorting device. Then, obtain the second image information of the flat articles to be sorted acquired at the sorting device. If it is determined based on the second image information table that the third quantity of the flat articles to be sorted meets the preset quantity condition, perform a sorting operation on the flat articles to be sorted. This solution detects the quantity of the flat articles to be sorted at the barcode scanning position, the feeding position, and the sorting device respectively for the multiple links that the flat articles go through in the automated sorting process, which can maximally avoid the abnormal quantity situation of the flat articles. Moreover, it also detects the pose of the flat articles to be sorted at the feeding position to prevent the flat articles with abnormal poses at the feeding position from being pushed to the sorting device. Thereby, it can provide effective assistance for the automated sorting process of the flat articles, avoid situations such as floating articles, mis-sorting, and even damage of the flat articles pushed to the sorting device, and ensure the sorting quality.

[0080] In one embodiment, the scanning result includes a first sub-result and a second sub-result. The first sub-result represents the result obtained by scanning the flat piece to be sorted from a first preset direction, and the second sub-result represents the result obtained by scanning the flat piece to be sorted from a second preset direction. In the above step S102, if it is determined based on the scanning result that the first quantity of the flat piece to be sorted meets the preset quantity condition, moving the flat piece to be sorted to the feeding position includes: if the first sub-result and the second sub-result are equal, and it is determined based on the first sub-result or the second sub-result that the first quantity of the flat piece to be sorted meets the preset quantity condition, moving the flat piece to be sorted to the feeding position.

[0081] Specifically, in this embodiment, considering that when scanning the flat piece from one direction, situations such as the graphic code being blocked may occur, resulting in an inaccurate scanning result. The graphic code of the flat piece to be sorted is scanned from the first preset direction and the second preset direction respectively at the feeding position, and the corresponding first sub-result and second sub-result are obtained respectively.

[0082] Preferably, among the first preset direction and the second preset direction, at least one preset direction can be included to scan the flat piece to be sorted through the transparent part of the table surface at the scanning position. This can enable the graphic code on the surface of the flat piece to be sorted in contact with the table surface at the scanning position to be scanned as well.

[0083] Based on the scanning result obtained by scanning, the first sub-result and the second sub-result can be compared. When the two are equal, the first quantity of the flat pieces to be sorted on the feeding table can be determined according to the quantity of the express waybills of the flat pieces recognized from the graphic code in the first sub-result or the second sub-result. Subsequently, the first quantity can be compared with the preset quantity condition. When it meets the preset quantity condition, the flat piece to be sorted can be transferred from the scanning position to the feeding position. Herein, the equality of the first sub-result and the second sub-result can mean that the graphic code contents obtained by the two are the same, such as recognizing the same express waybill number of the flat piece.

[0084] In some other embodiments, considering that the flat part may be bent, or the surface of the flat part where the graphic code is set does not face the specified direction, resulting in the situation where the first sub-result and the second sub-result may not be equal, it is also possible to determine whether the first quantity of the flat parts to be sorted meets the preset quantity condition according to the consistency of the graphic code information in the first sub-result and the second sub-result. Among them, the first sub-result and the second sub-result can be equal or not equal. According to the consistency of the graphic code information contained in the first sub-result and the second sub-result respectively, they can be summarized according to the consistency of the graphic code information. Among them, the same graphic code information obtained after summarization corresponds to the same flat part, and the number of types of graphic code information corresponds to the number of flat parts to be sorted at the scanning position. Exemplarily, if the first sub-result and the second sub-result indicate the existence of multiple identical graphic codes, it can be determined that the number of flat parts to be sorted is one, and if the first sub-result and the second sub-result indicate the existence of multiple different graphic code information, the first quantity of the flat parts to be sorted can be determined according to the number of types of graphic code information. Based on this, the first quantity can be compared with the preset quantity condition. When it meets the preset quantity condition, the flat parts to be sorted can be transferred from the scanning position to the feeding position. It can more accurately determine whether the number of flat parts to be sorted at the feeding position meets the preset quantity condition according to the consistency of the graphic code information in the scanning result.

[0085] In this embodiment, by scanning the flat parts to be sorted at the scanning position in at least the first preset direction and the second preset direction, it is possible to achieve the maximum recognition of the graphic codes on the surface of the flat parts to be sorted and avoid omission. When the first sub-result and the second sub-result corresponding to the two directions are equal, determining whether the first quantity of the flat parts to be sorted meets the preset quantity condition according to one of the results can reduce the complexity of the judgment process, obtain the judgment result more conveniently and quickly, and avoid delaying the sorting process.

[0086] In one embodiment, determining that the second quantity of the flat parts to be sorted meets the preset quantity condition based on the first image information includes: obtaining the corner point coordinate information of the flat parts in the first image information; determining the number of the first corner point groups according to the corner point coordinate information of the flat parts; if the number of the first corner point groups meets the corner point group quantity condition, determining that the second quantity of the flat parts to be sorted meets the preset quantity condition.

