Automatic intelligent logistics sorting system

Abstract

The invention relates to an automatic intelligent logistics sorting system. The system comprises an automatic sorting mechanism used for determining a sorting path of a current to-be-sorted and packaged box body based on the volume of a received reference object, and the sorting path is from a to-be-sorted station of the current to-be-sorted and packaged box body to a storage container with the volume matched with the volume of the reference object; and the three-dimensional distinguishing mechanism is used for determining a three-dimensional volume corresponding to the box body based on the three-dimensional entity model corresponding to the box body obtained through intelligent analysis and outputting the three-dimensional volume as a reference object volume. Through the system, the three-dimensional volume corresponding to the box body determined based on the three-dimensional entity model corresponding to the box body can serve as the reference object volume to be sent to the automatic sorting mechanism, and the sorting path of the current to-be-sorted and packaged box body is determined based on the received reference object volume; and therefore, automatic sorting treatment of the packaged box bodies with different sizes is achieved.

Description

Technical Field

[0001] This invention relates to the field of smart logistics, and more specifically, to an automated smart logistics sorting system. Background Technology

[0002] Modern logistics not only considers the simple distribution of goods from producers to consumers, but also the procurement of raw materials from suppliers to producers, as well as the transportation, storage, and information aspects of the production process itself, comprehensively improving economic efficiency and effectiveness. Therefore, modern logistics is a strategic measure that unifies the consideration of manufacturing, transportation, sales, and other market conditions with the goal of meeting consumer needs. This represents a significant advancement in depth and breadth compared to traditional logistics, which is viewed merely as a "logistics support system" and a "bridge in sales activities."

[0003] Currently, for automated box sorting mechanisms, the sorting path for a box is from the sorting station of the box to be sorted and packaged to the storage container whose volume matches that of the reference object. However, since the volume of the box to be sorted and packaged is difficult to accurately resolve, the sorting path also becomes ambiguous, and the customization deviation of the sorting path is prone to occur.

[0004] The existing technology proposes a "logistics sorting device based on artificial intelligence recognition," application publication number CN117160879A, which includes a conveyor roller line a, objects, a support plate a, a support platform, a conveyor roller line b, a support frame, an artificial intelligence camera, a distance detection device, a guide plate, and a control system; a sorting mechanism is set on the conveyor roller line a; a position detection sensor is set on the support plate a; a pushing component is set on the support platform; a power mechanism b is set on the conveyor roller line b; the support frame is set on the conveyor roller line b, and the support plate b is set on the top of the support frame; the artificial intelligence camera and the distance detection device are set at the bottom of the support plate b; and the control system is set on the support platform. This invention makes a comprehensive judgment on the objects based on a set calculation formula to distinguish between large and small items, and is only suitable for small-area sorting centers. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention proposes an automated intelligent logistics sorting system, the system comprising:

[0006] An automatic sorting mechanism is used to determine a sorting path for the current packaged box to be sorted based on the volume of a received reference object. The sorting path is from the sorting station of the current packaged box to a storage container with a volume matching that of the reference object.

[0007] A photoelectric sensing mechanism is located directly above the sorting station and is used to perform photoelectric sensing operations on the sorting scene of the current packaging box to be sorted in order to obtain and output the corresponding station sensing image.

[0008] A real-time filtering device is set near the sorting station and connected to the photoelectric sensing mechanism. It is used to perform Gaussian high-pass filtering on the received station sensing image to obtain and output the corresponding real-time filtered image.

