Logistics conveying code reading control method, device, equipment, medium and product

Abstract

The application relates to a logistics conveying code reading control method, device, equipment, medium and product. The method comprises the following steps: determining a conveying speed of a conveying belt based on a conveying belt video stream of the conveying belt and a preset video stream frame rate; a pre-judgment area, a code reading area and a departure judgment area are sequentially arranged on the conveying belt along a conveying direction; in response to detection of a leading visual feature of a measured object entering the pre-judgment area, determining a time when the leading visual feature enters the code reading area based on a current position of the leading visual feature and a leading visual feature detection time, and the conveying speed of the conveying belt; in response to the current time being the time when the leading visual feature enters the code reading area, controlling a preset code reader to start reading the code of the measured object; and in response to a trailing visual feature of the measured object entering the preset departure judgment area, controlling the code reader to stop reading the code of the measured object. By using the application, the accuracy and robustness of code reading control can be improved.

Description

Technical Field

[0001] This application relates to the field of logistics transportation technology, and in particular to a logistics transportation code reading control method, device, equipment, medium and product. Background Technology

[0002] In logistics sorting and automated conveying scenarios, area array barcode readers are usually installed above the conveyor belt. These barcode readers are used to read the barcodes and / or QR codes on items (such as packages) being conveyed by the conveyor belt, so as to realize the information traceability of the items. Currently, the methods for triggering the start and end of barcode reading include: photoelectric sensor triggering, fixed time window triggering, etc.

[0003] However, firstly, when the material of the item is highly penetrable, the photoelectric sensor may be missed. In the event of an accidental obstruction (such as on-site staff accidentally obstructing the photoelectric sensor), the photoelectric sensor may be falsely triggered. Secondly, if the conveyor belt speed changes, using a fixed time window triggering method may result in the code reading time being too long or too short. It is evident that the accuracy and robustness of the current code reading control method are both poor. Summary of the Invention

[0004] Therefore, it is necessary to provide a logistics transportation code reading control method, device, computer equipment, computer-readable storage medium, and computer program product to address the above-mentioned technical problems, which can improve the accuracy and robustness of code reading control.

[0005] Firstly, this application provides a logistics transportation code reading control method, including: The conveyor belt speed is determined based on the conveyor belt video stream and the preset video stream frame rate; adjacent prediction areas, code reading areas and departure judgment areas are sequentially set on the conveyor belt along the conveying direction; In response to the detection of the leading edge visual feature of the object being measured entering the prediction area, the arrival time of the leading edge feature in the reading area is determined based on the current position of the leading edge visual feature, the detection time of the leading edge feature, and the conveyor belt speed. In response to the current moment being the moment when the leading edge feature arrives at the code reading area, the preset code reader is controlled to start reading the code of the object under test; In response to the visual feature of the trailing edge of the object entering or leaving the judgment area, the reader is controlled to stop reading the code of the object.

[0006] Secondly, this application provides a logistics conveying barcode reading control device, comprising: The conveyor speed determination module is used to determine the conveyor speed based on the conveyor belt video stream and the preset video stream frame rate; adjacent prediction areas, code reading areas and departure determination areas are arranged sequentially along the conveyor belt in the conveying direction; The entry time calculation module is used to respond to the detection of the leading edge visual feature of the object being measured entering the prediction area. Based on the current position of the leading edge visual feature, the detection time of the leading edge feature, and the conveyor belt speed, the time when the leading edge feature arrives at the reading area is determined. The code reading start control module is used to control the preset code reader to start reading the code of the object under test in response to the arrival of the leading edge feature in the code reading area at the current time. The code reading stop control module is used to control the code reader to stop reading the code of the object in response to the visual feature of the trailing edge of the object entering or leaving the judgment area.

[0007] Thirdly, this application provides a computer device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the method described above.

[0008] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-described method.

[0009] Fifthly, this application provides a computer program product comprising a computer program that, when executed by a processor, implements the steps of the method described above.

[0010] The aforementioned logistics conveyor barcode reading control method, device, computer equipment, computer-readable storage medium, and computer program product, upon the object being measured entering the pre-judgment area, calculates the moment when the leading-edge visual features of the object reach the barcode reading area, based on the conveyor belt speed. When this moment is reached, it indicates that the object has entered the barcode reading area, and barcode reading begins. When the trailing-edge visual features of the object are detected entering the departure judgment area, it indicates that the object has completely left the barcode reading area, and barcode reading stops. This technical solution relies on the conveyor belt speed and visual detection of the object to accurately achieve barcode reading only during the time from when the object begins to enter the barcode reading area until it completely leaves the area (the time the object passes through the barcode reading area). This achieves precise matching of the barcode reading time window to the time the object passes through the barcode reading area, and the start and stop of barcode reading are unaffected by the material of the object or accidental occlusion events, thus effectively improving the accuracy and robustness of barcode reading control. Attached Figure Description