[0087] Specifically, the first image information may include the coordinate information of the sampling points corresponding to all the flat parts on the feeding position that are not completely covered by other flat parts. Among them, by processing the first image information through image recognition technology, the sampling points corresponding to the corner points of the flat part to be sorted can be identified in the first image information. Further, by combining the distribution of each corner point in the image and the depth information, it can be determined whether different corner points belong to the same flat part. According to the flat part to which they belong, the corner point coordinate information is grouped, and one or more first corner point groups can be obtained, where each first corner point group corresponds to one flat part to be sorted in the flat part to be sorted respectively.

[0088] In some other embodiments, the number of the first corner point groups can also be determined according to the number of the flat part corner point coordinate information and the obtained flat part corner point reference number. Among them, according to the shape of the flat part, the flat part corner point reference number can be obtained. Exemplarily, in this embodiment, the association relationship between different flat part shapes and their corresponding corner point numbers can be established in advance. For example, the number of corner points corresponding to a triangular flat part is three, and the number of corner points corresponding to a quadrilateral flat part is four, etc. In the sorting process, the shape of the flat part to be processed this time can be set in advance, so as to obtain the corresponding flat part corner point reference number. Further, according to the number of the flat part corner point coordinate information and the flat part corner point reference number, the number of the first corner point groups can be calculated. For example, in the case of processing a quadrilateral flat part, the flat part corner point reference number can be 4, then when the number of the flat part corner point coordinate information is 9, the number of the first corner point groups can be calculated as three.

[0089] Based on this, the number of the first corner point groups can indicate the minimum value of the possible number of the flat parts to be sorted on the feeding position. Therefore, according to the preset number condition, the corner point group number condition can be preset in advance, and by comparing the number of the first corner point groups with the corner point group number condition, it can be determined whether the number of the flat parts to be sorted on the feeding position meets the preset number condition.

[0090] After obtaining the first image information of the feeding position in this embodiment, according to the flat part corner point coordinate information in the first image information, the number of the first corner point groups is determined, and according to whether the number of the first corner point groups meets the corner point group number condition, it is determined whether the number of the flat parts to be sorted on the feeding position meets the preset number condition. Among them, since the first image information may include the coordinate information of the uncovered corner points of all the flat parts in the feeding position, therefore, the number of the first corner point groups determined based on the distribution of the flat part corner point coordinate information or the relationship with the flat part corner point reference number can be used to reflect the number of the flat parts to be sorted on the feeding position. Subsequently, according to the relationship between the number of the first corner point groups and the corner point group number condition, a relatively accurate judgment can be made on whether the number of the flat parts to be sorted in the feeding position meets the preset number condition.

[0091] In one embodiment, determining that the pose of the flat piece to be sorted meets the preset pose condition based on the first image information includes: obtaining the corner point coordinate information of the flat piece in the first image information, and obtaining the reference coordinate information of the feeding position; determining the positional relationship information between the flat piece and the feeding position according to the corner point coordinate information of the flat piece and the reference coordinate information of the feeding position; if the positional relationship information meets the preset position condition, determining whether the pose of the flat piece to be sorted meets the preset pose condition.

[0092] Specifically, the reference coordinate information of the feeding position may include the coordinate information of the corner points of the tabletop of the feeding position, or may be the coordinate information corresponding to one side edge of the tabletop of the feeding position. Among them, when the tabletop of the feeding position is within the field of view of the first image acquisition device, the reference coordinate information of the feeding position can be directly obtained from the first image information. In some other embodiments, the reference coordinate information of the feeding position can also be determined in advance according to the positional relationship between the first image acquisition device and the tabletop of the feeding position.

[0093] Based on this, according to the reference coordinate information of the feeding position, the direction of at least one side edge of the tabletop of the feeding position can be determined, and according to the corner point coordinate information of the flat piece, the contour information of the flat piece to be sorted can be determined. Furthermore, according to the contour information of the flat piece to be sorted and the direction of at least one side edge of the tabletop of the feeding position, the positional relationship information between the flat piece and the tabletop of the feeding position can be determined, and further determine whether this positional relationship information meets the preset position condition. Exemplarily, the positional relationship information between the flat piece and the tabletop of the feeding position can be the rotation angle of the flat piece relative to the tabletop of the feeding position, and the preset position condition can be the threshold range of the rotation angle.

[0094] When the reference coordinate information of the feeding position includes the coordinate information of the corner points of the tabletop of the feeding position, the contour information of the tabletop of the feeding position can be further determined. Comparing the contour information of the tabletop of the feeding position with the contour information of the flat piece to be sorted can determine the positional relationship information between the flat piece to be sorted and the tabletop of the feeding position. Exemplarily, the positional relationship information may include the relative orientation of the two, and whether there is a situation where the flat piece contour exceeds the tabletop contour of the feeding position, etc. The preset position condition may be the distance range between the flat piece to be sorted and the center of the tabletop of the feeding position, the area size range where the flat piece contour exceeds the tabletop contour of the feeding position, etc.

