CN116362274B - High-speed bar code reader - Google Patents
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- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1439—Methods for optical code recognition including a method step for retrieval of the optical code
- G06K7/1447—Methods for optical code recognition including a method step for retrieval of the optical code extracting optical codes from image or text carrying said optical code
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- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
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- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/146—Methods for optical code recognition the method including quality enhancement steps
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Abstract
The invention provides a high-speed bar code reader, which is provided with a tracking area image capturing unit for capturing real-time images of a tracking area, a bar code image identification unit and a bar code image extraction unit for identifying and extracting bar code images, a gesture parameter acquisition unit for acquiring real-time gesture parameters of bar codes, a recognition area image capturing unit for capturing real-time images of a recognition area, a gesture parameter prediction unit for predicting target gesture parameters of the bar codes when the bar code images enter a designated position of the recognition area, a bar code image processing unit for processing the bar code images in the real-time images captured by the recognition area image capturing unit according to the target gesture parameters, and a bar code image identification unit for identifying the content of the bar codes from the processed bar code images.
Description
Technical Field
The invention relates to the technical field of electronic information, in particular to a high-speed bar code reader.
Background
Compared with the traditional electronic tag technology, the bar code, in particular the two-dimensional bar code, has the characteristics of large information carrying quantity, high recognition speed, low manufacturing cost and the like, and is widely applied to a plurality of technical fields such as electronic payment, electronic commerce logistics, identity recognition and the like, so that a large number of bar code readers oriented to different application occasions, such as bar code payment equipment used for electronic payment in public transportation such as buses and subway stations, bar code scanning guns used for registering object logistics information in warehouses and express stations and the like, bar code scanning equipment used for recognizing the identity of an approach person in libraries and movie theatre entrances and the like, are induced. In these application scenarios, the barcode and the barcode reader are required to be in a certain relative static state, for example, a scanning gun is placed above the barcode pattern and stopped for a certain time, or a mobile terminal such as a smart phone displaying the barcode pattern is placed in front of a scanning window of the barcode scanning device and stopped for a certain time, so that the barcode reader can obtain clear barcode images, and further the recognition success rate is improved. In the field of automatic control, in order to improve production efficiency, identification of a bar code carried by an object moving at a high speed is required, and under a complex industrial production environment and a state that the object carrying the bar code moves at a high speed, the relative position and the relative angle between a bar code reader and the bar code are uncontrollable, so that the situation that a bar code image shot by the bar code reader is overlarge in shooting angle, inaccurate in focusing, blurred in movement, uneven in illumination and the like may exist, and the success rate of bar code identification is low.
Disclosure of Invention
Based on the problems, the invention provides a high-speed bar code reader which has high recognition success rate for bar codes carried by objects moving at high speed.
In view of this, the present invention proposes a high-speed bar code reader, comprising:
the tracking area image capturing unit is used for capturing real-time images of a tracking area, and the tracking area is a part or all of conveying channels of a moving object carrying a bar code;
the bar code image identification unit is used for identifying an image area containing the bar code image in the real-time image;
the bar code image extraction unit is used for extracting a bar code image from the real-time image;
the system comprises a gesture parameter acquisition unit, a detection unit and a detection unit, wherein the gesture parameter acquisition unit is used for acquiring real-time gesture parameters of a bar code according to the bar code image, the real-time gesture parameters comprise a first included angle of a plane where the bar code image is located relative to a standard gesture plane and a second included angle of a real-time rotation angle of the bar code after being rotationally projected to the standard gesture plane relative to a standard angle, and the standard angle is an angle of a vertical line of at least one edge line of the bar code in the standard gesture relative to the movement direction of the conveying channel;
the gesture parameter prediction unit is used for predicting target gesture parameters of the bar code when the bar code image enters the designated position of the identification area;
The identification area image capturing unit is used for capturing real-time images of an identification area, the identification area is positioned on a conveying channel of a moving object carrying a bar code, and the identification area is far away from one side of the tracking area, which is close to an inlet of the conveying channel;
the bar code image processing unit is used for processing the bar code image in the real-time image captured by the image capturing unit of the identification area according to the target attitude parameter;
and the bar code image recognition unit is used for recognizing the content of the bar code from the processed bar code image.
Further, in the above high-speed barcode reader, the barcode image recognition unit includes:
a moving object identification subunit, configured to identify a moving object entering the tracking area from the real-time image;
a surface area image extraction subunit, configured to extract a surface area image of the moving object from the real-time image;
and the candidate bar code image area matching subunit is used for scanning the candidate bar code image area with the color and the shape matched with the color and the shape of the preset bar code on the surface area image.
Further, in the above high-speed barcode reader, the candidate barcode image region matching subunit includes:
The color matching subunit is used for dividing the surface area into a plurality of subareas according to color differences, acquiring a foreground color value and a background color value of each subarea, and judging whether the front Jing Sezhi and the background color value are matched with a foreground color value and a background color value of a preset bar code or not;
an edge line extraction subunit, configured to extract an edge line of a background color coverage area of the sub-area;
and the corner number matching subunit is used for acquiring the corner number of the edge line according to a preset corner parameter so as to determine the subarea, of which the corner number is matched with the corner number of the preset bar code, as the candidate bar code image area.