[0011] Figure 1 This application provides an illustration of the application environment for a logistics conveying code reading control method. Figure 2 A flowchart illustrating a logistics conveying code reading control method provided in an embodiment of this application; Figure 3 A schematic diagram of the distribution of four dividing lines on a conveyor belt is provided for an embodiment of this application; Figure 4 A schematic diagram showing the distribution of the prediction area, the code reading area, and the departure determination area in a conveyor belt image, provided for an embodiment of this application; Figure 5 A schematic diagram showing the distribution of a prediction area, a code reading area, and a departure determination area in a region of interest within a conveyor belt image, provided as an embodiment of this application. Figure 6 A structural block diagram of a logistics conveying barcode reading control device provided in an embodiment of this application; Figure 7 An internal structural diagram of a computer device provided in an embodiment of this application; Figure 8 An internal structural diagram of another computer device provided in an embodiment of this application; Figure 9 This is an internal structural diagram of a computer-readable storage medium provided in an embodiment of this application. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0013] The logistics conveying code reading control method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a communication network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or located in the cloud or on other network servers. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, etc. Portable wearable devices can include smartwatches, smart bracelets, head-mounted devices, etc. Server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0014] like Figure 2 As shown, this application provides a logistics conveying barcode reading control method, which is applied to... Figure 1 The method will be illustrated using terminal 102 or server 104 as examples. It is understood that the computer device may include at least one of a terminal and a server. The method includes the following steps: S110. Based on the conveyor belt video stream and the preset video stream frame rate, determine the conveyor belt speed; and sequentially set adjacent prediction areas, code reading areas and departure judgment areas along the conveying direction on the conveyor belt.

[0015] It should be noted that in logistics transportation scenarios, conveyor belts are widely used to improve logistics efficiency and reduce manual handling costs. Specific logistics transportation scenarios include, but are not limited to: parcel circulation in express e-commerce sorting centers, goods entry and exit and floor transfer in warehouses, container and bulk cargo loading and unloading and transfer at ports and terminals, baggage check-in and baggage sorting at airports, raw material and finished product transportation in factory production lines, and goods turnover in supermarkets and cold chain logistics, etc., without specific limitations.

[0016] To enable information traceability of items transported by the conveyor belt, the barcodes or QR codes on the items need to be read. To enable the reading of the transported items, this embodiment has three areas arranged sequentially along the transport direction of the conveyor belt: a pre-judgment area, a code reading area, and a departure determination area. The pre-judgment area is set first along the transport direction, the code reading area is adjacent to the right side of the pre-judgment area, and the departure determination area is adjacent to the right side of the code reading area.

[0017] This embodiment aims to predict the first moment when the conveyed item arrives at the code reading area after detecting that the item has entered the prediction area, and to trigger the start of code reading for the item when the first moment is reached. Furthermore, it aims to predict the second moment when the item has completely left the code reading area after detecting that the item has completely entered the code reading area, and to trigger the cessation of code reading for the item when the second moment is reached. In order to calculate the above-mentioned first moment and second moment, it is first necessary to determine the current actual conveying speed of the conveyor belt, and record this conveying speed as the conveyor belt conveying speed.

[0018] It should be noted that in this embodiment, a barcode reader is provided at a fixed position above the conveyor belt. The barcode reader's shooting direction is towards the conveyor belt below it. The barcode reader can not only be used to read the barcodes of the items transported by the conveyor belt, but also can be used as a camera to capture the video stream of the conveyor belt running at a set video stream frame rate, and the captured video stream is recorded as the conveyor belt video stream. In this embodiment, the set video stream frame rate is 60fps. In other embodiments, the specific frame rate is not limited.

[0019] The conveyor belt speed can be calculated by using the acquired conveyor belt video stream and the set video stream frame rate. For example, two consecutive video frames containing the same periodic visual identifier are acquired from the conveyor belt video stream. This periodic visual identifier is located on the conveyor belt surface. The movement of the periodic visual identifier along the conveying direction is calculated using a preset image processing algorithm. Simultaneously, the time interval between the two video frames is calculated using the aforementioned video stream frame rate. Then, the ratio of the movement to the time interval is calculated to obtain the conveyor belt speed.

[0020] S120. In response to the detection of the leading edge visual feature of the object being measured entering the prediction area, the time when the leading edge feature arrives at the reading area is determined based on the current position of the leading edge visual feature, the detection time of the leading edge feature, and the conveyor belt speed.