[0095] Comparing the positional relationship information between the flat piece to be sorted and the feeding position with the preset position condition, when the positional relationship information meets the preset position condition, it can be considered that the pose of the flat piece to be sorted meets the preset pose condition.

[0096] In this embodiment, by obtaining the corner point coordinate information of the flat part in the first image information and the reference coordinate information of the feeding position, the positional relationship information such as the rotation angle and relative orientation of the flat part to be sorted in the feeding position relative to the feeding position can be determined according to the positional relationship between the two, so that it can be compared with the preset position conditions to determine whether the pose of the flat part to be sorted in the feeding position meets the preset pose conditions. Timely recognition of abnormal poses can avoid possible damage and other situations when the subsequent flat parts are transferred to the sorting equipment.

[0097] In one embodiment, as Figure 2 shown, the above-mentioned determination of the positional relationship information between the flat part to be sorted and the feeding position according to the corner point coordinate information of the flat part and the reference coordinate information of the feeding position includes:

[0098] Step S201: Determine the first direction corresponding to the feeding side of the feeding position according to the reference coordinate information of the feeding position.

[0099] Specifically, the feeding side of the feeding position may be the side of the tabletop of the feeding position through which the flat part to be sorted passes when being transferred from the feeding position to the sorting equipment. Exemplarily, the reference coordinate information of the feeding position may include the coordinate information of two corner points corresponding to the feeding side of the feeding position tabletop. Based on the reference coordinate information of the feeding position, the first direction corresponding to the feeding side can be determined.

[0100] It can be understood that the reference coordinate information of the feeding position may also include the coordinate information of the corner points corresponding to other sides of the feeding position tabletop. Based on the reference coordinate information of the feeding position, the direction corresponding to at least one side of the feeding position tabletop can be obtained, and then according to the positional relationship between this side and the feeding side, the first direction corresponding to the feeding side can be obtained through conversion.

[0101] Step S202: Determine the second direction corresponding to at least one side of the flat part to be sorted according to the corner point coordinate information of the flat part.

[0102] Specifically, according to the coordinate information of two corner points corresponding to any side of the flat part to be sorted in the corner point coordinate information of the flat part, the second direction corresponding to this side can be determined.

[0103] Step S203: Determine the positional relationship information between the flat part to be sorted and the feeding position according to the angle between the first direction and the second direction.

[0104] Specifically, according to the first direction and the second direction respectively determined in Step S201 and Step S202, in this step, the angle between the two can be further determined and used as the rotation angle of the flat part to be sorted relative to the feeding side, so as to obtain the positional relationship information between the flat part to be sorted and the feeding position.

[0105] Preferably, in this embodiment, one of the corner points on the feeding side of the feeding position can be set as the coordinate origin, and the direction where the feeding side is located can be set as the X-axis of the coordinate system. Based on this, the corner points of the flat item to be sorted can be projected onto the plane where the tabletop of the feeding position is located, and the planar coordinate information thereof on this plane can be obtained. Furthermore, the slope of at least one straight line where the side of the flat item to be sorted is located can be obtained through the planar coordinate information of the corner points, so as to determine the angle between the second direction where this side is located and the first direction where the feeding side of the feeding position is located.

[0106] Exemplarily, the above scenario can be as Figure 3 shown, where the origin of the coordinate system is one of the end points of the feeding side of the feeding position, the X-axis is the straight line where the feeding side of the feeding position is located, and the coordinate information corresponding to the four corner points of the flat item to be sorted is respectively expressed as (x1, y1), (x2, y2), (x3, y3), (x4, y4). Then the calculation method of the angle θ between the first direction and the second direction can be shown as the following formula:

[0107]

[0108] Among them, since the shape of the flat item to be sorted is rectangular, the angle θ between the first direction and the second direction can be obtained through the average value of the angles between the straight line determined by the coordinates (x1, y1) and (x2, y2) and the X-axis and the straight line determined by the coordinates (x3, y3) and (x4, y4), so as to be able to more accurately reflect the rotation angle of the flat item to be sorted.

[0109] In this embodiment, considering that the flat item to be sorted at the feeding position needs to be transferred to the sorting device through the feeding side, and when the flat item to be sorted rotates excessively relative to the feeding side, it is easy to cause damage to the flat item to be sorted during the transfer process. The first direction corresponding to the feeding side is determined according to the reference coordinate information of the feeding position, and at least one side corresponding to the flat item to be sorted is determined according to the corner point coordinate information of the flat item, so that the rotation angle of the flat item relative to the feeding side of the feeding position can be determined according to the angle between the first direction and the second direction. Subsequently, whether the pose of the flat item meets the preset pose condition can be determined according to whether this angle meets the preset position condition. It can timely detect the excessive rotation situation of the flat item, which is beneficial to avoiding possible damage and other situations when the subsequent flat item is transferred to the sorting device.