Further, the high-speed bar code reader further includes:
a bar code image identification unit, configured to select a unique identifier in an unassigned state from an identifier data pool, bind each candidate bar code image area, and configure the unique identifier of the candidate bar code image area to be assigned;
the bar code image tracking unit is used for tracking the motion path change and the shape change of the bar code image on each candidate bar code image area from the entrance of the tracking area to the position before entering the identification area, so that the gesture parameter predicting unit predicts the target gesture parameter of the bar code when the bar code image enters the identification area according to the motion path change and the shape change of the bar code image on the candidate bar code image area;
And the non-bar code image rejection unit is used for rejecting candidate bar code image areas with unmatched shapes with the preset bar code according to the shape change of the bar code images on the candidate bar code image areas, releasing the binding state of the candidate bar code image areas and the corresponding unique identifiers, returning the unique identifiers to the identifier data pool and configuring the unique identifiers into unassigned states.
Further, in the above high-speed barcode reader, the standard posture plane is parallel to the ground, the standard angle is 90 degrees, and the posture parameter obtaining unit includes:
a base point determining subunit, configured to determine at least three positioning base points on the barcode image;
a first coordinate calculating subunit for calculating the moment when the positioning base point enters the tracking areaAnd a first coordinate value +/for each positioning base point>Wherein->，/>The number of the positioning base points;
a second coordinate computing subunit for computing the position of each positioning base pointEvery positioning base point at the momentTwo coordinate values->Wherein->Wherein->For the moment when the positioning base point last entered the tracking area,/i->For a pre-configured waiting time +. >A speed of movement of the moving object on the conveying path;
a first included angle calculating subunit for calculating a first included angle according toCoordinate value of each positioning base point at momentAnd calculating an included angle between the plane where the bar code image is located and the ground as the first included angle.
Further, in the above high-speed barcode reader, the attitude parameter obtaining unit further includes:
a first edge line function fitting subunit for fittingFitting the coordinate value of each positioning base point to a first edge line function of the bar code image at the moment;
a second edge line function fitting subunit, configured to fit a second edge line function of the barcode image according to the first edge line function and the first included angle, where the second edge line function is an edge line function of a projected barcode image obtained by rotationally projecting the barcode image onto a plane parallel to the ground with one edge line of the barcode image as a rotation axis and keeping the lengths of other edge lines unchanged;
and the second included angle calculating subunit is used for calculating the included angle of the perpendicular line of each edge line of the projected bar code image relative to the moving direction of the conveying channel according to the second edge line function, and determining the included angle with the minimum angle value as the second included angle.
Further, in the above high-speed barcode reader, the attitude parameter obtaining unit further includes:
a third coordinate computing subunit for computing according to the first edge line functionCoordinates of a center point and coordinates of corners of the bar code image at moment, wherein the corners are intersection points between every two adjacent edge lines of the bar code image;
a time calculating subunit for calculating the moving speed of the moving object on the conveying channelCalculating the moment when the central point of the bar code image enters the appointed position of the identification area +.>；
A fourth coordinate calculating subunit for calculating the moment of the cornerCoordinate values of (2);
a gesture parameter calculation subunit for calculating the time according to the cornerCalculating the coordinate values of the bar code image at time +.>Is a target attitude parameter of (a).
Further, in the above high-speed barcode reader, the attitude parameter obtaining unit further includes:
the gesture parameter corrector unit is used for extracting barcode images and time slots from real-time images at different moments according to the barcode image extraction unitIs corrected for the attitude parameters of (a).
Further, in the above high-speed barcode reader, the barcode image recognition unit includes:
A highlight region identification subunit, configured to identify a highlight region on the barcode image;
and the shadow area identification subunit is used for identifying the shadow area on the bar code image.
Further, in the above high-speed barcode reader, the barcode image recognition unit further includes:
a local image extraction subunit, configured to extract a replacement image corresponding to a highlight region or a shadow region on the barcode image from the real-time image captured by the tracking area image capturing unit;
a gesture conversion subunit, configured to convert the replacement image into a corresponding time according to the target gesture parameterIs a target attitude of (a);
and the image splicing subunit is used for splicing the replacement image with the bar code image in the real-time image captured by the recognition area image capturing unit to generate a recognizable bar code image when the highlight area or the shadow area is unrecognizable.
The invention provides a high-speed bar code reader, which is provided with a tracking area image capturing unit for capturing real-time images of a tracking area, a bar code image identification unit and a bar code image extraction unit for identifying and extracting bar code images, a gesture parameter acquisition unit for acquiring real-time gesture parameters of bar codes, a recognition area image capturing unit for capturing real-time images of a recognition area, a gesture parameter prediction unit for predicting target gesture parameters of the bar codes when the bar code images enter a designated position of the recognition area, a bar code image processing unit for processing the bar code images in the real-time images captured by the recognition area image capturing unit according to the target gesture parameters, and a bar code image identification unit for identifying the content of the bar codes from the processed bar code images.