[0021] The items transported by the conveyor belt are referred to as the test items; for example, the test items can be express delivery items packaged in boxes or bags; in order to facilitate subsequent detection of whether the test items have entered the pre-judgment area, the code reading area and the departure judgment area, this embodiment provides corresponding visual features on the test items.

[0022] The end of the object being tested that is forward along the conveying direction is designated as the front edge of the object being tested, and the end of the object being tested that is backward along the conveying direction is designated as the rear edge of the object being tested. In this embodiment, visual features that can be identified by a barcode reader are provided on both the front edge and the rear edge of the object being tested. The visual features provided on the front edge of the object being tested are designated as the front edge visual features, and the visual features provided on the rear edge of the object being tested are designated as the rear edge visual features.

[0023] When the leading edge of the object being measured enters the reading area, the reader immediately identifies the visual feature of the leading edge, continuously tracks the visual feature, and determines whether the visual feature has entered the prediction area. If it is determined that the visual feature has entered the prediction area, the reader further needs to predict the moment when the visual feature begins to enter the reading area. It should be noted that when the visual feature enters the prediction area, its current position is recorded as its current position. The moment when the leading-edge visual feature enters the prediction area will also be recorded as the leading-edge feature detection moment. In this embodiment, to facilitate the determination of whether visual features have entered the pre-judgment area, the code reading area, and the departure judgment area, the shapes of the pre-judgment area, the code reading area, and the departure judgment area are all set to square. The boundary line between the pre-judgment area and the code reading area is a straight line, and the direction of this straight line is perpendicular to the conveying direction. Similarly, the boundary line between the code reading area and the departure judgment area is also a straight line, and this straight line is also perpendicular to the conveying direction. The right side length of the pre-judgment area is the left side length of the code reading area, which is also the boundary line between the pre-judgment area and the code reading area. Similarly, the right side length of the code reading area is the left side length of the departure judgment area, which is also the boundary line between the code reading area and the departure judgment area.

[0024] And the current position of the leading edge features The distance from the front edge to the right side of the prediction area, or the left side of the reading area, or the distance between the boundary line of the prediction area and the reading area, is denoted as the distance from the front edge to the reading area. Given the conveyor belt speed V and the distance from the leading edge to the reading area; Then, the time required for the leading edge of the object to move to the reading area (the left side of the reading area) at the conveyor belt speed V can be further calculated, and this time is recorded as the time it takes for the leading edge feature to reach the reading area. , = / V; Known frontier feature detection time The time it takes for this leading-edge feature to reach the reading area Then, the time when the leading edge of the object reaches the reading area (the left side of the reading area) can be further predicted, and this time is recorded as the time when the leading edge feature reaches the reading area. , = + .

[0025] S130, In response to the current moment being the moment when the leading edge feature arrives at the code reading area, control the preset code reader to start reading the code of the object under test.

[0026] The current real-time moment is recorded as the current moment. If at the current moment The time when the leading features arrive at the reading area , that is = This indicates that the leading edge of the object being tested has begun to enter the code reading area, and that the object has just entered the code reading area. At this point, the code reader can be triggered to start reading the code of the object being tested.

[0027] S140. In response to the visual feature of the trailing edge of the object being measured entering or leaving the judgment area, control the barcode reader to stop reading the barcode of the object being measured.

[0028] It should be noted that as the continuous code reading process continues, the object under test continues to move along the conveyor direction at a conveyor belt speed V. Therefore, during the continuous code reading process, the trailing edge of the object under test will eventually enter the code reading area. In response to the trailing edge of the object under test entering the code reading area, the code reader identifies the trailing edge visual feature set on the trailing edge of the object under test, continuously tracks the trailing edge visual feature, and determines whether the trailing edge visual feature has entered the exit determination area. If it is determined that the trailing edge visual feature has entered the exit determination area, it means that the object under test has completely left the code reading area. At this time, it is not necessary to continue to read the code on the object under test, and the code reader should be immediately triggered to stop reading the code on the object under test.

[0029] As can be seen, in this embodiment, when the object under test enters the pre-judgment area, the time when the leading edge visual feature of the object under test reaches the reading area is calculated based on the conveyor belt speed. When this time is reached, it indicates that the object under test has entered the reading area, and the reading of the object under test begins. When the trailing edge visual feature of the object under test is detected to enter the departure judgment area, it indicates that the object under test has completely left the reading area, and the reading of the object under test is stopped. This technical solution relies on the conveyor belt speed and visual detection of the object under test to accurately realize the time from when the object under test enters the reading area to when the object under test completely leaves the reading area (the time the object under test passes through the reading area) before reading the object under test. This achieves accurate matching of the reading time window with the time when the object under test passes through the reading area, and the start and stop triggering of reading is not affected by the material of the object under test or accidental occlusion events, thus effectively improving the accuracy and robustness of reading control.