[0009] An edge sharpening device, connected to the real-time filtering device, is used to perform edge sharpening processing on the received real-time filtered image to obtain and output the corresponding edge sharpened image;

[0010] A custom processing device, connected to the edge sharpening device, is used to perform morphological processing of the received edge sharpening image by first dilation and then erosion, so as to obtain and output the corresponding custom processed image;

[0011] A stereo resolution mechanism, connected to the customized processing device, is used to acquire various shape data corresponding to the standard stereo shape of the box. These shape data represent the dimensional proportions and relative positional relationships of the various lines and surfaces of the standard stereo shape of the box. Simultaneously, it acquires the depth values ​​corresponding to each pixel point occupied by the image block corresponding to the box in the customized processed image. Based on the depth values ​​corresponding to each pixel point occupied by the image block corresponding to the box, it determines the relative positional relationships of the various positions of the box exposed in the imaging lens. Based on the relative positional relationships of the various positions of the box exposed in the imaging lens and the various shape data corresponding to the standard stereo shape of the box, it determines the stereo solid model corresponding to the box. Based on the stereo solid model corresponding to the box, it determines the stereo volume corresponding to the box.

[0012] The stereoscopic resolution mechanism is also connected to the automatic sorting mechanism, and is used to send the stereoscopic volume of the box, determined based on the stereoscopic solid model corresponding to the box, as a reference object volume to the automatic sorting mechanism.

[0013] The automated intelligent logistics sorting system of the present invention is stable in operation and easy to use. Because it can send the three-dimensional volume of the box, determined based on the corresponding three-dimensional solid model, as a reference object volume to the automatic sorting mechanism, and determine the sorting path for the currently packaged box based on the received reference object volume, it can achieve automatic sorting of packaged boxes of different volumes, thereby improving the sorting speed and efficiency of the boxes. Brief description of the attached figures

[0014] Those skilled in the art can better understand the many advantages of the present invention by referring to the accompanying drawings.

[0015] Figure 1This is a structural diagram of an automated intelligent logistics sorting system according to a primary embodiment of the present invention.

[0016] Figure 2 This is a schematic diagram of the structure of an automated intelligent logistics sorting system according to a secondary embodiment of the present invention.

[0017] Figure 3 This is a schematic diagram of the structure of an automated intelligent logistics sorting system according to a further embodiment of the present invention. Detailed Implementation

[0018] Figure 1 This is a schematic diagram of an automated intelligent logistics sorting system according to a primary embodiment of the present invention, the system comprising:

[0019] An automatic sorting mechanism is used to determine a sorting path for the current packaged box to be sorted based on the volume of a received reference object. The sorting path is from the sorting station of the current packaged box to a storage container with a volume matching that of the reference object.

[0020] A photoelectric sensing mechanism is located directly above the sorting station and is used to perform photoelectric sensing operations on the sorting scene of the current packaging box to be sorted in order to obtain and output the corresponding station sensing image.

[0021] For example, the photoelectric sensing mechanism includes a photoelectric sensing unit, which is a CMOS sensor or a CCD sensor;

[0022] A real-time filtering device is set near the sorting station and connected to the photoelectric sensing mechanism. It is used to perform Gaussian high-pass filtering on the received station sensing image to obtain and output the corresponding real-time filtered image.

[0023] An edge sharpening device, connected to the real-time filtering device, is used to perform edge sharpening processing on the received real-time filtered image to obtain and output the corresponding edge sharpened image;

[0024] A custom processing device, connected to the edge sharpening device, is used to perform morphological processing of the received edge sharpening image by first dilation and then erosion, so as to obtain and output the corresponding custom processed image;

[0025] A stereo resolution mechanism, connected to the customized processing device, is used to acquire various shape data corresponding to the standard stereo shape of the box. These shape data represent the dimensional proportions and relative positional relationships of the various lines and surfaces of the standard stereo shape of the box. Simultaneously, it acquires the depth values ​​corresponding to each pixel point occupied by the image block corresponding to the box in the customized processed image. Based on the depth values ​​corresponding to each pixel point occupied by the image block corresponding to the box, it determines the relative positional relationships of the various positions of the box exposed in the imaging lens. Based on the relative positional relationships of the various positions of the box exposed in the imaging lens and the various shape data corresponding to the standard stereo shape of the box, it determines the stereo solid model corresponding to the box. Based on the stereo solid model corresponding to the box, it determines the stereo volume corresponding to the box.