Drawings
FIG. 1 is a schematic block diagram of a high-speed bar code reader provided in one embodiment of the present application;
fig. 2 is a flow chart of a high-speed bar code recognition method according to an embodiment of the present application.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present application and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced otherwise than as described herein, and therefore the scope of the present application is not limited to the specific embodiments disclosed below.
In the description of the present application, the term "plurality" means two or more, unless explicitly defined otherwise, the orientation or positional relationship indicated by the terms "upper", "lower", etc. are based on the orientation or positional relationship shown in the drawings, merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. The terms "coupled," "mounted," "secured," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of this specification, the terms "one embodiment," "some implementations," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
A high-speed barcode reader and a high-speed barcode recognition method provided according to some embodiments of the present invention are described below with reference to the accompanying drawings.
As shown in fig. 1, a first aspect of the present invention proposes a high-speed bar code reader, comprising:
the tracking area image capturing unit is used for capturing real-time images of a tracking area, and the tracking area is a part or all of conveying channels of a moving object carrying a bar code;
the bar code image identification unit is used for identifying an image area containing the bar code image in the real-time image;
the bar code image extraction unit is used for extracting a bar code image from the real-time image;
The system comprises a gesture parameter acquisition unit, a detection unit and a detection unit, wherein the gesture parameter acquisition unit is used for acquiring real-time gesture parameters of a bar code according to the bar code image, the real-time gesture parameters comprise a first included angle of a plane where the bar code image is located relative to a standard gesture plane and a second included angle of a real-time rotation angle of the bar code after being rotationally projected to the standard gesture plane relative to a standard angle, and the standard angle is an angle of a vertical line of at least one edge line of the bar code in the standard gesture relative to the movement direction of the conveying channel;
the gesture parameter prediction unit is used for predicting target gesture parameters of the bar code when the bar code image enters the designated position of the identification area;
the identification area image capturing unit is used for capturing real-time images of an identification area, the identification area is positioned on a conveying channel of a moving object carrying a bar code, and the identification area is far away from one side of the tracking area, which is close to an inlet of the conveying channel;
the bar code image processing unit is used for processing the bar code image in the real-time image captured by the image capturing unit of the identification area according to the target attitude parameter;
and the bar code image recognition unit is used for recognizing the content of the bar code from the processed bar code image.
Specifically, the tracking area image capturing unit and the identification area image capturing unit are two image sensing units on the bar code reader, and the bar code reader is arranged above a moving object conveying channel such as a conveyor belt. The identification area image capturing unit captures images of the bar code such as a two-dimensional bar code and the like carried by the object below the bar code reader in a downward direction, and the area on the conveyor belt covered by the shooting vision place of the identification area image capturing unit is the identification area. The image capturing unit of the tracking area faces to the entrance direction of the conveyor belt, the area of the conveyor belt from the entrance of the conveyor belt to the identification area is the tracking area, when the bar code reader is arranged above the tail end of the conveyor belt, the tracking area is the whole conveying channel, namely the complete area of the conveyor belt, and when the bar code reader is arranged at any position in the middle of the conveyor belt, the tracking area is the partial conveying channel, namely the partial area between the entrance of the conveyor belt and the identification area. By adopting the technical scheme of the embodiment, the tracking area image capturing unit starts to track the bar code carried on the surface of the moving object carrying the bar code when the moving object enters the tracking area, and acquires the real-time gesture parameters of the bar code image through the gesture parameter acquisition unit, so that the real-time gesture parameters of the bar code image acquired in the tracking process are utilized to predict the target gesture parameters of the bar code image entering the recognition area, and the bar code image contained in the real-time image captured by the recognition area image capturing unit is processed according to the target gesture parameters.
In the technical solution of the foregoing embodiment, taking a plane parallel to the ground as the carrying surface on which the moving object is placed on the conveying channel, and the shooting direction of the image capturing unit in the recognition area is a face down, the standard posture plane is a plane parallel to the ground. In some application scenes, the bar code is printed on the outer package of the product, and the outer package of the product is often a rectangular hard paper shell and the like, so that in the conveying process of the product, the plane of the bar code image can be kept to be a standard posture plane as long as the face on which the bar code is printed is placed upwards. In other application scenarios, the outer package of the product may be not a standard rectangle but a trapezoid, a prism, a triangle, or the like, or the bar code is directly printed on the irregularly-shaped product body without the outer package, and at this time, the plane of the bar code image may not be a standard posture plane, and the posture parameters of the bar code image need to be calculated by analyzing the real-time image.
In the above high-speed barcode reader, the barcode image recognition unit includes:
a moving object identification subunit, configured to identify a moving object entering the tracking area from the real-time image;
A surface area image extraction subunit, configured to extract a surface area image of the moving object from the real-time image;
and the candidate bar code image area matching subunit is used for scanning the candidate bar code image area with the color and the shape matched with the color and the shape of the preset bar code on the surface area image.
The image capturing unit of the tracking area has a certain distance from the entrance of the conveying channel, so that when a moving object carrying the bar code just enters the tracking area, the definition of the bar code image in the captured real-time image is not high, and due to the problem of shooting angle, the deformation of the bar code image is serious, and the bar code cannot be identified through the image characteristics such as bar code positioning identification and the like in the bar code image. In the above embodiment, by scanning the moving object surface area image, an area matching in color and shape with the color and shape of the preset barcode is acquired on the moving object surface area image, and is determined as a candidate barcode image area for subsequent screening.