[0030] In some embodiments, before determining the conveyor belt conveying speed based on the conveyor belt video stream and a preset video stream frame rate, the logistics conveying code reading control method further includes: P110. Acquire images of the conveyor belt; the conveyor belt has four boundary lines along the conveying direction, the length directions of the four boundary lines are parallel to each other, and all are perpendicular to the conveying direction.

[0031] It should be noted that, in order to determine the moment when the reader starts reading the code on the object under test (the moment when the leading edge feature arrives at the reading area) and the moment when the reader stops reading the code on the object under test (the moment when the trailing edge visual feature of the object under test enters the departure judgment area), this embodiment intends to set the pre-judgment area, the reading area, and the departure judgment area sequentially along the conveyor belt in the conveying direction. In order to set these three areas on the conveyor belt, four boundary lines need to be determined on the conveyor belt first.

[0032] Reference Figure 3 A fixed guide rail is provided on each side of the conveyor belt, referred to as the first guide rail and the second guide rail respectively. Both the first guide rail and the second guide rail are parallel to the conveying direction. The four boundary lines are referred to as boundary line 1, boundary line 2, boundary line 3 and boundary line 4 respectively. Taking one of the boundary lines as an example, the boundary line includes two parts, referred to as the first boundary line part and the second boundary line part. The first boundary line part is located on the first guide rail, and the second boundary line part is located on the second guide rail. The first boundary line part and the second boundary line part have the same central axis, and the central axis is perpendicular to the conveying direction.

[0033] P120. Perform image processing on the conveyor belt image to determine the pre-judgment area, code reading area, and departure judgment area.

[0034] In this embodiment, to determine the pre-judgment area, code reading area, and departure judgment area based on the acquired conveyor belt image, a corresponding image recognition algorithm is preset. This algorithm is used to identify the four boundary lines in the conveyor belt image, referring to... Figure 4 The conveyor belt image is divided into 5 regions (region 1, region 2, region 3, region 4, and region 5) according to the 4 boundary lines. The 3 middle regions are, in order of conveying direction, the pre-judgment area, the code reading area, and the departure judgment area.

[0035] As can be seen, in this embodiment, the pre-judgment area, the code reading area, and the departure judgment area are set on the conveyor belt in advance, which can facilitate the calculation of the time when the front edge of the object enters the code reading area and the time when the rear edge of the object leaves the code reading area.

[0036] In some embodiments, image processing is performed on the conveyor belt image to determine the pre-judgment area, the code reading area, and the departure judgment area, including: P121. Determine the region of interest in the conveyor belt image; the region of interest includes four boundary lines, and the size of the region of interest is smaller than that of the conveyor belt image.

[0037] It should be noted that, firstly, the image area of ​​the conveyor belt is much larger than the area where the four boundary lines are located, so directly searching and identifying the four boundary lines in the conveyor belt image using image recognition algorithms would be time-consuming and have low recognition efficiency; secondly, in addition to the area where the four boundary lines are located, there may be similar linear structures in the conveyor belt image, such as the guide roller contour lines perpendicular to the conveying direction, etc. Such linear structures will affect the recognition accuracy of the four boundary lines.

[0038] To improve the efficiency and accuracy of identifying the four boundary lines, this embodiment aims to further define a region on the conveyor belt image based on the acquired image, and search for the four boundary lines within this region. This region is designated as the Region of Interest (ROI). The location of the ROI is set based on historical experience to ensure that the ROI includes the four boundary lines. Furthermore, since the ROI is a region within the conveyor belt image, its size is smaller than that of the conveyor belt image.

[0039] P122. Based on the region of interest and four boundary lines, determine the prediction area, the code reading area, and the departure judgment area.

[0040] Among them, the region of interest can be searched and identified using image recognition algorithms, thereby identifying four boundary lines, as referenced. Figure 5 Through these four boundary lines, three regions arranged sequentially along the transport direction can be divided from the region of interest (ROI), which are respectively denoted as the prediction area, the code reading area, and the departure determination area.

[0041] As can be seen, in this embodiment, after acquiring the conveyor belt image, the image recognition algorithm is not directly used to search and identify the four boundary lines. Instead, a region of interest (ROI) is first determined, and the image recognition algorithm is used to search and identify the four boundary lines within the ROI. First, since the size of the ROI is significantly smaller than that of the conveyor belt image, searching and identifying the ROI can effectively improve the identification efficiency of the four boundary lines. Second, the ROI is only slightly larger than the area where the four boundary lines are located, which helps to prevent linear structures similar to boundary lines that may exist in the conveyor belt image outside the area where the four boundary lines are located from negatively affecting the noise in the search and identification process, thus effectively improving the identification accuracy of the four boundary lines.