[0026] Specifically, a numerical simulation mode can be used to obtain various shape data corresponding to the standard three-dimensional shape of the box. These shape data represent the dimensional proportions and relative positional relationships of the various lines and surfaces of the standard three-dimensional shape of the box. Simultaneously, the depth values ​​corresponding to each pixel point occupied by the image block corresponding to the box in the customized processed image are obtained. Based on the depth values ​​corresponding to each pixel point occupied by the image block corresponding to the box, the relative positional relationships of the various positions of the box exposed in the imaging lens are determined. Based on the relative positional relationships of the various positions of the box exposed in the imaging lens and the various shape data corresponding to the standard three-dimensional shape of the box, the three-dimensional solid model corresponding to the box is determined. The simulation and testing of the data processing process of determining the three-dimensional volume of the box based on the three-dimensional solid model corresponding to the box are performed.

[0027] The stereoscopic resolution mechanism is also connected to the automatic sorting mechanism and is used to send the stereoscopic volume of the box, determined based on the stereoscopic solid model of the box, as a reference object volume to the automatic sorting mechanism.

[0028] This includes acquiring various shape data corresponding to the standard three-dimensional shape of the box, where each shape data represents the dimensional proportions and relative positional relationships of the various lines and surfaces of the standard three-dimensional shape of the box. Simultaneously, it involves acquiring the depth values ​​corresponding to each pixel point occupied by the image block corresponding to the box in the customized processed image, including: analyzing the image block corresponding to the box in the customized processed image based on the brightness value distribution range corresponding to the box.

[0029] Figure 2 This is a schematic diagram of an automated intelligent logistics sorting system according to a secondary embodiment of the present invention. The system includes the following components:

[0030] An automatic sorting mechanism is used to determine a sorting path for the current packaged box to be sorted based on the volume of a received reference object. The sorting path is from the sorting station of the current packaged box to a storage container with a volume matching that of the reference object.

[0031] A photoelectric sensing mechanism is located directly above the sorting station and is used to perform photoelectric sensing operations on the sorting scene of the current packaging box to be sorted in order to obtain and output the corresponding station sensing image.

[0032] A real-time filtering device is set near the sorting station and connected to the photoelectric sensing mechanism. It is used to perform Gaussian high-pass filtering on the received station sensing image to obtain and output the corresponding real-time filtered image.

[0033] An edge sharpening device, connected to the real-time filtering device, is used to perform edge sharpening processing on the received real-time filtered image to obtain and output the corresponding edge sharpened image;

[0034] A custom processing device, connected to the edge sharpening device, is used to perform morphological processing of the received edge sharpening image by first dilation and then erosion, so as to obtain and output the corresponding custom processed image;

[0035] A stereo resolution mechanism, connected to the customized processing device, is used to acquire various shape data corresponding to the standard stereo shape of the box. These shape data represent the dimensional proportions and relative positional relationships of the various lines and surfaces of the standard stereo shape of the box. Simultaneously, it acquires the depth values ​​corresponding to each pixel point occupied by the image block corresponding to the box in the customized processed image. Based on the depth values ​​corresponding to each pixel point occupied by the image block corresponding to the box, it determines the relative positional relationships of the various positions of the box exposed in the imaging lens. Based on the relative positional relationships of the various positions of the box exposed in the imaging lens and the various shape data corresponding to the standard stereo shape of the box, it determines the stereo solid model corresponding to the box. Based on the stereo solid model corresponding to the box, it determines the stereo volume corresponding to the box.

[0036] A voltage conversion device is disposed near the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism, and is respectively connected to the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism;

[0037] The voltage conversion device, located near the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism, and connected to each of the above, includes: the voltage conversion device being used to provide the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism with their respective required operating voltages.

