CN109000560A - Method, apparatus and equipment based on three-dimensional camera detection package dimensions - Google Patents

Abstract

The invention discloses a method, device, equipment and computer-readable storage medium for detecting package size based on a three-dimensional camera, comprising: using a three-dimensional camera to acquire first three-dimensional data A( _xi , y _i , _zi ); use the 3D camera to acquire the second 3D data B(x _j , y _j , z _j ) of the detection platform area after placing the package to be detected; for the _zi in the first 3D data and the second 3D data Z _j in the center performs difference processing, and calculates the height value of the package to be detected according to the difference data; determines the value interval of z _j in the second three-dimensional data according to the height value, and projects the three-dimensional data in the value interval to X‑ The plane formed by the Y axis; use the data projected to the plane formed by the X‑Y axis to fit the target rectangle, and obtain the length and width values of the package to be detected according to the size of the target rectangle. By using the method, device, equipment and computer-readable storage medium provided by the present invention, the detection accuracy can be improved while ensuring the detection efficiency of the package size.

Description

Method, device and equipment for detecting package size based on three-dimensional camera

technical field

The present invention relates to the technical field of package volume measurement, in particular to a method, device, equipment and computer-readable storage medium for detecting package size based on a three-dimensional camera.

Background technique

With the rapid development of the logistics industry, higher requirements are put forward for the volume detection of packages.

At present, when the package volume detection system based on the two-dimensional camera uses the binocular camera to collect the image information of the package to be detected, it first needs to focus the camera, which makes the package detection speed slower. The imaging quality of the package image collected when the binocular camera is not in focus is poor, and generally there is a large amount of adhesive tape pasted on the outer surface of the package, which will reflect the light irradiated on the package surface to the image sensor, and will also cause the image sensor to collect The image of the package to be detected is not clear; when the multiple images of the package to be detected collected by the binocular camera are not clear, it is difficult to interact with the multiple images, making it difficult to reconstruct the three-dimensional surface shape of the package to be detected; therefore, the package based on the two-dimensional camera Volume detection system is difficult to apply in actual production.

To sum up, it can be seen that how to improve the detection accuracy while ensuring the package size detection efficiency is a problem to be solved at present.

Contents of the invention

The purpose of the present invention is to provide a method, device, equipment and computer-readable storage medium for detecting package size based on a three-dimensional camera, which has solved the problems of low detection accuracy and slow efficiency of the package volume detection system based on a two-dimensional camera in the prior art .

In order to solve the above technical problems, the present invention provides a method for detecting package size based on a three-dimensional camera, which includes: using a three-dimensional camera to obtain the first three-dimensional data A( _xi , y _, z _i ); using the three-dimensional camera to acquire the second three-dimensional data B(x _j , y _j , z _j ) of the detection platform area after placing the package to be detected; for the Z-axis data z _i and Z-axis data z _j in the second three-dimensional data is subjected to difference processing, so as to calculate the height value of the package to be detected according to the difference data; according to the height value, determine z in the second three-dimensional data The value interval of _j , the three-dimensional data in the value interval is used as the projection data, projected onto the plane formed by the XY axis; the target rectangle is fitted by using the data projected onto the plane formed by the XY axis, and according to the The size of the target rectangle is used to obtain the length value and width value of the package to be detected.

Preferably, the difference processing is performed on the Z-axis data z _i in the first three-dimensional data and the Z-axis data z _j in the second three-dimensional data, so as to calculate the package to be detected according to the difference data The height values include:

Perform difference processing on the Z-axis data z _i in the first three-dimensional data and the Z-axis data z _j in the second three-dimensional data to obtain difference data; Set the minimum height, filter the effective data in the difference data; count the frequency of the effective data appearing in each interval of the Z axis, select the target interval according to the frequency, and calculate all the differences in the target interval The average value of the data is used as the height of the package to be detected.

