Flat item sorting assistance method, apparatus, device and system, medium, and product

Abstract

A flat item sorting assistance method, relating to the technical field of image processing and logistics, and comprising: acquiring a code scanning result of flat items to be sorted on a code scanning position (101); if it is determined on the basis of the code scanning result that the number of said flat items meets a preset number condition, moving said flat items to an item supply position (102); acquiring first image information of said flat items collected at the item supply position (103); if it is determined on the basis of the first image information that the number of said flat items meets the preset number condition and the pose meets a preset pose condition, moving said flat items to a sorting device (104); acquiring second image information of said flat items collected at the sorting device (105); and if it is determined on the basis of the second image information that the number of said flat items meets the preset number condition, performing a sorting operation (106). Also provided are a flat item sorting assistance apparatus, device and system, and one or more computer-readable storage media and a computer program product.

Description

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

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 2023118668948, filed on December 31, 2023, entitled “Flat Part Sorting Auxiliary Methods, Devices, Equipment, Systems, Media and Products,” the entire text of which is incorporated herein by reference. Technical Field

[0003] The present application relates to the field of image processing and logistics technology, and in particular to a flat parts sorting auxiliary method, device, equipment, system, medium and product. Background Art

[0004] With the development of automation technology, automated sorting equipment has been used in the sorting of express parcels in the logistics field.

[0005] The current automated sorting method usually pushes flat items such as documents, bills, materials, and certificates wrapped in document envelopes directly to the sorting equipment via the infeed table. However, this method can easily cause the flat items pushed to the sorting equipment to float, be missorted, or even be damaged, affecting the sorting quality. Summary of the Invention

[0006] According to various embodiments provided in the present application, a flat part sorting assistance method, apparatus, device, system, storage medium, and computer program product are provided.

[0007] In a first aspect, the present application provides a flat parts sorting assistance method, which is applied to a terminal. The method comprises:

[0008] Obtain the scanning results of the flat parts to be sorted at the scanning position;

[0009] If it is determined based on the code scanning result that the first quantity of the flat pieces to be sorted meets a preset quantity condition, the flat pieces to be sorted are moved to a feeding position;

[0010] Acquiring first image information of the flat parts to be sorted collected at the infeed position;

[0011] If it is determined based on the first image information that the second quantity of the flat pieces to be sorted meets the preset quantity condition, and if it is determined based on the first image information that the posture of the flat pieces to be sorted meets the preset posture condition, the flat pieces to be sorted are moved to the sorting device;

[0012] Acquiring second image information of the flat parts to be sorted collected at the sorting device;

[0013] If it is determined based on the second image information that the third quantity of the flat parts to be sorted meets the preset quantity condition, a sorting operation is performed on the flat parts to be sorted.

[0014] In one embodiment, the code scanning result includes a first sub-result and a second sub-result, the first sub-result representing a result obtained by scanning the flat pieces to be sorted from a first preset direction, and the second sub-result representing a result obtained by scanning the flat pieces to be sorted from a second preset direction; if it is determined based on the code scanning result that the first quantity of the flat pieces to be sorted meets a preset quantity condition, the flat pieces to be sorted are moved to the infeed position, comprising: if the first sub-result and the second sub-result are equal, and it is determined based on the first sub-result or the second sub-result that the first quantity of the flat pieces to be sorted meets the preset quantity condition, the flat pieces to be sorted are moved to the infeed position.

[0015] In one embodiment, determining whether the second quantity of the flat parts to be sorted meets the preset quantity condition based on the first image information includes: obtaining the coordinate information of the corner points of the flat parts in the first image information; determining the number of first corner point groups based on the coordinate information of the corner points of the flat parts; if the number of the first corner point groups meets the corner point group number condition, determining that the second quantity of the flat parts to be sorted meets the preset quantity condition.

[0016] In one embodiment, determining whether the position of the flat part to be sorted meets a preset position condition based on the first image information includes: obtaining the coordinate information of the corner points of the flat part in the first image information, and obtaining the reference coordinate information of the infeed position; determining the position relationship information between the flat part to be sorted and the infeed position based on the coordinate information of the corner points of the flat part and the reference coordinate information of the infeed position; if the position relationship information meets the preset position condition, determining that the position of the flat part to be sorted meets the preset position condition.

[0017] In one embodiment, determining the positional relationship information between the flat piece to be sorted and the infeed position based on the flat piece corner point coordinate information and the infeed position reference coordinate information includes: determining a first direction corresponding to the infeed side of the infeed position based on the infeed position reference coordinate information; determining a second direction corresponding to at least one side of the flat piece to be sorted based on the flat piece corner point coordinate information; and determining the positional relationship information between the flat piece and the infeed position based on the angle between the first direction and the second direction.

[0018] In one embodiment, determining whether the third quantity of the flat parts to be sorted meets the preset quantity condition based on the second image information includes: obtaining the coordinate information of the corner points of the flat parts in the second image information; determining the number of second corner point groups based on the coordinate information of the corner points of the flat parts in the second image information; if the number of the second corner point groups meets the corner point group quantity condition, determining whether the third quantity of the flat parts to be sorted meets the preset quantity condition.

[0019] In one embodiment, the method further includes: if it is determined based on the scanning result that the first quantity of the flat pieces to be sorted does not meet the preset quantity condition, or it is determined based on the first image information that the second quantity of the flat pieces to be sorted does not meet the preset quantity condition, or it is determined based on the first image information that the posture of the flat pieces to be sorted does not meet the preset posture condition, or it is determined based on the second image information that the third quantity of the flat pieces to be sorted does not meet the preset quantity condition, then indicating that the flat pieces to be sorted are abnormal pieces.

[0020] In a second aspect, the present application further provides a flat parts sorting auxiliary device. The device comprises:

[0021] The code scanning result acquisition module is used to obtain the code scanning results of the flat parts to be sorted at the code scanning position;

[0022] a first moving module, configured to move the flat pieces to be sorted to a feeding position if it is determined based on the code scanning result that the first quantity of the flat pieces to be sorted meets a preset quantity condition;

[0023] A first image information acquisition module is used to acquire first image information of the flat parts to be sorted collected at the infeed position;

[0024] a second moving module configured to move the flat pieces to be sorted to a sorting device if it is determined based on the first image information that the second quantity of the flat pieces to be sorted meets the preset quantity condition, and if it is determined based on the first image information that the posture of the flat pieces to be sorted meets the preset posture condition;

[0025] A second image information acquisition module is used to acquire second image information of the flat parts to be sorted collected at the sorting device;

[0026] The sorting module is configured to perform a sorting operation on the flat pieces to be sorted if it is determined based on the second image information that the third quantity of the flat pieces to be sorted meets the preset quantity condition.