[0038] Figure 3 This is a schematic diagram of an automated intelligent logistics sorting system according to a further embodiment of the present invention. The system includes the following components:

[0039] An automatic sorting mechanism is used to determine a sorting path for the current packaged box to be sorted based on the volume of a received reference object. The sorting path is from the sorting station of the current packaged box to a storage container with a volume matching that of the reference object.

[0040] A photoelectric sensing mechanism is located directly above the sorting station and is used to perform photoelectric sensing operations on the sorting scene of the current packaging box to be sorted in order to obtain and output the corresponding station sensing image.

[0041] A real-time filtering device is set near the sorting station and connected to the photoelectric sensing mechanism. It is used to perform Gaussian high-pass filtering on the received station sensing image to obtain and output the corresponding real-time filtered image.

[0042] An edge sharpening device, connected to the real-time filtering device, is used to perform edge sharpening processing on the received real-time filtered image to obtain and output the corresponding edge sharpened image;

[0043] A custom processing device, connected to the edge sharpening device, is used to perform morphological processing of the received edge sharpening image by first dilation and then erosion, so as to obtain and output the corresponding custom processed image;

[0044] A stereo resolution mechanism, connected to the customized processing device, is used to acquire various shape data corresponding to the standard stereo shape of the box. These shape data represent the dimensional proportions and relative positional relationships of the various lines and surfaces of the standard stereo shape of the box. Simultaneously, it acquires the depth values ​​corresponding to each pixel point occupied by the image block corresponding to the box in the customized processed image. Based on the depth values ​​corresponding to each pixel point occupied by the image block corresponding to the box, it determines the relative positional relationships of the various positions of the box exposed in the imaging lens. Based on the relative positional relationships of the various positions of the box exposed in the imaging lens and the various shape data corresponding to the standard stereo shape of the box, it determines the stereo solid model corresponding to the box. Based on the stereo solid model corresponding to the box, it determines the stereo volume corresponding to the box.

[0045] A quartz oscillation device is located near the real-time filtering device, the edge sharpening device, the custom processing device, and the stereo resolution mechanism, and is connected to the real-time filtering device, the edge sharpening device, the custom processing device, and the stereo resolution mechanism, respectively.

[0046] The quartz oscillator, located near the real-time filtering device, the edge sharpening device, the custom processing device, and the stereo resolution mechanism, and connected to each of these devices respectively, includes: the quartz oscillator providing the reference clock pulses required by each of the real-time filtering device, the edge sharpening device, the custom processing device, and the stereo resolution mechanism.

[0047] Next, the specific structure of the automated intelligent logistics sorting system of the present invention will be further described.

[0048] In the automated intelligent logistics sorting system according to various embodiments of the present invention:

[0049] Image data processing is performed on the output data of the real-time filtering device, the edge sharpening device, the custom processing device, and the stereo resolution mechanism using a programmable logic device to obtain the corresponding output processing data of the real-time filtering device, the edge sharpening device, the custom processing device, and the stereo resolution mechanism.

[0050] In the automated intelligent logistics sorting system according to various embodiments of the present invention:

[0051] Using programmable logic devices to perform image data processing on the output data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism to obtain the corresponding output processing data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism includes: performing image sharpening processing on the output data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism to obtain the corresponding output processing data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism.

[0052] In the automated intelligent logistics sorting system according to various embodiments of the present invention:

[0053] Using programmable logic devices to perform image data processing on the output data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism to obtain the corresponding output processing data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism includes: performing image enhancement processing on the output data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism to obtain the corresponding output processing data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism.

[0054] In the automated intelligent logistics sorting system according to various embodiments of the present invention:

[0055] Using programmable logic devices to perform image data processing on the output data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism to obtain the corresponding output processing data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism includes: performing image filtering processing on the output data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism to obtain the corresponding output processing data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism.