In some embodiments of the present invention, the color and shape of the moving object surface area image is also screened by the size of the area matching the color and shape of the preset barcode, and for the area with too small size or too large size, the color and shape of the area matching the color and shape of the preset barcode is not determined as the candidate barcode image area.
In the above high-speed barcode reader, the candidate barcode image region matching subunit includes:
the color matching subunit is used for dividing the surface area into a plurality of subareas according to color differences, acquiring a foreground color value and a background color value of each subarea, and judging whether the front Jing Sezhi and the background color value are matched with a foreground color value and a background color value of a preset bar code or not;
an edge line extraction subunit, configured to extract an edge line of a background color coverage area of the sub-area;
and the corner number matching subunit is used for acquiring the corner number of the edge line according to a preset corner parameter so as to determine the subarea, of which the corner number is matched with the corner number of the preset bar code, as the candidate bar code image area.
Although barcodes of various colors and shapes exist in various application scenes, in a mass production environment, in order to improve transportation and production efficiency, rectangular or square barcodes of colors and shapes which are favorable for recognition, namely black foreground and white background, are generally adopted. For rectangular or square bar codes, due to the problem of the shooting angle of the tracking area image capturing unit, when a moving object just enters the tracking area, the bar code image is often prismatic, trapezoidal and the like, and is in a right-angle corner under a standard posture, and the bar code image obtained by long-distance large-angle shooting can be in a larger obtuse angle or a smaller acute angle. In the foregoing technical solutions of the foregoing embodiments, the preset corner parameter specifically refers to a preset upper corner angle limit and a preset lower corner angle limit, and when the corner angle on the edge line is greater than the preset upper corner angle limit or less than the preset lower corner angle limit, the corner angle is not counted in the number of corners of the edge line. By adopting the technical scheme of the embodiment, the candidate bar code image area can be obtained from the surface area image of the moving object rapidly, and the bar code image area can be positioned without shooting a clear image of the bar code.
The high-speed bar code reader further comprises:
a bar code image identification unit, configured to select a unique identifier in an unassigned state from an identifier data pool, bind each candidate bar code image area, and configure the unique identifier of the candidate bar code image area to be assigned;
the bar code image tracking unit is used for tracking the motion path change and the shape change of the bar code image on each candidate bar code image area from the entrance of the tracking area to the position before entering the identification area, so that the gesture parameter predicting unit predicts the target gesture parameter of the bar code when the bar code image enters the identification area according to the motion path change and the shape change of the bar code image on the candidate bar code image area;
and the non-bar code image rejection unit is used for rejecting candidate bar code image areas with unmatched shapes with the preset bar code according to the shape change of the bar code images on the candidate bar code image areas, releasing the binding state of the candidate bar code image areas and the corresponding unique identifiers, returning the unique identifiers to the identifier data pool and configuring the unique identifiers into unassigned states.
Specifically, the identifier data pool is configured according to the upper limit of the number of objects that can be accommodated in the tracking area. For example, when the upper limit of the number of objects that can be accommodated in the tracking area is 20, an identifier data pool containing identifiers with a number greater than 20 is configured, and preferably, the number of identifiers in the identifier data pool is 3 to 5 times the upper limit of the number of objects that can be accommodated in the tracking area. When a moving object enters the tracking area and scans the candidate bar code image areas on the surface of the tracking area, a unique identifier is allocated to each candidate bar code image area. After the moving object leaves the tracking area or when the image on the candidate bar code image area is recognized as not being a bar code image in the tracking process, the unique identifier bound with the image is recovered and put into an identifier data pool for recycling. By adopting the technical scheme of the embodiment, the unique identifier distributed in the candidate bar code image area in the tracking area can be ensured, and the problem that excessive memory space is occupied or memory overflows due to overlarge accumulated value of the identifier caused by long-time mass object conveying can be avoided. In addition, when a moving object just enters a tracking area, because of the problems of shooting angle and shooting definition, a large error may exist in the identification of colors and shapes, so that the situation that an area which does not contain a bar code image is mistakenly identified as a candidate bar code image area occurs.
In the above high-speed bar code reader, the standard attitude plane is parallel to the ground, the standard angle is 90 degrees, and the attitude parameter obtaining unit includes:
a base point determining subunit, configured to determine at least three positioning base points on the barcode image;
a first coordinate computing subunit for computing the location base point entering the heelThe moment of tracing the areaAnd a first coordinate value +/for each positioning base point>Wherein->，/>The number of the positioning base points;
a second coordinate computing subunit for computing the position of each positioning base pointSecond coordinate value +.>Wherein->Wherein->For the moment when the positioning base point last entered the tracking area,/i->For a pre-configured waiting time +.>A speed of movement of the moving object on the conveying path;
a first included angle calculating subunit for calculating a first included angle according toCoordinate value of each positioning base point at momentCalculating the included angle between the plane of the bar code image and the ground as the first included angle。
In the above high-speed barcode reader, the gesture parameter acquisition unit further includes:
a first edge line function fitting subunit for fitting Fitting the coordinate value of each positioning base point to a first edge line function of the bar code image at the moment;
a second edge line function fitting subunit, configured to fit a second edge line function of the barcode image according to the first edge line function and the first included angle, where the second edge line function is an edge line function of a projected barcode image obtained by rotationally projecting the barcode image onto a plane parallel to the ground with one edge line of the barcode image as a rotation axis and keeping the lengths of other edge lines unchanged;
and the second included angle calculating subunit is used for calculating the included angle of the perpendicular line of each edge line of the projected bar code image relative to the moving direction of the conveying channel according to the second edge line function, and determining the included angle with the minimum angle value as the second included angle.