[0027] In a third aspect, the present application further provides a flat piece sorting auxiliary device. The flat piece sorting auxiliary device includes a memory and one or more processors, wherein the memory stores computer-readable instructions, and when the one or more processors execute the computer-readable instructions, the following steps are implemented:

[0028] Obtain the scanning results of the flat parts to be sorted at the scanning position;

[0029] If it is determined based on the code scanning result that the first quantity of the flat pieces to be sorted meets a preset quantity condition, the flat pieces to be sorted are moved to a feeding position;

[0030] Acquiring first image information of the flat parts to be sorted collected at the infeed position;

[0031] If it is determined based on the first image information that the second quantity of the flat pieces to be sorted meets the preset quantity condition, and if it is determined based on the first image information that the posture of the flat pieces to be sorted meets the preset posture condition, the flat pieces to be sorted are moved to the sorting device;

[0032] Acquiring second image information of the flat parts to be sorted collected at the sorting device;

[0033] If it is determined based on the second image information that the third quantity of the flat parts to be sorted meets the preset quantity condition, a sorting operation is performed on the flat parts to be sorted.

[0034] Fourthly, the present application also provides a flat parts sorting assistance system. The system includes: a barcode scanning camera for scanning flat parts to be sorted at a barcode scanning position; a first image acquisition device for capturing images of flat parts to be sorted at a feeding position; a second image acquisition device for capturing images of flat parts to be sorted on a sorting device; and the flat parts sorting assistance device described above.

[0035] In one embodiment, there are at least two barcode scanning cameras for scanning the flat parts to be sorted at the barcode scanning position in at least two directions.

[0036] In one embodiment, at least one of the at least two barcode scanning cameras is used to scan the flat parts to be sorted through a transparent portion of the table at the barcode scanning position.

[0037] In a fifth aspect, the present application further provides one or more computer-readable storage media. The computer-readable storage media stores computer-readable instructions, which, when executed by one or more processors, implement the following steps:

[0038] Obtain the scanning results of the flat parts to be sorted at the scanning position;

[0039] If it is determined based on the code scanning result that the first quantity of the flat pieces to be sorted meets a preset quantity condition, the flat pieces to be sorted are moved to a feeding position;

[0040] Acquiring first image information of the flat parts to be sorted collected at the infeed position;

[0041] If it is determined based on the first image information that the second quantity of the flat pieces to be sorted meets the preset quantity condition, and if it is determined based on the first image information that the posture of the flat pieces to be sorted meets the preset posture condition, the flat pieces to be sorted are moved to the sorting device;

[0042] Acquiring second image information of the flat parts to be sorted collected at the sorting device;

[0043] If it is determined based on the second image information that the third quantity of the flat parts to be sorted meets the preset quantity condition, a sorting operation is performed on the flat parts to be sorted.

[0044] In a sixth aspect, the present application further provides a computer program product. The computer program product includes computer-readable instructions, which, when executed by one or more processors, implement the following steps:

[0045] Obtain the scanning results of the flat parts to be sorted at the scanning position;

[0046] If it is determined based on the code scanning result that the first quantity of the flat pieces to be sorted meets a preset quantity condition, the flat pieces to be sorted are moved to a feeding position;

[0047] Acquiring first image information of the flat parts to be sorted collected at the infeed position;

[0048] If it is determined based on the first image information that the second quantity of the flat pieces to be sorted meets the preset quantity condition, and if it is determined based on the first image information that the posture of the flat pieces to be sorted meets the preset posture condition, the flat pieces to be sorted are moved to the sorting device;

[0049] Acquiring second image information of the flat parts to be sorted collected at the sorting device;

[0050] If it is determined based on the second image information that the third quantity of the flat parts to be sorted meets the preset quantity condition, a sorting operation is performed on the flat parts to be sorted.

[0051] The details of one or more embodiments of the present application are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the present application will become apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the disclosed drawings without any creative work.

[0053] FIG1 is a schematic flow chart of a flat parts sorting assistance method according to one embodiment;

[0054] FIG2 is a flow chart showing the steps of determining the positional relationship information between the flat parts to be sorted and the infeed position in one embodiment;

[0055] FIG3 is a schematic diagram of a scenario for determining positional relationship information between a flat piece to be sorted and a piece infeed position in one embodiment;

[0056] FIG4 is a schematic flow chart of a flat parts sorting assistance method according to one embodiment;

[0057] FIG5 is a schematic diagram of a configuration method of a barcode scanning camera in one embodiment;

[0058] FIG6 is a schematic diagram of a configuration of a first image acquisition device in one embodiment;

[0059] FIG7 is a structural block diagram of a flat parts sorting auxiliary device according to one embodiment;

[0060] FIG8 is a diagram showing the internal structure of a flat parts sorting auxiliary device according to one embodiment;

[0061] FIG9 is a schematic structural diagram of a flat piece sorting auxiliary system in one embodiment. DETAILED DESCRIPTION

[0062] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0063] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0064] In one embodiment, as shown in FIG1 , a flat parts sorting assistance method is provided. This embodiment uses the method applied to a terminal as an example for illustration. It is understood that the method can also be applied to a server, or to a system including a terminal and a server, and implemented through interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0065] Step S101: Obtain the scanning result of the flat parts to be sorted at the scanning position.

[0066] Specifically, the barcode scanning station can be the station where a robot picks up the topmost flat piece from a stack and places it during the flat piece sorting process. To distinguish and mark flat pieces, they are often marked with a graphic code. Based on this, the barcode scanning station identifies the graphic code of the flat piece being sorted and obtains the corresponding scan result. The scan result can include the content of the graphic code, such as the flat piece's express delivery number.

[0067] For example, the scanning result of the flat parts to be sorted can be output by a scanning camera set at the scanning position after scanning the graphic code of the flat parts to be sorted, or it can be obtained by an image acquisition device set at the scanning position after capturing an image of the flat parts to be sorted and identifying the graphic code part in the image.

[0068] Step S102: If it is determined based on the code scanning result that the first quantity of the flat pieces to be sorted meets the preset quantity condition, the flat pieces to be sorted are moved to the infeed position.