[0056] And in the automated intelligent logistics sorting system according to various embodiments of the present invention:

[0057] Using programmable logic devices to perform image data processing on the output data of the real-time filtering device, the edge sharpening device, the custom processing device, and the stereo resolution mechanism to obtain the corresponding output processing data of the real-time filtering device, the edge sharpening device, the custom processing device, and the stereo resolution mechanism includes: performing distortion correction processing on the output data of the real-time filtering device, the edge sharpening device, the custom processing device, and the stereo resolution mechanism to obtain the corresponding output processing data of the real-time filtering device, the edge sharpening device, the custom processing device, and the stereo resolution mechanism.

[0058] In addition, in the automated intelligent logistics sorting system, the acquisition of various shape data corresponding to the standard three-dimensional shape of the box, wherein each shape data represents the size ratio and relative position relationship of each line and surface of the standard three-dimensional shape of the box, and the acquisition of the depth values ​​corresponding to each pixel point occupied by the image block of the box in the customized processed image, also includes: the distribution range of the brightness value corresponding to the box is limited by the preset upper limit value and the preset lower limit value of the brightness value corresponding to the box.

[0059] The inventiveness and technical effects embodied in the various embodiments of this invention are as follows:

[0060] First: Obtain the shape data corresponding to the standard three-dimensional shape of the box. The shape data represents the size ratio and relative position of each line and surface of the standard three-dimensional shape of the box. At the same time, obtain the depth values ​​corresponding to each pixel point occupied by the image block of the box in the customized processed image.

[0061] Secondly: Based on the depth values ​​corresponding to each pixel point occupied by the image block corresponding to the box, the relative positional relationship of each position of the box exposed in the imaging lens is determined. Based on the relative positional relationship of each position of the box exposed in the imaging lens and the shape data corresponding to the standard three-dimensional shape of the box, the three-dimensional solid model corresponding to the box is determined. Based on the three-dimensional solid model corresponding to the box, the three-dimensional volume corresponding to the box is determined, thereby completing the visual numerical analysis of the three-dimensional volume of the box.

[0062] Furthermore: The three-dimensional volume of the box, determined based on the corresponding three-dimensional solid model, is sent as a reference object volume to the automatic sorting mechanism. This reference object volume is used to determine the sorting path for the current box to be sorted and packaged. The sorting path runs from the sorting station of the current box to be sorted and packaged to a storage container with a volume matching the reference object volume, thereby achieving automatic sorting of boxes of different volumes.

[0063] Although the invention has been described with reference to the structure disclosed herein, the invention is not limited to the details given, and this application is intended to cover such modifications or variations that fall within the scope of the following claims for improvement purposes.

Claims

1. An automated intelligent logistics sorting system, characterized in that, The system includes: An automatic sorting mechanism is used to determine a sorting path for the current packaged box to be sorted based on the volume of a received reference object. The sorting path is from the sorting station of the current packaged box to a storage container with a volume matching that of the reference object. A photoelectric sensing mechanism is located directly above the sorting station and is used to perform photoelectric sensing operations on the sorting scene of the current packaging box to be sorted in order to obtain and output the corresponding station sensing image. A real-time filtering device is set near the sorting station and connected to the photoelectric sensing mechanism. It is used to perform Gaussian high-pass filtering on the received station sensing image to obtain and output the corresponding real-time filtered image. An edge sharpening device, connected to the real-time filtering device, is used to perform edge sharpening processing on the received real-time filtered image to obtain and output the corresponding edge sharpened image; A custom processing device, connected to the edge sharpening device, is used to perform morphological processing of the received edge sharpening image by first dilation and then erosion, so as to obtain and output the corresponding custom processed image; A stereo resolution mechanism, connected to the customized processing device, is used to acquire various shape data corresponding to the standard stereo shape of the box. These shape data represent the dimensional proportions and relative positional relationships of the various lines and surfaces of the standard stereo shape of the box. Simultaneously, it acquires the depth values ​​corresponding to each pixel point occupied by the image block corresponding to the box in the customized processed image. Based on the depth values ​​corresponding to each pixel point occupied by the image block corresponding to the box, it determines the relative positional relationships of the various positions of the box exposed in the imaging lens. Based on the relative positional relationships of the various positions of the box exposed in the imaging lens and the various shape data corresponding to the standard stereo shape of the box, it determines the stereo solid model corresponding to the box. Based on the stereo solid model corresponding to the box, it determines the stereo volume corresponding to the box. The stereoscopic resolution mechanism is also connected to the automatic sorting mechanism, and is used to send the stereoscopic volume of the box, determined based on the stereoscopic solid model corresponding to the box, as a reference object volume to the automatic sorting mechanism.