Preferably, the counting the frequency of the effective data appearing in each interval of the Z-axis includes: using the function of the data occurrence frequency distribution graph to count the distribution of the number of effective data in each Z-axis interval, so as to obtain the occurrence of the effective data Frequency in each bin of the Z axis.

Preferably, according to the height value, the value interval of z _j in the second three-dimensional data is determined, and the three-dimensional data in the value interval is used as projection data, and projected onto the plane formed by the XY axis, including : selecting the value interval of z _j in the second three-dimensional data by taking the height as the median value, and projecting the three-dimensional data in the value interval onto the plane formed by the XY axis.

Preferably, the acquisition of the first three-dimensional data A( _xi , y _i , z _i ) of the inspection platform area where no package to be inspected is placed by using the three-dimensional camera includes: completing the setting and preset parameters of the inspection area of the three-dimensional laser camera in advance After setting, use the 3D laser camera to acquire the first 3D data A(x _i , y _i , _zi ) of the detection platform area where no package to be detected is placed.

Preferably, using the data projected onto the plane formed by the X-Y axis to fit the target rectangle, and obtaining the length and width values of the package to be detected according to the size of the target rectangle includes: using the projection to Fitting the data on the plane formed by the X-Y axis to a minimum rectangle, and obtaining the length and width values of the rectangle to be detected according to the side length of the minimum rectangle.

The present invention also provides a device for detecting package size based on a three-dimensional camera, including: a three-dimensional camera, a detection platform, and a processor;

The three-dimensional camera is used to collect the three-dimensional data of the detection platform when the package to be detected is not placed and the three-dimensional data when the package to be detected is placed;

The processor is used to acquire the first three-dimensional data A(x _i , y _i , z _i ) of the detection platform area where the package to be detected is not placed by using the three-dimensional camera; The second three-dimensional data B(x _j , y _j , z _j ) of the platform area; performing difference processing on the Z-axis data z _i in the first three-dimensional data and the Z-axis data z _j in the second three-dimensional data, In order to calculate the height value of the package to be detected according to the difference data; according to the height value and preset rules, determine the value interval of z _j in the second three-dimensional data, and set the value within the value interval The three-dimensional data of the three-dimensional data is projected onto the plane formed by the XY axis as the projection data; the target rectangle is fitted by using the data projected onto the plane formed by the XY axis, and the size of the package to be detected is obtained according to the size of the target rectangle length and width values.

Preferably, the difference processing is performed on the Z-axis data z _i in the first three-dimensional data and the Z-axis data z _j in the second three-dimensional data, so as to calculate the package to be detected according to the difference data The height values include:

Perform difference processing on the Z-axis data z _i in the first three-dimensional data and the Z-axis data z _j in the second three-dimensional data to obtain difference data; Set the minimum height, filter the effective data in the difference data; count the frequency of the effective data appearing in each interval of the Z axis, select the target interval according to the frequency, and calculate all the differences in the target interval The average value of the data is used as the height of the package to be detected.

The present invention also provides a device for detecting package size based on a three-dimensional camera, including:

The memory is used to store the computer program; the processor is used to implement the steps of the above-mentioned method for detecting package size based on a three-dimensional camera when executing the computer program.

The present invention also provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned method for detecting package size based on a three-dimensional camera are realized.