[0069] Specifically, the preset quantity condition for flat parts to be sorted can be determined based on the specific scenario of flat part sorting. For example, when flat parts need to be distributed to different sorting slots, the preset quantity condition may be that the number of flat parts to be sorted is one. For another example, when multiple flat parts need to be transferred to other processing stations via the sorting equipment during this sorting process, the predicted quantity condition may be determined to be that the number of flat parts to be sorted is less than the maximum flat part capacity of the sorting equipment and the target processing station.

[0070] Since the same flat piece typically corresponds to the same graphic code, a first quantity of flat pieces to be sorted at the scanning location can be determined based on the number of corresponding graphic codes in the scanned code results. When the first quantity meets a preset quantity condition, the flat pieces to be sorted can be transferred from the scanning location to the infeed location.

[0071] Step S103: acquiring first image information of the flat parts to be sorted captured at the infeed position.

[0072] Specifically, the infeed position can push the received flat pieces to be sorted onto the sorting device. The first image information of the flat pieces to be sorted on the infeed position can be obtained by the first image acquisition device arranged on the infeed position.

[0073] The first image acquisition device may be a depth camera, and the first image information acquired by the camera may include a depth map of the flat parts to be sorted on the infeed position, and coordinate information of sampling points corresponding to the flat parts to be sorted obtained after processing the depth map.

[0074] Step S104 : if it is determined based on the first image information that the second quantity of the flat pieces to be sorted meets the preset quantity condition, and if it is determined based on the first image information that the posture of the flat pieces to be sorted meets the preset posture condition, the flat pieces to be sorted are moved to the sorting device.

[0075] Specifically, based on the two-dimensional image corresponding to the flat pieces to be sorted and the corresponding depth map in the first image information, the number and position of the non-overlapping flat pieces to be sorted on the infeed can be identified. The position of the flat pieces to be sorted can include their position in the infeed, their rotation angle relative to the infeed, and so on.

[0076] The preset posture conditions can be set based on the size of the infeed and the sorting device and the positional relationship between the two. For example, the preset posture conditions can be the rotation angle, orientation, etc. of the flat parts to be sorted relative to the infeed.

[0077] When the first image information captured at the infeed position indicates that the second quantity of the flat pieces to be sorted meets the preset quantity condition and the position condition meets the preset position condition, it can be determined that the flat pieces to be sorted on the infeed position can be successfully pushed to the sorting equipment. Therefore, the flat pieces to be sorted on the infeed position can be transferred to the sorting equipment.

[0078] Step S105 : obtaining second image information of the flat parts to be sorted collected at the sorting device.

[0079] Specifically, the sorting device may be a device that performs sorting operations on the flat parts to be sorted, such as a sorting vehicle, etc. At the sorting device, second image information of the flat parts to be sorted may be captured by a second image capturing device.

[0080] The second image acquisition device may be a depth camera, and the second image information acquired by the camera may include a depth map and coordinate information of a plurality of sampling points corresponding to the flat parts to be sorted on the sorting device.

[0081] Step S106: If it is determined based on the second image information that the third quantity of the flat parts to be sorted meets the preset quantity condition, a sorting operation is performed on the flat parts to be sorted.

[0082] Specifically, because flat pieces typically move at a high horizontal speed when being pushed from the infeed to the sorting equipment, they are prone to colliding with the sorting equipment's baffles upon entering the sorting equipment, causing any adhering flat pieces to separate. Consequently, flat pieces that have overlapped and stuck together at the barcode scanning and infeed stations are likely to appear partially overlapped on the sorting equipment. Based on this, the second image information captured by the sorting equipment can be used to further identify the number of flat pieces to be sorted. If the third number of flat pieces to be sorted on the sorting equipment is determined to meet a preset quantity requirement, the flat pieces can be sorted.

[0083] The above-mentioned flat parts sorting auxiliary method obtains the scanning results of the flat parts to be sorted at the scanning position; if it is determined based on the scanning results that the first quantity of the flat parts to be sorted meets the preset quantity condition, the flat parts to be sorted are moved to the infeed position, and then the first image information of the flat parts to be sorted collected at the infeed position is obtained; if it is determined based on the first image information that the second quantity of the flat parts to be sorted meets the preset quantity condition and the posture of the flat parts to be sorted meets the preset posture condition, the flat parts to be sorted are moved to the sorting equipment, and then the second image information of the flat parts to be sorted collected at the sorting equipment is obtained; if it is determined based on the second image information table that the third quantity of the flat parts to be sorted meets the preset quantity condition, the flat parts to be sorted are sorted. This solution targets the multiple links that flat parts pass through in automated sorting, and detects the number of flat parts to be sorted at the code scanning position, the infeed position, and the sorting equipment respectively, which can avoid the abnormal number of flat parts to the greatest extent. It also detects the posture of the flat parts to be sorted at the infeed position to prevent flat parts with abnormal posture at the infeed position from being pushed to the sorting equipment. This can provide effective assistance for the automated sorting process of flat parts, avoid the flat parts pushed to the sorting equipment from floating, being missorted, or even being damaged, and ensure the sorting quality.

[0084] In one embodiment, the code scanning result includes a first sub-result and a second sub-result, the first sub-result represents a result obtained by scanning the flat pieces to be sorted from a first preset direction, and the second sub-result represents a result obtained by scanning the flat pieces to be sorted from a second preset direction; the above-mentioned step S102, if it is determined based on the code scanning result that the first quantity of the flat pieces to be sorted meets the preset quantity condition, moving the flat pieces to be sorted to the infeed position, includes: if the first sub-result and the second sub-result are equal, and it is determined based on the first sub-result or the second sub-result that the first quantity of the flat pieces to be sorted meets the preset quantity condition, moving the flat pieces to be sorted to the infeed position.

[0085] Specifically, in this embodiment, taking into account the situation that when scanning a flat part from one direction, the graphic code may be blocked and an accurate scanning result may not be obtained, the graphic code of the flat part to be sorted is scanned from the first preset direction and the second preset direction at the infeed position, and the corresponding first sub-result and second sub-result are obtained, respectively.

[0086] Preferably, the first and second preset directions may include at least one preset direction, and the flat items to be sorted are scanned through the transparent portion of the scanning table. This allows the graphic code provided on the contact surface of the flat items to be sorted and the scanning table to also be scanned.