[0042] In some embodiments, determining the conveyor belt speed based on the conveyor belt video stream and a preset video stream frame rate includes: S111A. Perform image enhancement on any two adjacent video frames in the video stream of the conveyor belt to determine the preceding and following video frames; wherein, the image enhancement includes at least one of the following: grayscale conversion, brightness normalization, and filtering and denoising.

[0043] It should be noted that this embodiment aims to calculate the conveyor belt speed based on any two adjacent video frames in the acquired conveyor belt video stream and the preset video stream frame rate; however, due to factors such as noise, the image quality of the video frames in the initially acquired conveyor belt video stream is poor; in order to ensure the accuracy of the calculated conveyor belt speed, this embodiment needs to perform image enhancement on the above-mentioned selected any two adjacent video frames to improve the image quality.

[0044] In this context, the video frame that appears earlier in the sequence among any two adjacent selected video frames is designated as the "previous video frame," and the video frame that appears later in the sequence is designated as the "later video frame." Taking image enhancement of one of the video frames as an example, the image enhancement methods include at least one of grayscale conversion, brightness normalization, and filtering for noise reduction.

[0045] Among them, grayscale conversion is the process of converting a color video frame into a single-channel grayscale image; brightness normalization is a preprocessing operation that maps the brightness values ​​of the image pixels in the video frame to a standard range of 0-1 or 0-255, so as to stretch or compress the pixel values ​​with uneven brightness to a uniform range and eliminate the interference caused by the difference in lighting; filtering and denoising is the process of using a filter to remove noise from the video frame.

[0046] S112A, Extract the preceding image block from the preceding video frame; the preceding image block contains periodic identification features.

[0047] It should be noted that, in order to calculate the conveyor belt speed, this embodiment provides a periodic marking feature on the conveyor belt. When the conveyor belt is running, the periodic marking feature also moves at the conveyor belt speed. For example, the periodic marking feature can be a periodic stripe, a periodic color contrast pattern, a periodic grayscale change pattern, a periodic dot matrix pattern, a periodic geometric pattern, etc., and there is no specific limitation.

[0048] This embodiment aims to determine the conveyor belt speed based on the displacement change of the same periodic identifier feature in the preceding and subsequent video frames over a certain period of time. To do this, it is necessary to first extract an image block containing the periodic feature from the preceding video frame, which is denoted as the preceding image block.

[0049] S113A: Based on the preceding image block, perform similarity matching on the subsequent video frame to determine the subsequent image block.

[0050] In this embodiment, since the conveyor belt speed is to be determined based on the displacement change of the same periodic identifier feature in the preceding and following video frames within a certain time, after obtaining the preceding image block, this embodiment further intends to extract an image block from the following video frame that corresponds to the preceding image block and contains the same periodic identifier feature, and record this image block as the following image block.

[0051] Specifically, this embodiment has a pre-set image similarity comparison algorithm, which is used to find the region in the later video frame that has the highest similarity to the earlier image block, that is, the later image block.

[0052] S114A. Based on the preceding and following image blocks, determine the translation amount of the identification features.

[0053] It should be noted that, since the conveyor belt is continuously running, although the same periodic marker feature is present in both the front and rear image blocks, the position of the periodic marker feature is different in different image blocks. For example, the position of the periodic marker feature in the front image block is at 1000 pixels, while the position of the periodic marker feature in the rear image block is at 1500 pixels. The positional distance between the periodic marker feature at the two positions is recorded as the marker feature translation amount. For example, the marker feature translation amount is 500 pixels.

[0054] S115A: Determine the conveyor belt speed based on the translation amount of the identification feature and the preset video stream frame rate.

[0055] In this embodiment, the preset video stream frame rate is 60fps, which means that the time interval between the previous video frame and the next video frame is 1 / 60s.

[0056] Wherein, the conveyor belt speed V is the ratio of the translation amount of the above-mentioned marking feature to the above-mentioned time interval.

[0057] As can be seen, in the embodiments of this application, firstly, by performing image enhancement on the preceding and following video frames, the image quality of the preceding and following video frames is improved, thereby improving the accuracy of the calculated conveyor belt speed; secondly, the periodic marking features set on the conveyor belt facilitate the accuracy of calculating the distance (marking feature translation amount) between two periodic marking features in adjacent video frames, thereby facilitating the accuracy of the calculated conveyor belt speed.