In the method for detecting package size based on a three-dimensional camera provided by the present invention, the first three-dimensional data of the detection platform when the package to be detected is not placed and the second three-dimensional data when the package to be detected is placed are obtained respectively through the three-dimensional camera; The Z-axis data in the first three-dimensional data and the Z-axis data in the second three-dimensional data with the same axis coordinates and Y-axis coordinates are subjected to difference processing to obtain multiple sets of difference data; Detecting the height value of the package; according to the height value, determining the value interval of the Z coordinate in the second three-dimensional data, using the three-dimensional data in the value interval as projection data, and projecting it to the X-axis and Y-axis On the formed plane; use the data projected onto the plane formed by the X axis and the Y axis to fit a target rectangle, and obtain the length and width values of the package to be detected according to the target rectangle. The package volume detection method provided by the present invention uses a three-dimensional camera to obtain three-dimensional data of the size of the package to be detected. Compared with the package volume detection system based on a two-dimensional camera in the prior art, a binocular camera is used to collect multiple package images to reconstruct the package. The three-dimensional surface shape of the package to be inspected does not need to focus the camera when collecting the package to be inspected, and does not need to interactively process multiple images; therefore, the acquired three-dimensional data of the package to be inspected is more accurate, so that the package size detection result is more accurate , and greatly improved the detection efficiency.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only For some embodiments of the present invention, those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is the flowchart of the first specific embodiment of the method for detecting package size based on a three-dimensional camera provided by the present invention;

Fig. 2 is the flow chart of the second specific embodiment of the method for detecting package size based on a three-dimensional camera provided by the present invention;

Fig. 3 is a frequency distribution diagram of valid data in each interval of the Z axis;

Fig. 4 is a structural diagram of a device for detecting package size based on a three-dimensional camera provided by an embodiment of the present invention.

Detailed ways

The core of the present invention is to provide a method, device, equipment and computer-readable storage medium for detecting package size based on a three-dimensional camera, which can improve detection accuracy while ensuring package size detection efficiency.

In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Fig. 1, Fig. 1 is the flow chart of the first specific embodiment of the method for detecting package size based on the three-dimensional camera provided by the present invention; the specific operation steps are as follows:

Step S101: Using a 3D camera to acquire the first 3D data A( _xi , y _i , _zi ) of the detection platform area where no package to be detected is placed;

Before using the three-dimensional camera to collect three-dimensional data, the three-dimensional camera is installed above the detection platform, and the centerline of the three-dimensional camera is perpendicular to the detection platform, the detection platform is parallel to the ground, and the height Adjustable, adjusting the distance between the three-dimensional camera and the detection platform so that the field of view of the three-dimensional camera can cover the largest detectable cuboid package; the upper surface of the detection platform places the package to be detected; The package to be detected is a cuboid package.

After the installation of the three-dimensional camera and the detection platform is completed, the parameters of the detection area and other parameters are set.

Step S102: using the 3D camera to acquire the second 3D data B(x _j , y _j , z _j ) of the detection platform area after the package to be detected is placed;

The laser three-dimensional imaging technology has the advantages of high measuring point accuracy, high measuring point density, rich information, highly automated data processing, and highly digitalized products; therefore, the three-dimensional laser camera is used to collect three-dimensional data of the inspection platform area where the package to be inspected is not placed As well as the three-dimensional data of the detection platform area after the package to be detected is placed, the detection efficiency and detection accuracy of the size of the package to be detected can be improved, thereby accurately generating the three-dimensional information of the package to be detected.

Step S103: Perform difference processing on the Z-axis data z _i in the first three-dimensional data and the Z-axis data z _j in the second three-dimensional data, so as to calculate the height of the package to be detected based on the difference data value;

Step S104: Determine the value interval of z _j in the second three-dimensional data according to the height value, and use the three-dimensional data in the value interval as projection data to project onto the plane formed by the XY axis;

In this embodiment, the value range of z _j in the second three-dimensional data may be selected based on the median value of the height value, for example, the value range of z _j is the height value ±10mm. Select a value range for z _j in the second three-dimensional data, use the three-dimensional coordinate data in the value range as projection data, and project it onto the plane formed by the XY axis, on the one hand, reduce the error of the three-dimensional laser camera itself Influence on the detection result, on the other hand, the size information of the package to be detected is preserved as comprehensively as possible in the projection data.

Step S105: use the data projected onto the plane formed by the X-Y axis to fit a target rectangle, and obtain the length and width values of the package to be detected according to the size of the target rectangle.