[0087] Based on the scan result obtained by scanning the code, the first sub-result and the second sub-result can be compared. When the two are equal, a first quantity of flat items to be sorted on the induction table can be determined based on the number of flat item express delivery numbers, etc., identified by the graphic code in the first or second sub-result. Subsequently, the first quantity can be compared with a preset quantity condition. When the preset quantity condition is met, the flat items to be sorted can be transferred from the code scanning position to the induction position. The equality of the first and second sub-results can mean that the graphic codes obtained by both are the same, for example, the same flat item express delivery numbers, etc. are identified.

[0088] In other embodiments, to account for the possibility that a flat piece may be bent or that the side of the flat piece with the graphical code is not facing the specified direction, resulting in the first and second sub-results being unequal, the consistency of the graphical code information in the first and second sub-results can be used to determine whether the first number of flat pieces to be sorted meets a preset quantity condition. The first and second sub-results can be equal or unequal. Based on the consistency of the graphical code information contained in each of the first and second sub-results, the first and second sub-results can be aggregated based on the consistency of the graphical code information. Identical graphical code information obtained after aggregation corresponds to the same flat piece, and the number of graphical code information types corresponds to the number of flat pieces to be sorted at the scanning station. For example, if the first and second sub-results indicate the presence of multiple identical graphical codes, the number of flat pieces to be sorted can be determined to be one. If the first and second sub-results indicate the presence of multiple different graphical code information, the first number of flat pieces to be sorted can be determined based on the number of graphical code information types. Based on this, the first number can be compared with the preset quantity condition. If it meets the preset quantity condition, the flat pieces to be sorted can be transferred from the scanning station to the infeed station. It can more accurately determine whether the number of flat parts to be sorted at the infeed position meets the preset quantity conditions based on the consistency of the graphic code information in the scanning results.

[0089] This embodiment scans the flat items to be sorted at the scanning location in at least a first preset direction and a second preset direction, thereby maximizing recognition of the graphical codes on the surfaces of the flat items to be sorted, thereby preventing omissions. When the first and second sub-results corresponding to the two directions are equal, determining whether the first quantity of the flat items to be sorted meets the preset quantity requirement based on one of the sub-results reduces the complexity of the determination process, allowing for a more convenient and efficient determination and avoiding delays in the sorting process.

[0090] In one embodiment, determining whether the second quantity of flat parts to be sorted meets a preset quantity condition based on the first image information includes: obtaining coordinate information of corner points of the flat parts in the first image information; determining the number of first corner point groups based on the coordinate information of the corner points of the flat parts; if the number of the first corner point groups meets the corner point group number condition, determining that the second quantity of flat parts to be sorted meets the preset quantity condition.

[0091] Specifically, the first image information may include coordinate information for sampling points corresponding to all flat parts in the infeed that are not completely covered by other flat parts. By processing the first image information using image recognition technology, sampling points corresponding to corner points of the flat parts to be sorted can be identified within the first image information. Furthermore, by combining the distribution of each corner point in the image and depth information, it can be determined whether different corner points belong to the same flat part. By grouping the corner point coordinate information according to the flat part to which they belong, one or more first corner point groups can be generated, each of which corresponds to a flat part to be sorted.

[0092] In other embodiments, the number of the first corner point groups can also be determined based on the number of flat part corner point coordinate information and the obtained reference number of flat part corner points. Specifically, the reference number of flat part corner points can be obtained based on the shape of the flat part. For example, in this embodiment, an association relationship between different flat part shapes and their corresponding number of corner points can be pre-established, for example, the number of corner points corresponding to a triangular flat part is three, the number of corner points corresponding to a quadrilateral flat part is four, and so on. During sorting, the shape of the flat part to be processed can be pre-set to obtain its corresponding reference number of flat part corner points. Furthermore, based on the number of flat part corner point coordinate information and the reference number of flat part corner points, the number of first corner point groups can be calculated. For example, when processing a flat part with a quadrilateral shape, the reference number of flat part corner points can be 4. Then, when the number of flat part corner point coordinate information is 9, the number of first corner point groups can be calculated to be three.

[0093] Based on this, the number of the first corner point group can indicate the minimum number of flat parts to be sorted at the infeed. Therefore, a corner point group quantity condition can be pre-set based on a preset quantity condition, and the number of the first corner point group can be compared with the corner point group quantity condition to determine whether the number of flat parts to be sorted at the infeed meets the preset quantity condition.

[0094] After acquiring first image information of the infeed position, this embodiment determines the number of first corner point groups based on the coordinate information of the flat article corner points in the first image information. Furthermore, based on whether the number of first corner point groups meets a corner point group quantity condition, it determines whether the number of flat articles to be sorted in the infeed position meets a preset quantity condition. Since the first image information may include coordinate information of uncovered corner points of all flat articles to be sorted in the infeed position, the number of first corner point groups determined based on the distribution of the flat article corner point coordinate information or its relationship with a reference number of flat article corner points can be used to reflect the number of flat articles to be sorted in the infeed position. Subsequently, based on the relationship between the number of first corner point groups and the corner point group quantity condition, a relatively accurate determination can be made as to whether the number of flat articles to be sorted in the infeed position meets the preset quantity condition.

[0095] In one embodiment, determining whether the posture of the flat piece to be sorted meets a preset posture condition based on the first image information includes: obtaining the coordinate information of the corner points of the flat piece in the first image information, and obtaining the reference coordinate information of the infeed position; determining the positional relationship information between the flat piece to be sorted and the infeed position based on the coordinate information of the corner points of the flat piece and the reference coordinate information of the infeed position; if the positional relationship information meets the preset position condition, determining whether the posture of the flat piece to be sorted meets the preset posture condition.

[0096] Specifically, the induction position reference coordinate information may include coordinate information of corner points of the induction position surface, or coordinate information corresponding to an edge of one side of the induction position surface. When the induction position surface is within the field of view of the first image capture device, the induction position reference coordinate information can be directly obtained from the first image information. In other embodiments, the induction position reference coordinate information may also be predetermined based on the positional relationship between the first image capture device and the induction position surface.

[0097] Based on this, the direction of at least one side edge of the infeed table can be determined based on the infeed reference coordinate information, while the outline information of the flat piece to be sorted can be determined based on the flat piece corner coordinate information. Furthermore, based on the outline information of the flat piece to be sorted and the direction of at least one side edge of the infeed table, the positional relationship information of the flat piece to be sorted relative to the infeed table can be determined, and further, it can be determined whether this positional relationship information meets a preset position condition. For example, the positional relationship information of the flat piece to be sorted relative to the infeed table can be the rotation angle of the flat piece to be sorted relative to the infeed table, and the preset position condition can be a threshold range for the rotation angle.