[0110] In one embodiment, determining that the third quantity of the flat item to be sorted meets the preset quantity condition based on the second image information includes: obtaining the corner point coordinate information of the flat item in the second image information; determining the quantity of the second corner point group according to the corner point coordinate information of the flat item in the second image information; and if the quantity of the second corner point group meets the corner point group quantity condition, determining whether the third quantity of the flat item to be sorted meets the preset quantity condition.

[0111] Specifically, in this embodiment, after obtaining the second image information of the flat items to be sorted collected at the sorting device, the second image information can be processed through image recognition technology, sampling points corresponding to the corner points of the flat items to be sorted are recognized in the second image information, and it is determined whether different corner points belong to the same flat item. Subsequently, the corner point coordinate information can be grouped according to the flat item to which it belongs to obtain one or more second corner point groups, so that it can be determined whether the third quantity of the flat items to be sorted meets the preset quantity condition according to whether the quantity of the second corner point groups meets the corner point group quantity condition.

[0112] In some other ways, the reference quantity of the flat item corner points can be further obtained, and according to the quantity of the flat item corner point coordinate information in the second image information and the reference quantity of the flat item corner points, the quantity of the second corner point groups can be determined. Furthermore, it can be determined whether the third quantity of the flat items to be sorted meets the preset quantity condition according to whether the quantity of the second corner point groups meets the corner point group quantity condition.

[0113] In this embodiment, after obtaining the second image information collected at the sorting device, according to the flat item corner point coordinate information in the second image information, the quantity of the second corner point groups therein is determined, and it is determined whether the quantity of the flat items to be sorted at the feeding position meets the preset quantity condition according to whether the quantity of the second corner point groups meets the corner point group quantity condition. It can conveniently and quickly estimate the quantity of the flat items to be sorted on the sorting device and make a relatively accurate judgment on whether their quantity meets the preset quantity condition, which is beneficial to avoiding situations such as mis-sorting or damage caused by putting flat items with abnormal quantity into the sorting compartments subsequently.

[0114] In one embodiment, the above method further includes: if it is determined based on the scanning result that the first quantity of the flat items to be sorted does not meet the preset quantity condition, or it is determined based on the first image information that the second quantity of the flat items to be sorted does not meet the preset quantity condition, or it is determined based on the first image information that the pose of the flat items to be sorted does not meet the preset pose condition, or it is determined based on the second image information that the third quantity of the flat items to be sorted does not meet the preset quantity condition, then the flat items to be sorted are indicated as abnormal items.

[0115] Specifically, for the scanning position, feeding position and sorting device that the flat items pass through during the sorting process, when it is determined in any one of the links that the quantity of the flat items to be sorted does not meet the preset quantity condition, or its pose does not meet the preset pose condition, the flat items to be sorted can be indicated as abnormal items. Thus, a prompt message can be sent to the processing device of the corresponding sorting link, and the processing device of the corresponding link throws the abnormal items into the return port.

[0116] In this embodiment, the abnormal conditions of flat items are judged at three links: the scanning position, the feeding position, and the sorting device. The abnormal items can be identified layer by layer through multi-link inspections, effectively improving the probability of successfully identifying the flat items to be sorted with abnormalities during the sorting process, and helping to avoid mis-sorting or damage to the abnormal items during subsequent sorting.

[0117] To further elaborate on the flat item sorting assistance method of this application, it will be described below through detailed embodiments.

[0118] Specifically, as Figure 4 shown, the method in this embodiment can identify the quantity or pose of the flat items to be sorted for the scanning position, the feeding position, and the sorting device link that the flat items pass through during the sorting process, and judge whether the flat items to be sorted are abnormal items by comparing the identified quantity with the preset quantity condition and comparing the pose with the preset pose condition. Then, the sorting device performs subsequent processing on the flat items according to the detection results. Among them, the sorting device in this embodiment is a sorting vehicle, the preset quantity condition can be that the quantity of the flat items to be sorted is one, and the preset pose condition can be that the rotation angle of the flat items to be sorted is less than the threshold angle. Among them, the threshold angle can be set to 10 degrees.