The method for detecting package size based on a three-dimensional camera provided in this embodiment uses a three-dimensional laser camera to collect the three-dimensional data of the detection platform area when there is no package and the three-dimensional data when there is a package; use the difference between the two collected three-dimensional data After calculating the height value of the package to be detected, use the height value to determine the value range of z _j in the second three-dimensional data, so as to obtain the length value and width value of the package to be detected. The package size detection method provided in this embodiment solves the problems of low detection efficiency, inaccurate detection results, and difficulty in application in actual production in the existing two-dimensional camera-based package volume detection method. While ensuring the efficiency of package size detection, it improves the detection accuracy of the package, and can be applied to the package sorting system, which has good social value.

Based on the above-mentioned embodiment, in this embodiment, the Z-axis data z _i in the first three-dimensional data and the Z-axis data z _j in the second three-dimensional data are subjected to difference processing, and the obtained difference data are screened to obtain For valid data, count the frequency of occurrence of the valid data in different Z-axis intervals, and calculate the average value of the effective data in the interval with the highest occurrence frequency, so as to obtain the height value of the package to be detected.

Please refer to Fig. 2, Fig. 2 is the flow chart of the second specific embodiment of the method for detecting package size based on the three-dimensional camera provided by the present invention; the specific operation steps are as follows:

Step S201: After completing the installation and parameter setting of the 3D laser camera Visionary-T in advance, use the Visionary-T to collect the first 3D data A(x _i , y _i , _zi );

The Visionary-T is a laser 3D camera, based on the principle of 3D laser time-of-flight, adopts laser snapshot (3D Snap-shot) technology, can statically acquire effective 3D data, and output it through buses such as Ethernet. The sensor sends a group of laser dot arrays (about 25,000) each time, collects the distance information and intensity value of the relevant laser points, and then processes the data to output three-dimensional data. Among them, Visionary-T returns about 25,000 three-dimensional data each time.

According to the SOPAS software provided by SICK, the detection area setting and other parameter settings of the 3D camera are completed.

Step S202: Using the Visionary-T to collect the second three-dimensional data B(x _j , y _j , z _j ) of the detection platform area when the package to be detected is placed;

Step S203: performing difference processing on the Z-axis data z _i in the first three-dimensional data and the Z-axis data z _j in the second three-dimensional data to obtain a plurality of difference data;

Step S204: Screen valid data in the difference data according to the preset maximum height and preset minimum height of the package to be detected;

Step S205: Using the function of the data appearance frequency distribution graph, counting the distribution of the number of valid data in each Z-axis interval, so as to obtain the frequency of the effective data appearing in each Z-axis interval;

The frequency distribution of the effective data in each interval of the Z axis is shown in FIG. 3 .

Step S206: Select a target interval according to the frequency, and calculate the average value of all difference data in the target interval as the height value of the package to be detected;

Step S207: selecting the value interval of z _j in the second three-dimensional data by using the median value of the height, and projecting the three-dimensional data in the value interval onto the plane formed by the XY axis;

Step S208: Calculate the discrete points projected onto the plane formed by the X-Y axis to fit a minimum rectangle, and obtain the length and width values of the rectangle to be detected according to the side length of the minimum rectangle.

In this embodiment, the package detection speed, detection accuracy and detection environment can be dynamically adjusted by setting the range in which the difference data deviates from the average value of the difference data or the value range of _zj according to actual needs, For example, when a faster detection rate is required, the target interval for calculating the height value of the package to be detected is set to be smaller, and the calculation amount when calculating the average value of all difference data in the target interval will be corresponding reduced, thereby improving the detection speed; it is also possible to select the value interval range of z _j in the second three-dimensional data by appropriately reducing the median value of the height value, and then the value to be detected can be calculated more quickly. The length value and width value of the package, so that the detection speed can be accelerated while ensuring the measurement accuracy.