[0098] When the induction station reference coordinate information includes the coordinates of the induction station's table corners, the induction station's table outline can be further determined. By comparing this induction station's table outline with the outline of the flat parts to be sorted, the positional relationship between the flat parts to be sorted and the induction station's table can be determined. For example, this positional relationship information can include the relative orientation of the two, as well as whether the outline of the flat parts to be sorted extends beyond the outline of the induction station's table. Preset position conditions can include the distance range between the flat parts to be sorted and the center of the induction station's table, the area range by which the outline of the flat parts to be sorted extends beyond the outline of the induction station's table, and so on.

[0099] The positional relationship information between the flat piece to be sorted and the infeed position is compared with the preset position condition. When the positional relationship information meets the preset position condition, it can be considered that the posture of the flat piece to be sorted meets the preset posture condition.

[0100] This embodiment obtains the flat piece corner coordinate information from the first image information and the reference coordinate information of the infeed position. Based on the positional relationship between the two, it can determine the rotation angle, relative orientation, and other positional relationship information of the flat piece to be sorted in the infeed position relative to the infeed position. This information can then be compared with the preset position conditions to determine whether the position of the flat piece to be sorted in the infeed position meets the preset position conditions. By promptly identifying abnormal position conditions, it can avoid damage to the flat piece to be sorted when it is subsequently transferred to the sorting equipment.

[0101] In one embodiment, as shown in FIG2 , the above-mentioned determination of the positional relationship information between the flat parts to be sorted and the infeed position based on the coordinate information of the corner points of the flat parts and the reference coordinate information of the infeed position includes:

[0102] Step S201 : determining a first direction corresponding to a side edge of the infeed position according to reference coordinate information of the infeed position.

[0103] Specifically, the infeed side of the infeed station can be the side of the infeed table that the flat pieces to be sorted pass through when being transferred from the infeed station to the sorting equipment. For example, the infeed station reference coordinate information can include coordinate information of two corner points corresponding to the infeed side of the infeed table. Based on the infeed station reference coordinate information, the first direction corresponding to the infeed side can be determined.

[0104] It is understood that the induction position reference coordinate information may also include coordinate information of corner points corresponding to other side edges of the induction position table. Based on the induction position reference coordinate information, the direction corresponding to at least one side edge of the induction position table can be obtained. Then, based on the positional relationship between the side edge and the induction side edge, the first direction corresponding to the induction side edge can be converted.

[0105] Step S202: determining a second direction corresponding to at least one side of the flat part to be sorted based on the coordinate information of the corner points of the flat part.

[0106] Specifically, the second direction corresponding to any side of the flat piece to be sorted can be determined based on the coordinate information of the two corner points in the flat piece corner coordinate information.

[0107] Step S203 : determining the positional relationship information between the flat parts to be sorted and the infeed position according to the angles of the first direction and the second direction.

[0108] Specifically, based on the first direction and the second direction determined in step S201 and step S202 respectively, the angle between the two can be further determined in this step and used as the rotation angle of the flat parts to be sorted relative to the side of the supply, thereby obtaining the positional relationship information between the flat parts to be sorted and the supply position.

[0109] Preferably, in this embodiment, one of the corner points of the infeed side of the infeed station can be set as the coordinate origin, and the direction of the infeed side can be set as the X-axis of the coordinate system. Based on this, the corner point of the flat piece to be sorted can be projected onto the plane of the infeed station's table, and its planar coordinate information on this plane can be obtained. Furthermore, the planar coordinate information of the corner point can be used to determine the slope of the line along which at least one side of the flat piece to be sorted lies, thereby determining the angle between the second direction of the side and the first direction of the infeed side of the infeed station.

[0110] For example, the above scenario can be shown in Figure 3, where the origin of the coordinate system is one of the endpoints of the infeed side of the infeed position, the X-axis is the straight line on which the infeed side of the infeed position lies, and the coordinate information corresponding to the four corner points of the flat parts to be sorted are represented as (x1, y1), (x2, y2), (x3, y3), and (x4, y4). The angle θ between the first direction and the second direction can be calculated as shown in the following formula:

[0111] Since the shape of the flat piece to be sorted is rectangular, the angle θ between the first direction and the second direction can be obtained by taking the average value of the angles between the straight line defined by the coordinates (x1, y1) and (x2, y2) and the straight line defined by the coordinates (x3, y3) and (x4, y4) and the X-axis, thereby more accurately reflecting the rotation angle of the flat piece to be sorted.

[0112] In this embodiment, considering that flat pieces to be sorted at the infeed position need to be transferred to the sorting equipment via the side edge of the infeed, and that excessive rotation of the flat pieces relative to the side edge can easily damage the flat pieces during transfer, a first direction corresponding to the side edge of the infeed position is determined based on the reference coordinate information of the infeed position, and a second direction corresponding to at least one side edge of the flat piece to be sorted is determined based on the coordinate information of the corner points of the flat piece to be sorted. This allows the rotation angle of the flat piece to be sorted relative to the side edge of the infeed position to be determined based on the angle between the first and second directions. Subsequently, whether this angle meets the preset position condition can be used to determine whether the position of the flat piece to be sorted meets the preset position condition. This allows for timely detection of excessive rotation of the flat piece to be sorted, helping to prevent damage to the flat piece during subsequent transfer to the sorting equipment.

[0113] In one embodiment, determining whether the third quantity of flat parts to be sorted meets a preset quantity condition based on the second image information includes: obtaining coordinate information of corner points of the flat parts in the second image information; determining the number of second corner point groups based on the coordinate information of the corner points of the flat parts in the second image information; if the number of second corner point groups meets the corner point group quantity condition, determining whether the third quantity of flat parts to be sorted meets the preset quantity condition.

[0114] Specifically, in this embodiment, after obtaining second image information of the flat articles to be sorted, captured at the sorting equipment, the second image information can be processed using image recognition technology to identify sampling points corresponding to corner points of the flat articles to be sorted in the second image information, and to determine whether different corner points belong to the same flat article to be sorted. Subsequently, the corner point coordinate information can be grouped according to the flat article to be sorted, resulting in one or more second corner point groups. Based on whether the number of second corner point groups meets a corner point group number condition, it can be determined whether the third number of flat articles to be sorted meets a preset number condition.