[0119] Among them, at the scanning position, at least two scanning cameras can be used to scan the flat items to be sorted on its table from at least two directions to obtain the scanning results. Among them, as Figure 5As shown, at least two code scanning cameras may include a first code scanning camera respectively disposed above the tabletop of the code scanning position and a second code scanning camera disposed below the tabletop of the code scanning position. The first code scanning camera may scan the flat piece to be sorted on the tabletop of the code scanning position from the top, while the second code scanning camera may scan the flat piece to be sorted from the bottom through the transparent part of the tabletop of the code scanning position. According to the consistency of the graphic code information included in the code scanning results obtained by each code scanning camera, the number of flat pieces to be sorted in the code scanning position can be determined. Exemplarily, if the code scanning results of each code scanning camera indicate the existence of multiple identical graphic codes, it can be determined that the number of flat pieces to be sorted is one, and if the code scanning results of each code scanning camera indicate the existence of multiple different graphic codes, the number of flat pieces to be sorted can be determined according to the number of types of graphic codes. Furthermore, the obtained number of flat pieces to be sorted can be compared with a preset quantity condition. When the quantity is greater than 1, it indicates that the flat piece to be sorted is an abnormal piece, otherwise it indicates that the flat piece to be sorted is a normal piece and transfers it to the feeding position. In some other embodiments, since the flat piece to be sorted may be provided with graphic codes on both surfaces, in the quantity recognition of the code scanning position, it can also be after obtaining the code scanning results of the two code scanning cameras, first determine whether they are equal, and in the case of equality, then determine the number of flat pieces to be sorted according to the number of types of graphic codes in the code scanning result obtained by any one of the code scanning cameras, and compare it with the preset quantity condition.

[0120] For the flat piece to be sorted transferred to the feeding position, the feeding position can use a push plate disposed on one side of its tabletop to push the flat piece to be sorted on the tabletop to the sorting device through the feeding side of the feeding position. Among them, as Figure 6 shown, at the feeding position, the first image acquisition device disposed above the tabletop can collect the first image information of the tabletop of the feeding position and the flat piece to be sorted on the tabletop. Among them, the first image acquisition device may be an intelligent stereo camera, and the first image information may include a depth map corresponding to the field of view of the first image acquisition device and the coordinate information of the corner points of the flat piece to be sorted therein.

[0121] Among them, according to the flat part corner point coordinate information in the first image information, the distribution information and height information of each corner point can be obtained, so that it can be determined whether different corner points belong to the same flat part. Grouping the flat part corner point coordinate information according to the belonging flat parts, one or more first corner point groups can be obtained. In some other embodiments, the number of the first corner point groups can also be calculated according to the number of flat part coordinate information and the reference number of flat part corner points. For example, in the case of processing flat parts with a quadrilateral shape, the reference number of flat part corner points can be 4. Then, when the number of flat part corner point coordinate information is 9, it can be considered that the number of the first corner point groups is 3. Based on the determined number of the first corner point groups, it can be further compared with the corner point group number condition. Among them, the corner point group number condition can be set according to a preset number condition. In this embodiment, the corner point group number condition can be that the number of corner point groups is not greater than 1. Based on this, when the number of the first corner point groups is greater than 1, it can indicate that the second number of flat parts to be sorted on the feeding position does not meet the preset number condition, and mark it as an abnormal part. When the number of the first corner point groups is equal to 1, it can indicate that the second number of flat parts to be sorted on the feeding position meets the preset number condition.

[0122] On the other hand, according to the flat part corner point coordinate information in the first image information, it can also be determined whether the pose of the flat part to be sorted meets the preset pose condition. Specifically, in this embodiment, according to the positional relationship between the first image acquisition device and the tabletop of the feeding position, one of the end points of one side of the feeding side of the feeding position, that is, one of the corner points of the tabletop of the feeding position, can be set as the coordinate origin, the straight line where the feeding side is located can be set as the X-axis of the coordinate system, and the plane where the tabletop of the feeding position is located can be set as the XY plane of the coordinate system. Based on this, according to the flat part corner point coordinate information, the plane coordinate information of each corner point projected onto the plane where the tabletop of the feeding position is located can be determined. Furthermore, according to the plane coordinate information of each corner point, the slope of at least one straight line where the side of the flat part to be sorted is located can be determined, so that the angle between the second direction where the side of the flat part is located and the first direction (i.e., the X-axis) where the feeding side of the feeding table is located can be determined, and this angle can be used as the rotation angle of the flat part to be sorted, so that the positional relationship information between the flat part to be sorted and the feeding position can be determined. Comparing the obtained rotation angle with the threshold angle in the preset pose condition can determine whether the pose of the flat part to be sorted at the feeding position meets the preset pose condition.

[0123] When the number of flat pieces to be sorted at the feeding position does not meet the preset quantity condition, or the pose does not meet the preset pose condition, the flat piece to be sorted can be indicated as an abnormal piece. Among them, for the flat piece to be sorted that has completed image information acquisition at the feeding position and is indicated as an abnormal piece, the feeding table can discharge it to the return port, while the flat piece to be sorted that is not indicated as an abnormal piece can be pushed by a push plate arranged on one side of its table top to the sorting device through the feeding side of the feeding position.