In the technical solution of the above embodiment, the movement direction of the conveying channel is taken asAn axis, which is +_ with respect to a plane perpendicular to the conveying channel>And setting a scale mark at the entrance of the tracking area as a reference scale for acquiring the coordinates of the positioning base point. By three or more positioning base points on the bar code image +.>The coordinate value of the moment can determine the plane of the bar code image at the moment, so that the included angle between the plane of the bar code image and the ground is calculated as the first included angle. According to the first included angle and the coordinate value of the positioning base point, the strip can be calculated And the code image is rotationally projected to the standard attitude plane and then forms a second included angle with the standard angle.
In the above high-speed barcode reader, the gesture parameter acquisition unit further includes:
a third coordinate computing subunit for computing according to the first edge line functionCoordinates of a center point and coordinates of corners of the bar code image at moment, wherein the corners are intersection points between every two adjacent edge lines of the bar code image;
a time calculating subunit for calculating the moving speed of the moving object on the conveying channelCalculating the moment when the central point of the bar code image enters the appointed position of the identification area +.>；
A fourth coordinate calculating subunit for calculating the moment of the cornerCoordinate values of (2);
a gesture parameter calculation subunit for calculating the time according to the cornerCalculating the coordinate values of the bar code image at time +.>Is a target attitude parameter of (a).
In the above high-speed barcode reader, the gesture parameter acquisition unit further includes:
the gesture parameter corrector unit is used for extracting barcode images and time slots from real-time images at different moments according to the barcode image extraction unitIs corrected for the attitude parameters of (a).
Specifically, the waiting time is dynamically adjusted along with the movement of the moving object on the conveying channelNumerical value of pair->Calculating the attitude parameters of the moment, namely the first included angle and the second included angle, and further carrying out prediction on the moment according to the first included angle and the second included angle>Is corrected for the attitude parameters of (a).
In the above high-speed barcode reader, the barcode image recognition unit includes:
a highlight region identification subunit, configured to identify a highlight region on the barcode image;
and the shadow area identification subunit is used for identifying the shadow area on the bar code image.
In the above high-speed barcode reader, the barcode image recognition unit further includes:
a local image extraction subunit, configured to extract a replacement image corresponding to a highlight region or a shadow region on the barcode image from the real-time image captured by the tracking area image capturing unit;
a gesture conversion subunit, configured to convert the replacement image into a corresponding time according to the target gesture parameterIs a target attitude of (a);
and the image splicing subunit is used for splicing the replacement image with the bar code image in the real-time image captured by the recognition area image capturing unit to generate a recognizable bar code image when the highlight area or the shadow area is unrecognizable.
As shown in fig. 2, a first aspect of the present invention proposes a high-speed barcode reading method, which is applied to the barcode reader, and the method includes:
capturing a real-time image of a tracking area, wherein the tracking area is a part or all of a conveying channel of a moving object carrying a bar code;
identifying an image area containing a bar code image in the real-time image;
extracting a bar code image from the real-time image;
acquiring real-time attitude parameters of a bar code according to the bar code image, wherein the real-time attitude parameters comprise a first included angle of a plane in which the bar code image is positioned relative to a standard attitude plane and a second included angle of a real-time rotation angle of the bar code after being rotationally projected to the standard attitude plane relative to a standard angle, and the standard angle is an angle of a vertical line of at least one edge line of the bar code under the standard attitude relative to the movement direction of the conveying channel;
predicting target attitude parameters of the bar code when the bar code image enters the designated position of the identification area;
capturing a real-time image of an identification area, wherein the identification area is positioned on a conveying channel of a moving object carrying a bar code, and the identification area is far away from one side of the tracking area, which is close to an inlet of the conveying channel;
Processing the bar code image in the real-time image captured by the image capturing unit of the identification area according to the target attitude parameters;
and identifying the content of the bar code from the processed bar code image.
Specifically, the tracking area image capturing unit and the identification area image capturing unit are two image sensing units on the bar code reader, and the bar code reader is arranged above a moving object conveying channel such as a conveyor belt. The identification area image capturing unit captures images of the bar code such as a two-dimensional bar code and the like carried by the object below the bar code reader in a downward direction, and the area on the conveyor belt covered by the shooting vision place of the identification area image capturing unit is the identification area. The image capturing unit of the tracking area faces to the entrance direction of the conveyor belt, the area of the conveyor belt from the entrance of the conveyor belt to the identification area is the tracking area, when the bar code reader is arranged above the tail end of the conveyor belt, the tracking area is the whole conveying channel, namely the complete area of the conveyor belt, and when the bar code reader is arranged at any position in the middle of the conveyor belt, the tracking area is the partial conveying channel, namely the partial area between the entrance of the conveyor belt and the identification area. By adopting the technical scheme of the embodiment, the tracking area image capturing unit starts to track the bar code carried on the surface of the moving object carrying the bar code when the moving object enters the tracking area, and acquires the real-time gesture parameters of the bar code image through the gesture parameter acquisition unit, so that the real-time gesture parameters of the bar code image acquired in the tracking process are utilized to predict the target gesture parameters of the bar code image entering the recognition area, and the bar code image contained in the real-time image captured by the recognition area image capturing unit is processed according to the target gesture parameters.