[0115] In some other methods, the reference number of flat part corner points can be further obtained, and the number of second corner point groups can be determined based on the number of flat part corner point coordinate information in the second image information and the reference number of flat part corner points. Then, based on whether the number of second corner point groups meets the corner point group number condition, it can be determined whether the third number of flat parts to be sorted meets the preset quantity condition.

[0116] In this embodiment, after acquiring the second image information captured at the sorting device, the number of second corner point groups is determined based on the coordinate information of the flat article corner points in the second image information. Based on whether the number of second corner point groups meets the corner point group quantity requirement, the number of flat articles to be sorted at the infeed position is determined to meet the preset quantity requirement. This allows for a quick and convenient estimation of the number of flat articles to be sorted on the sorting device and a relatively accurate determination of whether the number meets the preset quantity requirement, thereby helping to avoid subsequent missorting or damage caused by an abnormal number of flat articles to be sorted being fed into the sorting grid.

[0117] In one embodiment, the above method further includes: if it is determined based on the scanning result that the first quantity of the flat pieces to be sorted does not meet the preset quantity condition, or it is determined based on the first image information that the second quantity of the flat pieces to be sorted does not meet the preset quantity condition, or it is determined based on the first image information that the posture of the flat pieces to be sorted does not meet the preset posture condition, or it is determined based on the second image information that the third quantity of the flat pieces to be sorted does not meet the preset quantity condition, then indicating that the flat pieces to be sorted are abnormal pieces.

[0118] Specifically, for flat items passing through the scanning station, infeed station, or sorting equipment during the sorting process, if the number of flat items to be sorted does not meet a preset quantity requirement, or if their position does not meet a preset position requirement, the flat item to be sorted can be indicated as an abnormal item. Consequently, a prompt message can be sent to the processing equipment in the corresponding sorting stage, which will then direct the abnormal item to the return port.

[0119] In this embodiment, abnormal conditions of flat parts to be sorted are judged separately at the code scanning position, the parts feeding position, and the sorting equipment. Abnormal parts can be identified layer by layer through multi-link inspection, effectively improving the probability of successful identification of abnormal flat parts to be sorted during the sorting process, which is conducive to preventing abnormal parts from being missorted or damaged in subsequent sorting.

[0120] In order to further illustrate the flat parts sorting auxiliary method of the present application, it is described below through detailed embodiments.

[0121] Specifically, as shown in Figure 4, the method in this embodiment can identify the number or posture of the flat parts to be sorted, targeting the scanning position, the supply position, and the sorting equipment link that the flat parts to be sorted pass through during the sorting process. By comparing the identified number with the preset quantity condition and the posture with the preset posture condition, it is determined whether the flat parts to be sorted are abnormal parts, and the sorting equipment then performs subsequent processing on the flat parts to be sorted based on the detection results. Among them, the sorting equipment in this embodiment is a sorting vehicle, the preset quantity condition can be that the number of flat parts to be sorted is one, and the preset posture condition can be that the rotation angle of the flat parts to be sorted is less than a threshold angle. The threshold angle can be set to 10 degrees.

[0122] At the scanning station, at least two scanning cameras can scan the flat items to be sorted on the table from at least two directions to obtain scanning results. As shown in Figure 5, the at least two scanning cameras can include a first scanning camera positioned above the scanning station table and a second scanning camera positioned below the scanning station table. The first scanning camera can scan the flat items to be sorted on the scanning station table from the top, while the second scanning camera can scan the flat items to be sorted from the bottom through a transparent portion of the scanning station table. The number of flat items to be sorted in the scanning station can be determined based on the consistency of the graphical code information contained in the scanning results obtained by each scanning camera. For example, if the scanning results from each scanning camera indicate the presence of multiple identical graphical codes, the number of flat items to be sorted can be determined to be one. If the scanning results from each scanning camera indicate the presence of multiple different graphical codes, the number of flat items to be sorted can be determined based on the number of different graphical codes. The obtained number of flat pieces to be sorted can then be compared with a preset number condition. If the number is greater than 1, the flat piece to be sorted is indicated as an abnormal piece; otherwise, the flat piece to be sorted is indicated as a normal piece and is transferred to the infeed position. In other embodiments, since the flat pieces to be sorted may have graphic codes on both surfaces, the number identification at the code scanning position can also be performed by first determining whether the scanning results of two scanning cameras are equal after obtaining the two results. If the two are equal, the number of flat pieces to be sorted is then determined based on the number of types of graphic codes in the scanning results obtained by either scanning camera, and the number is compared with the preset number condition.

[0123] For flat parts to be sorted that have been transferred to the induction station, the induction station can use a push plate located on one side of its tabletop to push the flat parts on the tabletop toward the sorting equipment via the induction station's side edges. As shown in Figure 6 , at the induction station, a first image capture device located above the tabletop can capture first image information of the induction station's tabletop and the flat parts to be sorted thereon. The first image capture device can be an intelligent stereo camera, and the first image information can include a depth map corresponding to the first image capture device's field of view and coordinate information of the corner points of the flat parts to be sorted.

[0124] Among them, based on the flat part corner point coordinate information in the first image information, the distribution information and height information of each corner point can be obtained, thereby determining whether different corner points belong to the same flat part to be sorted. By grouping the flat part corner point coordinate information according to the flat part to be sorted, one or more first corner point groups can be obtained. In some other embodiments, the number of first corner point groups can also be calculated based on the number of flat part coordinate information and the reference number of flat part corner points. For example, when processing a flat part to be sorted with a quadrilateral shape, the reference number of flat part corner points can be 4. When the number of flat part corner point coordinate information is 9, the number of first corner point groups can be considered to be 3. Based on the determined number of first corner point groups, it can be further compared with the corner point group number condition. The corner point group number condition can be set according to a preset number condition. In this embodiment, the corner point group number condition can be that the number of corner point groups is not greater than 1. Based on this, when the number of the first corner point group is greater than 1, it can be indicated that the second number of flat parts to be sorted on the infeed position does not meet the preset number condition and is marked as an abnormal part. When the number of the first corner point group is equal to 1, it can be indicated that the second number of flat parts to be sorted on the infeed position meets the preset number condition.