2. The automated intelligent logistics sorting system as described in claim 1, characterized in that: Obtain the shape data corresponding to the standard three-dimensional shape of the box. The shape data represents the size ratio and relative position of each line and surface of the standard three-dimensional shape of the box. At the same time, obtain the depth values ​​corresponding to each pixel point occupied by the image block corresponding to the box in the customized processed image, including: analyzing the image block corresponding to the box in the customized processed image based on the brightness value distribution range of the box.

3. The automated intelligent logistics sorting system as described in claim 2, characterized in that, The system also includes: A voltage conversion device is disposed near the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism, and is respectively connected to the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism; The voltage conversion device, located near the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism, and connected to each of the above, includes: the voltage conversion device being used to provide the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism with their respective required operating voltages.

4. The automated intelligent logistics sorting system as described in claim 2, characterized in that, The system also includes: A quartz oscillation device is located near the real-time filtering device, the edge sharpening device, the custom processing device, and the stereo resolution mechanism, and is connected to the real-time filtering device, the edge sharpening device, the custom processing device, and the stereo resolution mechanism, respectively. The quartz oscillator, located near the real-time filtering device, the edge sharpening device, the custom processing device, and the stereo resolution mechanism, and connected to each of these devices respectively, includes: the quartz oscillator providing the reference clock pulses required by each of the real-time filtering device, the edge sharpening device, the custom processing device, and the stereo resolution mechanism.

5. The automated intelligent logistics sorting system as described in any one of claims 2-4, characterized in that: Image data processing is performed on the output data of the real-time filtering device, the edge sharpening device, the custom processing device, and the stereo resolution mechanism using a programmable logic device to obtain the corresponding output processing data of the real-time filtering device, the edge sharpening device, the custom processing device, and the stereo resolution mechanism.

6. The automated intelligent logistics sorting system as described in claim 5, characterized in that: Using programmable logic devices to perform image data processing on the output data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism to obtain the corresponding output processing data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism includes: performing image sharpening processing on the output data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism to obtain the corresponding output processing data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism.

7. The automated intelligent logistics sorting system as described in claim 5, characterized in that: Using programmable logic devices to perform image data processing on the output data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism to obtain the corresponding output processing data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism includes: performing image enhancement processing on the output data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism to obtain the corresponding output processing data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism.

8. The automated intelligent logistics sorting system as described in claim 5, characterized in that: Using programmable logic devices to perform image data processing on the output data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism to obtain the corresponding output processing data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism includes: performing image filtering processing on the output data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism to obtain the corresponding output processing data of the real-time filtering device, the edge sharpening device, the customized processing device, and the stereo resolution mechanism.

9. The automated intelligent logistics sorting system as described in claim 5, characterized in that: Using programmable logic devices to perform image data processing on the output data of the real-time filtering device, the edge sharpening device, the custom processing device, and the stereo resolution mechanism to obtain the corresponding output processing data of the real-time filtering device, the edge sharpening device, the custom processing device, and the stereo resolution mechanism includes: performing distortion correction processing on the output data of the real-time filtering device, the edge sharpening device, the custom processing device, and the stereo resolution mechanism to obtain the corresponding output processing data of the real-time filtering device, the edge sharpening device, the custom processing device, and the stereo resolution mechanism.

Images