Please refer to Figure 4, Figure 4 is a structural diagram of a device for detecting package size based on a three-dimensional camera provided by an embodiment of the present invention; the specific device may include:

3D camera, detection platform, processor;

The three-dimensional camera is used to collect the three-dimensional data of the detection platform when the package to be detected is not placed and the three-dimensional data when the package to be detected is placed;

The processor is used to acquire the first three-dimensional data A(x _i , y _i , z _i ) of the detection platform area where the package to be detected is not placed by using the three-dimensional camera; The second three-dimensional data B(x _j , y _j , z _j ) of the platform area; performing difference processing on the Z-axis data z _i in the first three-dimensional data and the Z-axis data z _j in the second three-dimensional data, In order to calculate the height value of the package to be detected according to the difference data; according to the height value and preset rules, determine the value interval of z _j in the second three-dimensional data, and set the value within the value interval The three-dimensional data of the three-dimensional data is projected onto the plane formed by the XY axis as the projection data; the target rectangle is fitted by using the data projected onto the plane formed by the XY axis, and the size of the package to be detected is obtained according to the size of the target rectangle length and width values.

The device for detecting package size based on a three-dimensional camera in this embodiment is used to implement the aforementioned method for detecting package size based on a three-dimensional camera. Therefore, the specific implementation of the device for detecting package size based on a three-dimensional camera can be seen in the preceding section Detecting package size based on a three-dimensional camera For the embodiment part of the method, therefore, for the specific implementation manner, reference may be made to the description of the corresponding embodiments of each part, and details are not repeated here.

A specific embodiment of the present invention also provides a device for detecting package size based on a three-dimensional camera, including: a memory for storing a computer program; a processor for implementing the above-mentioned three-dimensional camera-based package size detection when executing the computer program steps of the method.

A specific embodiment of the present invention also provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the above-mentioned method for detecting package size based on a three-dimensional camera is implemented A step of.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same or similar parts of each embodiment can be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and for the related information, please refer to the description of the method part.

Professionals can further realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software or a combination of the two. In order to clearly illustrate the possible For interchangeability, in the above description, the composition and steps of each example have been generally described according to their functions. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present invention.

The steps of the methods or algorithms described in connection with the embodiments disclosed herein may be directly implemented by hardware, software modules executed by a processor, or a combination of both. Software modules can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other Any other known storage medium.

The method, device, equipment, and computer-readable storage medium for detecting package size based on a three-dimensional camera provided by the present invention are described above in detail. In this paper, specific examples are used to illustrate the principle and implementation of the present invention, and the descriptions of the above embodiments are only used to help understand the method and core idea of the present invention. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, some improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims (10)

1. a kind of method based on three-dimensional camera detection package dimensions characterized by comprising

The the first three-dimensional data A (x for not placing the detection platform region of package to be detected is obtained using three-dimensional camera_i,y_i,z_i)；

The second three-dimensional data B (x in the detection platform region after placing the package to be detected is obtained using the three-dimensional camera_j, y_j,z_j)；

To Z axis data z in first three-dimensional data_iWith Z axis data z in second three-dimensional data_jDifference processing is done, so as to In the height value that the package to be detected is calculated according to difference data；

According to the height value, z in second three-dimensional data is determined_jValue interval, by three dimensions in the value interval According to as data for projection, projection to X-Y axis is formed by plane；

Target rectangle is fitted using the data that X-Y axis is formed by plane are projected to, according to the size of the target rectangle, Obtain the length value and width value of the package to be detected.

2. the method as described in claim 1, which is characterized in that described to Z axis data z in first three-dimensional data_iWith it is described Z axis data z in second three-dimensional data_jDifference processing is done, in order to which the package to be detected is calculated according to difference data Height value includes:

To Z axis data z in first three-dimensional data_iWith Z axis data z in second three-dimensional data_jDifference processing is done, is obtained Difference data；

According to the preset height maximum value and preset height minimum value of the package to be detected, having in the difference data is screened Imitate data；

It counts the valid data and appears in frequency in each section of Z axis, according to the frequency selection purposes target interval, and count Calculate height of the average value of whole difference datas in the target interval as the package to be detected.