[0124] Among them, for the sorting device, the second image acquisition device can be set to acquire the second image information of the flat piece to be sorted on the sorting device. Among them, the second image acquisition device can be an intelligent stereo camera, and the second image information can include a depth map corresponding to the field of view of the second image acquisition device and the coordinate information of the corner points of the flat piece to be sorted therein. According to the method of determining the number of flat pieces to be sorted at the feeding position, the number of the second corner point groups corresponding to the flat piece corner point coordinate information in the second image information can be determined, and then the number of the second corner point groups can be compared with the preset quantity condition to determine whether the flat piece to be sorted on the sorting device meets the preset quantity condition. Among them, when the number of flat pieces to be sorted in the sorting device does not meet the preset quantity condition, the flat piece to be sorted can be indicated as an abnormal piece, and the sorting device can put the abnormal piece into the return port. When the number of flat pieces to be sorted in the sorting device meets the preset quantity condition, the sorting device can put the flat piece to be sorted into the normal grid for subsequent sorting.

[0125] In this embodiment, through the method of visual recognition, using the scanning results or image information obtained by the code scanning camera and the intelligent stereo camera at the code scanning position, the feeding position and the sorting device, the number and pose of the flat pieces to be sorted are recognized to determine whether they meet the preset quantity condition or the preset pose condition, and the maximum recognition of abnormal pieces can be achieved through multi-link and layer-by-layer detection. Thus, through the effective recognition and processing of abnormal pieces, situations such as floating pieces, mis-sorting, and even damage of the flat pieces pushed to the sorting device can be avoided, ensuring the sorting quality.

[0126] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are sequentially shown according to the indications of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this document, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0127] Based on the same inventive concept, an embodiment of the present application further provides a flat part sorting assistance device for implementing the flat part sorting assistance method described above. The solution provided by this device for solving problems is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the flat part sorting assistance device provided below can refer to the limitations on the flat part sorting assistance method in the above text, and will not be repeated here.

[0128] In one embodiment, as Figure 7 shown, a flat part sorting assistance device 700 is provided, including:

[0129] A barcode scanning result acquisition module 701, configured to acquire the barcode scanning result of the flat part to be sorted at the barcode scanning position;

[0130] A first moving module 702, configured to move the flat part to be sorted to the feeding position if it is determined based on the barcode scanning result that the first quantity of the flat part to be sorted meets the preset quantity condition;

[0131] A first image information acquisition module 703, configured to acquire the first image information of the flat part to be sorted collected at the feeding position;

[0132] A second moving module 704, configured to move the flat part to be sorted to the sorting device if it is determined based on the first image information that the second quantity of the flat part to be sorted meets the preset quantity condition and the pose of the flat part to be sorted meets the preset pose condition;

[0133] A second image information acquisition module 705, configured to acquire the second image information of the flat part to be sorted collected at the sorting device;

[0134] A sorting module 706, configured to perform a sorting operation on the flat part to be sorted if it is determined based on the second image information that the third quantity of the flat part to be sorted meets the preset quantity condition.

[0135] In one embodiment, the scanning result includes a first sub-result and a second sub-result. The first sub-result represents the result obtained by scanning the flat piece to be sorted from a first preset direction, and the second sub-result represents the result obtained by scanning the flat piece to be sorted from a second preset direction. The first moving module 702 is further configured to move the flat piece to be sorted to the feeding position if the first sub-result is equal to the second sub-result and the first quantity of the flat piece to be sorted meets the preset quantity condition based on the first sub-result or the second sub-result.

[0136] In one embodiment, the second moving module 704 is further configured to obtain the flat piece corner coordinate information in the first image information; determine the number of the first corner point groups according to the flat piece corner coordinate information in the first image information; and determine that the second quantity of the flat piece to be sorted meets the preset quantity condition if the number of the first corner point groups meets the corner point group quantity condition.

[0137] In one embodiment, the second moving module 704 is further configured to obtain the flat piece corner coordinate information in the first image information and obtain the feeding position reference coordinate information; determine the position relationship information between the flat piece to be sorted and the feeding position according to the flat piece corner coordinate information and the feeding position reference coordinate information; and determine whether the pose of the flat piece to be sorted meets the preset pose condition if the position relationship information meets the preset position condition.

[0138] In one embodiment, the second moving module 704 is further configured to determine a first direction corresponding to the feeding side of the feeding position according to the feeding position reference coordinate information; determine at least one side corresponding second direction of the flat piece to be sorted according to the flat piece corner coordinate information; and determine the position relationship information between the flat piece to be sorted and the feeding position according to the angle between the first direction and the second direction.

[0139] In one embodiment, the sorting module 706 is further configured to obtain the flat piece corner coordinate information in the second image information; determine the number of the second corner point groups according to the flat piece corner coordinate information in the second image information; and determine whether the third quantity of the flat piece to be sorted meets the preset quantity condition if the number of the second corner point groups meets the corner point group quantity condition.

[0140] In one embodiment, the above device further includes an abnormal part indicating module, which is configured to indicate that the flat part to be sorted is an abnormal part if it is determined based on the scanning code result that the first quantity of the flat part to be sorted does not meet the preset quantity condition, or if it is determined based on the first image information that the second quantity of the flat part to be sorted does not meet the preset quantity condition, or if it is determined based on the first image information that the pose of the flat part to be sorted does not meet the preset pose condition, or if it is determined based on the second image information that the third quantity of the flat part to be sorted does not meet the preset quantity condition.