In the technical solution of the foregoing embodiment, taking a plane parallel to the ground as the carrying surface on which the moving object is placed on the conveying channel, and the shooting direction of the image capturing unit in the recognition area is a face down, the standard posture plane is a plane parallel to the ground. In some application scenes, the bar code is printed on the outer package of the product, and the outer package of the product is often a rectangular hard paper shell and the like, so that in the conveying process of the product, the plane of the bar code image can be kept to be a standard posture plane as long as the face on which the bar code is printed is placed upwards. In other application scenarios, the outer package of the product may be not a standard rectangle but a trapezoid, a prism, a triangle, or the like, or the bar code is directly printed on the irregularly-shaped product body without the outer package, and at this time, the plane of the bar code image may not be a standard posture plane, and the posture parameters of the bar code image need to be calculated by analyzing the real-time image.
In the above-mentioned high-speed barcode reading method, the step of identifying the image area including the barcode image in the real-time image specifically includes:
Identifying a moving object entering the tracking area from the real-time image;
extracting a surface area image of the moving object from the real-time image;
and scanning candidate bar code image areas with the colors and the shapes matched with the colors and the shapes of the preset bar codes on the surface area image.
The image capturing unit of the tracking area has a certain distance from the entrance of the conveying channel, so that when a moving object carrying the bar code just enters the tracking area, the definition of the bar code image in the captured real-time image is not high, and due to the problem of shooting angle, the deformation of the bar code image is serious, and the bar code cannot be identified through the image characteristics such as bar code positioning identification and the like in the bar code image. In the above embodiment, by scanning the moving object surface area image, an area matching in color and shape with the color and shape of the preset barcode is acquired on the moving object surface area image, and is determined as a candidate barcode image area for subsequent screening.
In some embodiments of the present invention, the color and shape of the moving object surface area image is also screened by the size of the area matching the color and shape of the preset barcode, and for the area with too small size or too large size, the color and shape of the area matching the color and shape of the preset barcode is not determined as the candidate barcode image area.
In the above-mentioned high-speed barcode reading method, the step of scanning the candidate barcode image area with the color and shape matching with those of the preset barcode on the surface area image specifically includes:
dividing the surface area into a plurality of subareas according to the color difference, acquiring a foreground color value and a background color value of each subarea, and judging whether the foreground color value and the background color value are matched with a foreground color value and a background color value of a preset bar code;
extracting edge lines of background color coverage of the subareas;
and acquiring the corner number of the edge line according to a preset corner parameter, so as to determine the subarea, of which the corner number is matched with the corner number of the preset bar code, as the candidate bar code image area.
Although barcodes of various colors and shapes exist in various application scenes, in a mass production environment, in order to improve transportation and production efficiency, rectangular or square barcodes of colors and shapes which are favorable for recognition, namely black foreground and white background, are generally adopted. For rectangular or square bar codes, due to the problem of the shooting angle of the tracking area image capturing unit, when a moving object just enters the tracking area, the bar code image is often prismatic, trapezoidal and the like, and is in a right-angle corner under a standard posture, and the bar code image obtained by long-distance large-angle shooting can be in a larger obtuse angle or a smaller acute angle. In the foregoing technical solutions of the foregoing embodiments, the preset corner parameter specifically refers to a preset upper corner angle limit and a preset lower corner angle limit, and when the corner angle on the edge line is greater than the preset upper corner angle limit or less than the preset lower corner angle limit, the corner angle is not counted in the number of corners of the edge line. By adopting the technical scheme of the embodiment, the candidate bar code image area can be obtained from the surface area image of the moving object rapidly, and the bar code image area can be positioned without shooting a clear image of the bar code.
In the above high-speed barcode reading method, after the step of obtaining the number of corners of the edge line according to a preset corner parameter to determine the sub-region in which the number of corners matches the number of corners of the preset barcode as the candidate barcode image region, the method further includes:
selecting a unique identifier in an unassigned state from an identifier data pool, binding each candidate bar code image area, and configuring the unique identifiers of the candidate bar code image areas as assigned states;
tracking the motion path change and the shape change of the bar code image on each candidate bar code image area from the entrance of the tracking area to the position before entering the identification area, so that the gesture parameter prediction unit predicts the target gesture parameter of the bar code when the bar code image enters the appointed position of the identification area according to the motion path change and the shape change of the bar code image on the candidate bar code image area;
and eliminating the candidate bar code image area with the shape not matched with the shape of the preset bar code according to the shape change of the bar code image on the candidate bar code image area, releasing the binding state of the candidate bar code image area and the corresponding unique identifier, returning the unique identifier to the identifier data pool and configuring the unique identifier into an unassigned state.