[0125] On the other hand, based on the coordinate information of the flat object's corner points in the first image information, it is also possible to determine whether the position of the flat object to be sorted meets a preset position condition. Specifically, in this embodiment, based on the positional relationship between the first image acquisition device and the induction table, one of the endpoints of the induction side of the induction table, i.e., one of the corner points of the induction table, can be set as the coordinate origin, the straight line on which the induction side is located can be set as the X-axis of the coordinate system, and the plane on which the induction table is located can be set as the XY plane of the coordinate system. Based on this, the plane coordinate information of each corner point can be determined based on the flat object's corner point coordinate information. Furthermore, based on the plane coordinate information of each corner point, the slope of the straight line on which at least one side of the flat object to be sorted is located can be determined, thereby determining the angle between the second direction of the flat object's side and the first direction (i.e., the X-axis) of the induction side of the induction table. This angle can be used as the rotation angle of the flat object to be sorted, thereby determining the positional relationship information between the flat object to be sorted and the induction table. By comparing the obtained rotation angle with the threshold angle in the preset posture condition, it can be determined whether the posture of the flat parts to be sorted at the infeed position meets the preset posture condition.

[0126] When the number of flat pieces to be sorted in the infeed does not meet a preset quantity requirement, or their position does not meet a preset position requirement, the flat piece to be sorted can be indicated as an abnormal piece. Flat pieces to be sorted that have completed image information acquisition in the infeed and are indicated as abnormal pieces can be discharged from the infeed table to the return port, while flat pieces to be sorted that are not indicated as abnormal pieces can be pushed to the sorting equipment via the push plate located on one side of the infeed table via the side of the infeed.

[0127] The sorting equipment can be configured to capture second image information of the flat pieces to be sorted on the sorting equipment by providing a second image capture device. The second image capture device can be an intelligent stereo camera, and the second image information can include a depth map corresponding to the field of view of the second image capture device and coordinate information of the corner points of the flat pieces to be sorted. Using a method for determining the number of flat pieces to be sorted in the infeed position, the number of second corner point groups corresponding to the coordinate information of the flat piece corner points in the second image information can be determined. The number of second corner point groups can then be compared with a preset quantity condition to determine whether the flat pieces to be sorted on the sorting equipment meet the preset quantity condition. If the number of flat pieces to be sorted on the sorting equipment does not meet the preset quantity condition, the flat piece to be sorted can be designated as an abnormal piece, and the sorting equipment can direct the abnormal piece to a return port. If the number of flat pieces to be sorted on the sorting equipment meets the preset quantity condition, the sorting equipment can direct the flat pieces to a normal bin for subsequent sorting.

[0128] This embodiment uses visual recognition, utilizing scanning results or image information captured by barcode scanning cameras and intelligent stereo cameras at the scanning station, the infeed station, and the sorting equipment. This system identifies the quantity and position of flat items to be sorted, and determines whether they meet preset quantity and position requirements. This multi-step, layered approach allows for maximum identification of abnormal items. This effective identification and processing of abnormal items prevents flat items from drifting, being missorted, or even being damaged when being fed to the sorting equipment, ensuring sorting quality.

[0129] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0130] Based on the same inventive concept, embodiments of the present application also provide a flat part sorting assistance device for implementing the aforementioned flat part sorting assistance method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more of the following embodiments of the flat part sorting assistance device can be found in the aforementioned limitations of the flat part sorting assistance method and will not be further elaborated here.

[0131] In one embodiment, as shown in FIG7 , a flat parts sorting auxiliary device 700 is provided, comprising:

[0132] The code scanning result acquisition module 701 is used to obtain the code scanning result of the flat piece to be sorted at the code scanning position;

[0133] A first moving module 702 is configured to move the flat pieces to be sorted to a feeding position if it is determined based on the code scanning result that the first quantity of the flat pieces to be sorted meets a preset quantity condition;

[0134] A first image information acquisition module 703 is used to acquire first image information of the flat parts to be sorted collected at the infeed position;

[0135] A second moving module 704 is configured to move the flat pieces to be sorted to a sorting device if it is determined based on the first image information that the second quantity of the flat pieces to be sorted meets the preset quantity condition, and if it is determined based on the first image information that the posture of the flat pieces to be sorted meets the preset posture condition;

[0136] A second image information acquisition module 705 is used to acquire second image information of the flat parts to be sorted collected at the sorting device;

[0137] The sorting module 706 is configured to perform a sorting operation on the flat pieces to be sorted if it is determined based on the second image information that the third quantity of the flat pieces to be sorted meets the preset quantity condition.

[0138] In one embodiment, the scanning result includes a first sub-result and a second sub-result, wherein the first sub-result represents a result obtained by scanning the flat piece to be sorted from a first preset direction, and the second sub-result represents a result obtained by scanning the flat piece to be sorted from a second preset direction; the if first moving module 702 is further configured to move the flat piece to be sorted to a feeding position if the first sub-result and the second sub-result are equal, and if it is determined based on the first sub-result or the second sub-result that the first quantity of the flat pieces to be sorted meets a preset quantity condition.

[0139] In one embodiment, the second moving module 704 is further used to obtain the coordinate information of the corner points of the flat parts in the first image information; determine the number of first corner point groups based on the coordinate information of the corner points of the flat parts in the first image information; if the number of the first corner point groups meets the corner point group number condition, determine that the second number of the flat parts to be sorted meets the preset number condition.

[0140] In one embodiment, the second moving module 704 is further used to obtain the coordinate information of the corner points of the flat parts in the first image information and obtain the reference coordinate information of the infeed position; determine the positional relationship information between the flat parts to be sorted and the infeed position based on the coordinate information of the corner points of the flat parts and the reference coordinate information of the infeed position; if the positional relationship information meets the preset position condition, determine whether the posture of the flat parts to be sorted meets the preset posture condition.

[0141] In one embodiment, the second moving module 704 is further used to determine a first direction corresponding to a side edge of the infeed position based on the reference coordinate information of the infeed position; determine a second direction corresponding to at least one side edge of the flat piece to be sorted based on the coordinate information of the flat piece corner point; and determine positional relationship information between the flat piece to be sorted and the infeed position based on the angle between the first direction and the second direction.

[0142] In one embodiment, the sorting module 706 is further used to obtain the coordinate information of the corner points of the flat parts in the second image information; determine the number of second corner point groups based on the coordinate information of the corner points of the flat parts in the second image information; if the number of the second corner point groups meets the corner point group number condition, determine whether the third number of the flat parts to be sorted meets the preset number condition.