[0141] Each module in the above flat part sorting auxiliary device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device or the flat part sorting auxiliary device in the form of hardware or be independent of it, or can be stored in the memory of the computer device or the flat part sorting auxiliary device in the form of software, so as to facilitate the processor to call and execute the operations corresponding to the above modules.

[0142] In one embodiment, a flat part sorting auxiliary device is provided, and its internal structure diagram can be as Figure 8 shown, and it can include a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor can be used to provide computing and control capabilities. The memory can include a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface can be used for the processor to exchange information with external devices. The communication interface can be used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a flat part sorting auxiliary method.

[0143] Those skilled in the art can understand that Figure 8 the structure shown in

[0144] is only a block diagram of a part of the structure related to the solution of this application, and does not constitute a limitation on the flat part sorting auxiliary device to which the solution of this application is applied. The specific flat part sorting auxiliary device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0145] In one embodiment, as Figure 9As shown, a flat part sorting assistance system is provided. The system includes: a scanning camera for scanning the flat parts to be sorted at the scanning position, a first image acquisition device for acquiring images of the flat parts to be sorted at the feeding position, a second image acquisition device for acquiring images of the flat parts to be sorted on the sorting device, and the flat part sorting assistance device in the above embodiments.

[0146] Specifically, the scanning camera can be connected to the flat part sorting assistance device. It can scan the flat parts to be sorted at the scanning position and send the scanning result to the flat part sorting assistance device. The first image acquisition device can be connected to the flat part sorting assistance device. It can acquire images of the flat parts to be sorted at the feeding position and send the acquired first image information to the flat part sorting assistance device. The second image acquisition device can be connected to the flat part sorting assistance device. It can acquire images of the flat parts to be sorted on the sorting device and send the acquired second image information to the flat part sorting assistance device.

[0147] In the system of this embodiment, by setting a scanning camera at the scanning position, a first image acquisition device at the feeding position, and a second image acquisition device on the sorting device, it is possible to acquire the scanning result or image information of the flat parts to be sorted in different links of the flat part sorting process. Thus, the flat part sorting assistance device can accurately judge whether the quantity and pose of the flat parts to be sorted meet the preset quantity conditions or preset pose conditions according to the received scanning result and image information, which is beneficial to avoiding situations such as floating parts, mis-sorting, or even damage of flat parts with abnormal quantity or pose during the sorting process, and ensuring the sorting quality.

[0148] In one embodiment, the number of scanning cameras is at least two, which are used to scan the flat parts to be sorted at the scanning position in at least two directions.

[0149] Specifically, the system in this embodiment can include at least two scanning cameras, which can be respectively arranged at different positions of the scanning position, scan the flat parts to be sorted at the scanning position in at least two directions, and send the obtained scanning results to the flat part sorting assistance device.

[0150] In this embodiment, by using at least two scanning cameras to scan the flat parts to be sorted at the scanning position in at least two different directions, it is possible to achieve the maximum recognition of the graphic codes on the surfaces of the flat parts to be sorted and avoid omission. Thus, the flat part sorting assistance device can more accurately judge whether the quantity of the flat parts to be sorted at the feeding position meets the preset quantity conditions according to the obtained scanning results.

[0151] In one embodiment, at least one of the at least two scanning cameras is used to scan the flat parts to be sorted through the transparent part of the table surface at the scanning position.

[0152] Specifically, in this embodiment, at least one of the two code scanning cameras can be disposed below the tabletop of the code scanning position. It can pass through the transparent part of the tabletop of the code scanning position to scan the graphic code on the surface of the flat piece to be sorted in contact with the tabletop of the code scanning position, and send the obtained code scanning result to the flat piece sorting auxiliary device.

[0153] In this embodiment, by setting the code scanning camera that can scan the flat piece to be sorted through the transparent part of the tabletop of the code scanning position, the graphic code on the surface of the flat piece to be sorted in contact with the tabletop of the code scanning position can also be scanned, which can further avoid missing the graphic code, so that the flat piece sorting auxiliary device can more accurately estimate the number of flat pieces to be sorted at the code scanning position according to the code scanning result.

[0154] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0155] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0156] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. And the collection, use, and processing of relevant data need to comply with the relevant laws, regulations, and standards of relevant countries and regions.