Specifically, the identifier data pool is configured according to the upper limit of the number of objects that can be accommodated in the tracking area. For example, when the upper limit of the number of objects that can be accommodated in the tracking area is 20, an identifier data pool containing identifiers with a number greater than 20 is configured, and preferably, the number of identifiers in the identifier data pool is 3 to 5 times the upper limit of the number of objects that can be accommodated in the tracking area. When a moving object enters the tracking area and scans the candidate bar code image areas on the surface of the tracking area, a unique identifier is allocated to each candidate bar code image area. After the moving object leaves the tracking area or when the image on the candidate bar code image area is recognized as not being a bar code image in the tracking process, the unique identifier bound with the image is recovered and put into an identifier data pool for recycling. By adopting the technical scheme of the embodiment, the unique identifier distributed in the candidate bar code image area in the tracking area can be ensured, and the problem that excessive memory space is occupied or memory overflows due to overlarge accumulated value of the identifier caused by long-time mass object conveying can be avoided. In addition, when a moving object just enters a tracking area, because of the problems of shooting angle and shooting definition, a large error may exist in the identification of colors and shapes, so that the situation that an area which does not contain a bar code image is mistakenly identified as a candidate bar code image area occurs.
In the above high-speed barcode reading method, the standard posture plane is parallel to the ground, the standard angle is 90 degrees, and the step of acquiring the real-time posture parameter of the barcode according to the barcode image specifically includes:
determining at least three positioning base points on the bar code image;
calculating the moment when the positioning base point enters the tracking areaAnd a first coordinate value of each positioning base pointWherein->，/>The number of the positioning base points;
calculate each positioning base point atSecond coordinate value +.>Wherein->Wherein->For the moment when the positioning base point last entered the tracking area,/i->For a pre-configured waiting time +.>A speed of movement of the moving object on the conveying path;
according toCoordinate value of each positioning base point at moment +.>And calculating an included angle between the plane where the bar code image is located and the ground as the first included angle.
In the above high-speed barcode reading method, the step of acquiring the real-time posture parameter of the barcode according to the barcode image further comprises:
according toFitting the coordinate value of each positioning base point to a first edge line function of the bar code image at the moment;
fitting a second edge line function of the bar code image according to the first edge line function and the first included angle, wherein the second edge line function is an edge line function of a projected bar code image obtained by rotationally projecting the bar code image onto a plane parallel to the ground under the condition that one edge line of the bar code image is taken as a rotation axis and the lengths of other edge lines are kept unchanged;
And calculating an included angle of a perpendicular line of each edge line of the projected bar code image relative to the moving direction of the conveying channel according to the second edge line function, and determining the included angle with the minimum angle value as the second included angle.
In the technical solution of the above embodiment, the movement direction of the conveying channel is taken asAn axis, which is +_ with respect to a plane perpendicular to the conveying channel>And setting a scale mark at the entrance of the tracking area as a reference scale for acquiring the coordinates of the positioning base point. By means of a stripThree or more positioning base points on the code image are at +.>The coordinate value of the moment can determine the plane of the bar code image at the moment, so that the included angle between the plane of the bar code image and the ground is calculated as the first included angle. And according to the first included angle and the coordinate value of the positioning base point, a second included angle between the bar code image and the standard angle after being rotationally projected to the standard attitude plane can be calculated.
In the above high-speed barcode reading method, the step of acquiring the real-time posture parameter of the barcode according to the barcode image further comprises:
calculation from a first edge line functionCoordinates of a center point and coordinates of corners of the bar code image at moment, wherein the corners are intersection points between every two adjacent edge lines of the bar code image;
According to the moving speed of the moving object on the conveying channelCalculating the moment when the central point of the bar code image enters the appointed position of the identification area +.>；
Calculating the corner at the momentCoordinate values of (2);
at the moment according to the cornerCalculating the coordinate values of the bar code image at time +.>Is a target attitude parameter of (a).
In the above high-speed barcode reading method, the step of acquiring the real-time posture parameter of the barcode according to the barcode image further comprises:
according to the bar code image extracted from the real-time images at different moments by the bar code image extraction unit, and the time slots are countedAnd correcting the attitude parameters.
Specifically, the waiting time is dynamically adjusted along with the movement of the moving object on the conveying channelNumerical value of pair->Calculating the attitude parameters of the moment, namely the first included angle and the second included angle, and further carrying out prediction on the moment according to the first included angle and the second included angle>Is corrected for the attitude parameters of (a).
In the above-mentioned high-speed bar code reading method, the step of identifying the content of the bar code from the processed bar code image specifically includes:
identifying a highlight region on the barcode image;
and identifying a shadow area on the bar code image.
In the above-mentioned high-speed barcode reading method, the step of identifying the content of the barcode from the processed barcode image further includes:
extracting a replacement image corresponding to a highlight region or a shadow region on the bar code image from the real-time image captured by the tracking area image capturing unit;
converting the replacement image into corresponding time according to the target attitude parametersIs a target attitude of (a);
and when the highlight region or the shadow region is unidentifiable, splicing the replacement image with the bar code image in the real-time image captured by the image capturing unit of the identification region to generate an identifiable bar code image.