[0143] In one embodiment, the above-mentioned device also includes an abnormal part indication module, which is used to indicate that the flat parts to be sorted are abnormal parts if it is determined based on the scanning result that the first quantity of the flat parts to be sorted does not meet the preset quantity condition, or it is determined based on the first image information that the second quantity of the flat parts to be sorted does not meet the preset quantity condition, or it is determined based on the first image information that the posture of the flat parts to be sorted does not meet the preset posture condition, or it is determined based on the second image information that the third quantity of the flat parts to be sorted does not meet the preset quantity condition.

[0144] Each module in the aforementioned flat piece sorting assistance device may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of one or more processors in a computer device or flat piece sorting assistance device in the form of hardware, or may be stored in a memory in the computer device or flat piece sorting assistance device in the form of software, so that one or more processors can call and execute the corresponding operations of each module.

[0145] In one embodiment, a terminal is provided, which can be a flat parts sorting auxiliary device, and its internal structure diagram can be shown in Figure 8, and can include one or more processors, memories, input / output interfaces (Input / Output, abbreviated as I / O) and communication interfaces. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor can be used to provide computing and control capabilities. The memory can include a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer-readable instructions. The internal memory provides an environment for the operation of the operating system and computer-readable instructions in the non-volatile storage medium. The input / output interface can be used to exchange information between the processor and an external device. The communication interface can be used to communicate with an external terminal through a network connection. When the computer-readable instructions are executed by the processor, a flat parts sorting auxiliary method is implemented.

[0146] Those skilled in the art will understand that the structure shown in FIG8 is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the flat part sorting auxiliary equipment to which the solution of the present application is applied. The specific flat part sorting auxiliary equipment may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0147] In one embodiment, a flat piece sorting auxiliary device is provided, comprising a memory and one or more processors, wherein the memory stores computer-readable instructions, and the one or more processors implement the steps of the above-mentioned method embodiments when executing the computer-readable instructions.

[0148] In one embodiment, as shown in FIG9 , a flat part sorting auxiliary system is provided, which includes: a barcode scanning camera for scanning flat parts to be sorted at a barcode scanning position, a first image acquisition device for capturing images of flat parts to be sorted at a feeding position, a second image acquisition device for capturing images of flat parts to be sorted on a sorting device, and the flat part sorting auxiliary device in the above embodiment.

[0149] Specifically, a barcode scanning camera can be connected to the flat part sorting auxiliary device, capable of scanning the flat parts to be sorted at the scanning position and transmitting the scanning results to the flat part sorting auxiliary device. A first image acquisition device can be connected to the flat part sorting auxiliary device, capable of capturing images of the flat parts to be sorted at the infeed position and transmitting the captured first image information to the flat part sorting auxiliary device. A second image acquisition device can be connected to the flat part sorting auxiliary device, capable of capturing images of the flat parts to be sorted on the sorting device and transmitting the captured second image information to the flat part sorting auxiliary device.

[0150] The system in this embodiment, by arranging a barcode scanning camera at the barcode scanning position, a first image acquisition device at the feeding position, and a second image acquisition device at the sorting device, can collect the scanning results or image information of the flat parts to be sorted in different links of the flat parts sorting process, so that the flat parts sorting auxiliary equipment can accurately judge whether the quantity and posture of the flat parts to be sorted meet the preset quantity conditions or preset posture conditions based on the received barcode scanning results and image information, which is conducive to avoiding the floating, missorting or even damage of flat parts with abnormal quantity or posture during the sorting process, thereby ensuring the sorting quality.

[0151] In one embodiment, there are at least two barcode scanning cameras for scanning flat parts to be sorted at the barcode scanning position in at least two directions.

[0152] Specifically, the system in this embodiment may include at least two barcode scanning cameras, which can be respectively set at different positions of the barcode scanning position, scan the flat parts to be sorted at the barcode scanning position from at least two directions, and send the scanning results obtained to the flat part sorting auxiliary equipment.

[0153] This embodiment uses at least two barcode scanning cameras to scan the flat pieces to be sorted at the scanning position in at least two different directions, thereby achieving maximum recognition of the graphic codes on the surfaces of the flat pieces to be sorted and avoiding omissions. This allows the flat piece sorting auxiliary device to more accurately determine whether the number of flat pieces to be sorted at the supply position meets the preset quantity conditions based on the obtained scanning results.

[0154] In one embodiment, at least one of the at least two barcode scanning cameras is used to scan the flat parts to be sorted through a transparent portion of the table at the barcode scanning position.

[0155] Specifically, in this embodiment, at least one of the two barcode scanning cameras can be set below the table of the scanning position. It can scan the graphic code on the surface of the flat part to be sorted that contacts the table of the scanning position through the transparent part of the table of the scanning position, and send the obtained scanning results to the flat part sorting auxiliary equipment.

[0156] In this embodiment, a scanning camera is provided that can scan the flat pieces to be sorted through the transparent part of the table at the scanning position, so that the graphic code on the surface of the flat piece to be sorted that is in contact with the table at the scanning position can also be scanned, which can further avoid missing the graphic code, so that the flat piece sorting auxiliary equipment can make a more accurate estimate of the number of flat pieces to be sorted at the scanning position based on the scanning results.

[0157] In one embodiment, one or more computer-readable storage media are provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by one or more processors, the steps in the above-mentioned method embodiments are implemented.

[0158] In one embodiment, a computer program product is provided, comprising computer-readable instructions, which implement the steps of the above-mentioned method embodiments when executed by one or more processors.

[0159] 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, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions.

[0160] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through computer-readable instructions. The computer-readable instructions can be stored in a non-volatile computer-readable storage medium. When the computer-readable instructions are executed, they can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may 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 may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0161] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, 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.

[0162] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

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

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

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

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

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

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

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

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

9. A flat part sorting auxiliary device, including a memory and one or more processors, the memory stores computer-readable instructions, characterized in that, When the one or more processors execute the computer-readable instructions, the steps of the method according to any one of claims 1 to 7 are implemented.

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

11. One or more computer-readable storage media having computer-readable instructions stored thereon, wherein, When the computer-readable instructions are executed by one or more processors, the steps of the method according to any one of claims 1 to 7 are implemented.

12. A computer program product, comprising computer-readable instructions, characterized in that, When the computer-readable instructions are executed by one or more processors, the steps of the method according to any one of claims 1 to 7 are implemented.

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