[0058] In some embodiments, determining the conveyor belt speed based on the conveyor belt video stream and a preset video stream frame rate includes: S111B Calculate the translation amount of the identifier features corresponding to each two adjacent video frames in the conveyor belt video stream, and determine the initial translation amount set.

[0059] It should be noted that in some cases, the conveyor belt speed may change suddenly, such as due to speed adjustments by on-site personnel. To prevent such changes from seriously affecting the accuracy of the conveyor belt speed, this embodiment calculates the conveyor belt speed using two adjacent video frames in the conveyor belt video stream and a preset video stream frame rate. First, it is necessary to calculate the translation amount of the identifier feature corresponding to each two adjacent video frames in the conveyor belt video stream. Taking any two adjacent video frames as an example, the step of calculating the translation amount of the identifier feature corresponding to the two adjacent video frames is the same as S111A-S114A above, and will not be repeated here.

[0060] The set of the identification feature translation amounts corresponding to each two adjacent video frames in the conveyor belt video stream is denoted as the initial translation amount set.

[0061] S112B: Preprocess the initial translation set to obtain the target translation set; the preprocessing includes one or more of the following: moving average, low-pass filtering, and outlier removal.

[0062] It should be noted that there may be some abnormal data in the initial translation set. In order to ensure the accuracy of the data in the initial translation set, this embodiment intends to preprocess the initial translation set. The preprocessing method includes at least one of the following: moving average, low-pass filtering, and outlier removal.

[0063] Among them, the moving average selects continuous local data to calculate the mean, smoothing the curve and weakening short-term fluctuations; the low-pass filter removes high-frequency noise signals while retaining the main trend of data changes; and outlier removal determines and removes extreme data that deviates from the normal range based on statistical rules or thresholds.

[0064] S113B: Determine the conveyor belt speed based on the target translation set and the preset video stream frame rate.

[0065] Here, it is assumed that the target translation set contains m identifier feature translations. If the preset video stream frame rate is n, then the formula for calculating the conveyor belt speed V is: V = ( ) / (m / n)。

[0066] As can be seen, in the embodiments of this application, firstly, by using the translation amount of the identifier features corresponding to each two adjacent video frames in the conveyor belt video stream to calculate the conveyor belt speed, instead of using only a single set of translation amounts of the identifier features corresponding to two adjacent video frames, it helps to prevent sudden changes in conveyor speed from seriously affecting the accuracy of the conveyor belt speed; secondly, by preprocessing the initial translation amount set, it helps to further ensure the accuracy of the calculated conveyor belt speed.

[0067] In some embodiments, in response to the rear edge visual feature of the object being measured entering or leaving the determination area, the reader is controlled to stop reading the code of the object being measured, including: In response to the detection of the trailing edge visual feature of the object being measured entering the code reading area, the time when the trailing edge feature leaves the code reading area is determined based on the current position of the trailing edge visual feature, the detection time of the trailing edge feature, and the conveyor belt speed.

[0068] Specifically, when the trailing edge visual feature of the object being measured enters the code reading area, the current position of the trailing edge visual feature is recorded and denoted as the current position of the trailing edge feature. The time when the trailing visual feature enters the reading area will also be recorded as the trailing feature detection time. .

[0069] And the current position of the trailing edge feature The distance from the right edge of the reading area, or the distance from the left edge of the decision area, or the distance between the reading area and the boundary line of the decision area, is recorded as the distance from the back edge to the decision area. The conveyor belt speed V and the distance from the trailing edge to the determination zone are known. Then, the time required for the trailing edge of the object to move to the reading area (the right side of the reading area) at the conveyor belt speed V can be further calculated, and this time is recorded as the time it takes for the trailing edge feature to reach the departure area from the judgment zone. , = / V; Known trailing edge feature detection time Time taken for trailing edge features to reach the departure decision region Then, the time when the trailing edge of the object being measured reaches the point of leaving the decision area (the left side of the decision area) can be further predicted, and this time is recorded as the time when the trailing edge feature leaves the reading area. , = + .

[0070] In response to the current moment being the moment when the trailing edge feature leaves the reading area, the reader is controlled to stop reading the code of the object under test.

[0071] Among them, the current real-time moment is recorded as the current moment. If at the current moment The moment when the trailing edge feature leaves the reading area , that is = This indicates that the trailing edge of the object being tested has left the code reading area and entered the departure judgment area. It also indicates that the object being tested has completely left the code reading area. At this point, the code reader can be triggered to stop reading the code of the object being tested.

[0072] As can be seen, in this embodiment of the application, the moment when the object under test completely leaves the code reading area is determined by visual detection, and the code reading is stopped immediately when the current moment reaches that moment, which helps to improve the accuracy of the code reading time window.