[0157] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tapes, floppy disks, flash memories, optical memories, high-density embedded non-volatile memories, resistive random access memories (ReRAM), magnetoresistive random access memories (MRAM), ferroelectric random access memories (FRAM), phase change memories (PCM), graphene memories, etc. Volatile memories can include random access memory (RAM) or external cache memories, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0158] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0159] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A flat part sorting assistance method, characterized in that, The method includes: Obtaining the scanning result of the flat piece to be sorted at the scanning position; If it is determined based on the scanning result that the first quantity of the flat piece to be sorted meets the preset quantity condition, moving the flat piece to be sorted to the feeding position; Obtaining the first image information of the flat piece to be sorted collected at the feeding position; If it is determined based on the first image information that the second quantity of the flat piece to be sorted meets the preset quantity condition, and it is determined based on the first image information that the pose of the flat piece to be sorted meets the preset pose condition, moving the flat piece to be sorted to the sorting device; Obtaining the second image information of the flat piece to be sorted collected at the sorting device; If it is determined based on the second image information that the third quantity of the flat piece to be sorted meets the preset quantity condition, performing a sorting operation on the flat piece to be sorted.

2. The method according to claim 1, characterized in that, The scanning result includes a first sub-result and a second sub-result. The first sub-result represents the result obtained by scanning the flat piece to be sorted from a first preset direction, and the second sub-result represents the result obtained by scanning the flat piece to be sorted from a second preset direction; The step of moving the flat piece to be sorted to the feeding position if it is determined based on the scanning result that the first quantity of the flat piece to be sorted meets the preset quantity condition includes: If the first sub-result and the second sub-result are equal, and it is determined based on the first sub-result or the second sub-result that the first quantity of the flat piece to be sorted meets the preset quantity condition, moving the flat piece to be sorted to the feeding position.

3. The method according to claim 1, wherein Determining that the second quantity of the flat piece to be sorted meets the preset quantity condition based on the first image information includes: Obtaining the corner point coordinate information of the flat piece in the first image information; Determining the number of the first corner point group according to the corner point coordinate information of the flat piece; If the number of the first corner point group meets the corner point group number condition, determining that the second quantity of the flat piece to be sorted meets the preset quantity condition.

4. The method according to claim 1, characterized in that, Determining that the pose of the flat piece to be sorted meets the preset pose condition based on the first image information includes: Obtaining the corner point coordinate information of the flat piece in the first image information and obtaining the reference coordinate information of the feeding position; Determining the position relationship information between the flat piece to be sorted and the feeding position according to the corner point coordinate information of the flat piece and the reference coordinate information of the feeding position; If the position relationship information meets the preset position condition, determining that the pose of the flat piece to be sorted meets the preset pose condition.

5. The method according to claim 4, wherein The step of determining the position relationship information between the flat piece and the feeding position according to the corner point coordinate information of the flat piece and the reference coordinate information of the feeding position includes: Determining the first direction corresponding to the feeding side of the feeding position according to the reference coordinate information of the feeding position; Determining at least one side direction corresponding to the flat piece to be sorted according to the corner point coordinate information of the flat piece; Determining the position relationship information between the flat piece to be sorted and the feeding position according to the angle between the first direction and the second direction.

6. The method according to claim 1, wherein Determining that the third quantity of the flat piece to be sorted meets the preset quantity condition based on the second image information includes: Obtain the corner coordinate information of the flat part in the second image information; Determine the number of the second corner groups according to the corner coordinate information of the flat part in the second image information; If the number of the second corner groups meets the corner group number condition, determine whether the third number of the flat parts to be sorted meets the preset number condition.

7. The method according to any one of claims 1 to 6, characterized in that The method further includes: If it is determined based on the scanning result that the first number of the flat parts to be sorted does not meet the preset number condition, or it is determined based on the first image information that the second number of the flat parts to be sorted does not meet the preset number condition, or it is determined based on the first image information that the pose of the flat parts to be sorted does not meet the preset pose condition, or it is determined based on the second image information that the third number of the flat parts to be sorted does not meet the preset number condition, then indicate that the flat parts to be sorted are abnormal parts.

8. A flat part sorting assistance device, characterized in that, The device includes: A scanning result acquisition module, configured to acquire the scanning result of the flat parts to be sorted at the scanning position; A first moving module, configured to move the flat parts to be sorted to the feeding position if it is determined based on the scanning result that the first number of the flat parts to be sorted meets the preset number condition; A first image information acquisition module, configured to acquire the first image information of the flat parts to be sorted collected at the feeding position; A second moving module, configured to move the flat parts to be sorted to the sorting device if it is determined based on the first image information that the second number of the flat parts to be sorted meets the preset number condition, and it is determined based on the first image information that the pose of the flat parts to be sorted meets the preset pose condition; A second image information acquisition module, configured to acquire the second image information of the flat parts to be sorted collected at the sorting device; A sorting module, configured to perform a sorting operation on the flat parts to be sorted if it is determined based on the second image information that the third number of the flat parts to be sorted meets the preset number condition.

9. A flat part sorting auxiliary device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A flat part sorting assistance system, characterized in that, The system includes: a scanning camera for scanning the flat parts to be sorted at the scanning position, a first image acquisition device for acquiring images of the flat parts to be sorted at the feeding position, a second image acquisition device for acquiring images of the flat parts to be sorted at the sorting device, and the flat part sorting auxiliary device according to claim 9.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 7 are implemented.

12. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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