3. method according to claim 2, which is characterized in that the statistics valid data appear in each area of Z axis In frequency include:

Using data frequency of occurrences distribution map function, the distributed number of valid data in each Z axis section is counted, to obtain institute It states valid data and appears in frequency in each section of Z axis.

4. method as claimed in claim 3, which is characterized in that it is described according to the height value, determine the two or three dimension According to middle z_jValue interval, using the three-dimensional data in the value interval as data for projection, projection is formed by flat to X-Y axis Include: on face

Z in second three-dimensional data is chosen by intermediate value of the height value_jValue interval, by three in the value interval Dimension data is projected to X-Y axis and is formed by plane.

5. method as claimed in claim 4, which is characterized in that described not place package to be detected using three-dimensional camera acquisition The first three-dimensional data A (x in detection platform region_i,y_i,z_i) include:

After being previously-completed the setting of the detection zone of three-dimensional laser camera and the setting of parameter preset, the three-dimensional laser phase is utilized Machine obtains the first three-dimensional data A (x for not placing the detection platform region of package to be detected_i,y_i,z_i)。

6. such as method described in any one of claim 1 to 5, which is characterized in that the utilization project to X-Y axis be formed by it is flat Data on face fit target rectangle, according to the size of the target rectangle, obtain the package to be detected length value and Width value includes:

The utilization projects to the data that X-Y axis is formed by plane and fits minimum rectangle, according to the minimum rectangle Side length obtains the length value and width value of the rectangle to be detected.

7. a kind of device based on three-dimensional camera detection package dimensions characterized by comprising three-dimensional camera, detection platform, place Manage device；

The three-dimensional camera is for acquiring three-dimensional data of the detection platform when not placing package to be detected and placing to be checked Survey three-dimensional data when package；

The processor is used to obtain the one or three dimension for not placing the detection platform region of package to be detected using three-dimensional camera According to A (x_i,y_i,z_i)；Second three-dimensional in the detection platform region after placing the package to be detected is obtained using the three-dimensional camera Data B (x_j,y_j,z_j)；To Z axis data z in first three-dimensional data_iWith Z axis data z in second three-dimensional data_jIt makes the difference Value processing, in order to which the height value of the package to be detected is calculated according to difference data；According to the height value and preset Rule determines z in second three-dimensional data_jValue interval, using the three-dimensional data in the value interval as projection number According to projection to X-Y axis is formed by plane；Target square is fitted using the data that X-Y axis is formed by plane are projected to Shape obtains the length value and width value of the package to be detected according to the size of the target rectangle.

8. device as claimed in claim 7, which is characterized in that described to work as x_i=x_jAnd y_i=y_jWhen, to the one or three dimension According to middle Z axis data z_iWith Z axis data z in second three-dimensional data_jDifference processing is done, in order to calculate according to difference data The height value of the package to be detected includes: out

Work as x_i=x_jAnd y_i=y_jWhen, to Z axis data z in first three-dimensional data_iWith Z axis data in second three-dimensional data z_jDifference processing is done, difference data is obtained；

According to the preset height maximum value and preset height minimum value of the package to be detected, having in the difference data is screened Imitate data；

It counts the valid data and appears in frequency in each section of Z axis, according to the frequency selection purposes target interval, and count Calculate height of the average value of whole difference datas in the target interval as the package to be detected.

9. a kind of equipment based on three-dimensional camera detection package dimensions characterized by comprising

Memory, for storing computer program；

Processor is realized a kind of based on three-dimensional phase as described in any one of claim 1 to 6 when for executing the computer program The step of method of machine testing package dimensions.

10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium Program is realized a kind of based on three-dimensional camera as described in any one of claim 1 to 6 when the computer program is executed by processor The step of detecting the method for package dimensions.