[0073] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed 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 performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0074] Based on the same inventive concept, this application also provides a logistics transportation barcode reading control device. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more logistics transportation barcode reading control device embodiments provided below can be found in the limitations of the logistics transportation barcode reading control method above, and will not be repeated here.

[0075] like Figure 6 As shown in the figure, this application provides a logistics conveying barcode reading control device 600, including: The conveyor speed determination module 630 is used to determine the conveyor speed based on the conveyor belt video stream and the preset video stream frame rate; adjacent prediction areas, code reading areas and departure determination areas are arranged sequentially along the conveyor belt in the conveying direction. The entry time calculation module 640 is used to respond to the detection of the leading edge visual feature of the object being measured entering the pre-judgment area, and to determine the time when the leading edge feature arrives at the reading area based on the current position of the leading edge visual feature, the detection time of the leading edge feature, and the conveyor belt speed. The code reading start control module 650 is used to control the preset code reader to start reading the code of the object under test in response to the current time being the time when the leading edge feature arrives in the code reading area. The code reading stop control module 660 is used to control the code reader to stop reading the code of the object in response to the visual feature of the trailing edge of the object entering or leaving the judgment area.

[0076] In some embodiments, before determining the conveyor belt conveying speed based on the conveyor belt video stream and a preset video stream frame rate, the logistics conveying code reading control device 600 further includes: The image acquisition module 610 is used to acquire images of the conveyor belt; the conveyor belt has four boundary lines arranged sequentially along the conveying direction, the length directions of the four boundary lines are parallel to each other, and all are perpendicular to the conveying direction; The image processing module 620 is used to process the image of the conveyor belt and determine the pre-judgment area, the code reading area, and the departure judgment area.

[0077] In some embodiments, in processing the conveyor belt image to determine the pre-judgment area, the code reading area, and the departure judgment area, the conveyor image processing module 620 is specifically used for: Based on the four boundary lines in the conveyor belt image, the region of interest (ROI) in the conveyor belt image is determined; the ROI includes the four boundary lines, and the size of the ROI is smaller than that of the conveyor belt image. Based on the region of interest and four boundary lines, the prediction area, code reading area, and departure judgment area are determined.

[0078] In some embodiments, regarding determining the conveyor belt conveying speed based on the conveyor belt video stream and a preset video stream frame rate, the conveyor speed determining module 630 is specifically used for: Get any two adjacent video frames in the video stream of the conveyor belt and determine the first and second video frames. Extract the preceding image block from the preceding video frame; the preceding image block contains periodic identifying features; Based on the preceding image block, similarity matching is performed on the subsequent video frames to determine the subsequent image block; Based on the preceding and following image blocks, determine the amount of translation of the identifier features; The conveyor belt speed is determined based on the translation amount of the identifier features and the preset video stream frame rate.

[0079] In some embodiments, regarding determining the conveyor belt conveying speed based on the conveyor belt video stream and a preset video stream frame rate, the conveyor speed determining module 630 is specifically used for: Calculate the translation amount of the identifier features corresponding to each two adjacent video frames in the conveyor belt video stream, and determine the initial translation amount set; The initial translation set is preprocessed to obtain the target translation set; the preprocessing includes one or more of the following: moving average, low-pass filtering, and outlier removal. The conveyor belt speed is determined based on the target translation set and the preset video stream frame rate.

[0080] In some embodiments, in response to the visual feature of the object being measured entering a preset exit determination area, the code reading stop control module 660 is specifically used to control the code reader to stop reading the object being measured, and to control the code reader to stop reading the object being measured. In response to the detection of the trailing edge visual feature of the object being measured entering the code reading area, the time when the trailing edge feature leaves the code reading area is determined based on the current position of the trailing edge visual feature, the detection time of the trailing edge feature, the code reading area and / or the departure determination area, and the conveyor belt speed. In response to the current moment being the moment when the trailing edge feature leaves the reading area, the reader is controlled to stop reading the code of the object under test.

[0081] Each module in the aforementioned logistics conveying barcode reading control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0082] In some embodiments, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 7As shown, this computer device includes a processor, memory, input / output interfaces (I / O), and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data related to the logistics transportation code reading control method. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements the steps of the aforementioned logistics transportation code reading control method.

[0083] In some embodiments, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 8 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements the steps in the aforementioned logistics transportation code reading control method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen; the input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs or touchpads set on the casing of the computer device, or external keyboards, touchpads or mice, etc.

[0084] Those skilled in the art will understand that Figure 7 or Figure 8The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0085] In some embodiments, a computer device is provided, the computer device including a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps in the above method embodiments.

[0086] In some embodiments, such as Figure 9 The diagram shows the internal structure of a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the above-described method embodiments.

[0087] In some embodiments, a computer program product is provided, which includes a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0088] 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 used for analysis, data stored, data displayed, 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 related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0089] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0090] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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, they should be considered to be within the scope of this specification.

[0091] The above embodiments merely illustrate several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this application's patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for controlling logistics transportation by reading codes, characterized in that, include: The conveyor belt speed is determined based on the conveyor belt video stream and the preset video stream frame rate; adjacent prediction areas, code reading areas and departure determination areas are sequentially arranged on the conveyor belt along the conveying direction. In response to the detection of the leading edge visual feature of the object being tested entering the prediction area, the arrival time of the leading edge feature in the reading area is determined based on the current position of the leading edge visual feature, the detection time of the leading edge feature, and the conveying speed of the conveyor belt. In response to the current moment being the moment when the leading edge feature arrives at the code reading area, the preset code reader is controlled to start reading the code of the object under test; In response to the rear edge visual features of the object being tested entering a preset departure determination area, the reader is controlled to stop reading the code of the object being tested.

2. The method according to claim 1, characterized in that, Before determining the conveyor belt conveying speed based on the conveyor belt video stream and a preset video stream frame rate, the method further includes: The conveyor belt image is acquired; the conveyor belt is provided with four boundary lines in sequence along the conveying direction, the length directions of the four boundary lines are parallel to each other, and all are perpendicular to the conveying direction; The conveyor belt image is processed to determine the pre-judgment area, the code reading area, and the departure judgment area.

3. The method according to claim 2, characterized in that, The image processing of the conveyor belt image to determine the pre-judgment area, the code reading area, and the departure judgment area includes: Based on the four boundary lines in the conveyor belt image, a region of interest is determined in the conveyor belt image; the region of interest includes the four boundary lines, and the size of the region of interest is smaller than that of the conveyor belt image; Based on the region of interest and the four boundary lines, the prediction area, the code reading area, and the departure determination area are determined.

4. The method according to claim 1, characterized in that, The method of determining the conveyor belt speed based on the conveyor belt video stream and a preset video stream frame rate includes: Image enhancement is performed on any two adjacent video frames in the conveyor belt video stream to determine the preceding and following video frames; wherein, the image enhancement includes at least one of: grayscale conversion, brightness normalization, and filtering and noise reduction; Extract a preceding image block from the preceding video frame; the preceding image block contains periodic identifying features; Based on the preceding image block, similarity matching is performed on the subsequent video frames to determine the subsequent image block; Based on the preceding image block and the following image block, determine the amount of translation of the identifier feature; The conveyor belt speed is determined based on the translation amount of the identification feature and the preset video stream frame rate.

5. The method according to claim 1, characterized in that, The method of determining the conveyor belt speed based on the conveyor belt video stream and a preset video stream frame rate includes: Calculate the translation amount of the identifier features corresponding to each two adjacent video frames in the conveyor belt video stream, and determine the initial translation amount set; The initial translation set is preprocessed to obtain the target translation set; the preprocessing includes one or more of moving average, low-pass filtering, and outlier removal. The conveyor belt speed is determined based on the target translation set and the preset video stream frame rate.

6. The method according to claim 1, characterized in that, The step of controlling the barcode reader to stop reading the barcode of the object in response to the rear edge visual feature of the object entering a preset departure determination area includes: In response to the detection that the trailing edge visual feature of the object under test enters the code reading area, the time when the trailing edge feature leaves the code reading area is determined based on the current position of the trailing edge feature, the detection time of the trailing edge feature, and the conveying speed of the conveyor belt. In response to the current moment being the moment when the trailing edge feature leaves the reading area, the reader is controlled to stop reading the code of the object under test.

7. A logistics conveying barcode reading control device, characterized in that, include: The conveyor speed determination module is used to determine the conveyor speed based on the conveyor belt video stream and the preset video stream frame rate; adjacent prediction areas, code reading areas and departure determination areas are arranged sequentially along the conveyor belt in the conveying direction; The entry time calculation module is used to respond to the detection of the leading edge visual feature of the object being measured entering the prediction area, and to determine the time when the leading edge feature arrives at the reading area based on the current position of the leading edge feature, the detection time of the leading edge feature, and the conveyor belt speed. The code reading start control module is used to control the preset code reader to start reading the code of the object under test in response to the current time being the time when the leading edge feature arrives at the code reading area; The code reading stop control module is used to control the code reader to stop reading the code of the test object in response to the rear edge visual feature of the test object entering the preset departure judgment area.

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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