The invention provides a high-speed bar code reader, which is provided with a tracking area image capturing unit for capturing real-time images of a tracking area, a bar code image identification unit and a bar code image extraction unit for identifying and extracting bar code images, a gesture parameter acquisition unit for acquiring real-time gesture parameters of bar codes, a recognition area image capturing unit for capturing real-time images of a recognition area, a gesture parameter prediction unit for predicting target gesture parameters of the bar codes when the bar code images enter a designated position of the recognition area, a bar code image processing unit for processing the bar code images in the real-time images captured by the recognition area image capturing unit according to the target gesture parameters, and a bar code image identification unit for identifying the content of the bar codes from the processed bar code images.
It should be noted that in this document relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Embodiments in accordance with the present invention, as described above, are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention and various modifications as are suited to the particular use contemplated. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (9)
1. A high speed bar code reader comprising:
the tracking area image capturing unit is used for capturing real-time images of a tracking area, and the tracking area is a part or all of conveying channels of a moving object carrying a bar code;
the bar code image identification unit is used for identifying an image area containing the bar code image in the real-time image;
the bar code image extraction unit is used for extracting a bar code image from the real-time image;
the system comprises a gesture parameter acquisition unit, a detection unit and a detection unit, wherein the gesture parameter acquisition unit is used for acquiring real-time gesture parameters of a bar code according to the bar code image, the real-time gesture parameters comprise a first included angle of a plane where the bar code image is located relative to a standard gesture plane and a second included angle of a real-time rotation angle of the bar code after being rotationally projected to the standard gesture plane relative to a standard angle, and the standard angle is an angle of a vertical line of at least one edge line of the bar code in the standard gesture relative to the movement direction of the conveying channel;
the gesture parameter prediction unit is used for predicting target gesture parameters of the bar code when the bar code image enters the designated position of the identification area;
the identification area image capturing unit is used for capturing real-time images of an identification area, the identification area is positioned on a conveying channel of a moving object carrying a bar code, and the identification area is far away from one side of the tracking area, which is close to an inlet of the conveying channel;
The bar code image processing unit is used for processing the bar code image in the real-time image captured by the image capturing unit of the identification area according to the target attitude parameter;
the bar code image recognition unit is used for recognizing the content of the bar code from the processed bar code image;
the standard attitude plane is parallel to the ground, the standard angle is 90 degrees, and the attitude parameter acquisition unit comprises:
a base point determining subunit, configured to determine at least three positioning base points on the barcode image;
a first coordinate calculating subunit for calculating the moment when the positioning base point enters the tracking areaFirst coordinate value of (2)Wherein->，/>The number of the positioning base points;
a second coordinate calculating subunit for calculating the time of the positioning base pointSecond coordinate value of (2)Wherein->Wherein->For the moment when the positioning base point last entered the tracking area,/i->For a pre-configured waiting time +.>For the moving objectThe speed of movement of the body on said transport path;
a first included angle calculating subunit for calculating a first included angle according toCoordinate value of each positioning base point at moment +.>And calculating an included angle between the plane where the bar code image is located and the ground as the first included angle.
2. The high-speed barcode reader of claim 1, wherein the barcode image recognition unit comprises:
a moving object identification subunit, configured to identify a moving object entering the tracking area from the real-time image;
a surface area image extraction subunit, configured to extract a surface area image of the moving object from the real-time image;
and the candidate bar code image area matching subunit is used for scanning the candidate bar code image area with the color and the shape matched with the color and the shape of the preset bar code on the surface area image.
3. The high speed barcode reader of claim 2 wherein the candidate barcode image region matching subunit comprises:
the color matching subunit is used for dividing the surface area into a plurality of subareas according to color differences, acquiring a foreground color value and a background color value of each subarea, and judging whether the front Jing Sezhi and the background color value are matched with a foreground color value and a background color value of a preset bar code or not;
an edge line extraction subunit, configured to extract an edge line of a background color coverage area of the sub-area;
and the corner number matching subunit is used for acquiring the corner number of the edge line according to a preset corner parameter so as to determine the subarea, of which the corner number is matched with the corner number of the preset bar code, as the candidate bar code image area.
4. The high speed bar code reader of claim 2, further comprising:
a bar code image identification unit, configured to select a unique identifier in an unassigned state from an identifier data pool, bind each candidate bar code image area, and configure the unique identifier of the candidate bar code image area to be assigned;
the bar code image tracking unit is used for tracking the motion path change and the shape change of the bar code image on each candidate bar code image area from the entrance of the tracking area to the position before entering the identification area, so that the gesture parameter predicting unit predicts the target gesture parameter of the bar code when the bar code image enters the identification area according to the motion path change and the shape change of the bar code image on the candidate bar code image area;
and the non-bar code image rejection unit is used for rejecting candidate bar code image areas with unmatched shapes with the preset bar code according to the shape change of the bar code images on the candidate bar code image areas, releasing the binding state of the candidate bar code image areas and the corresponding unique identifiers, returning the unique identifiers to the identifier data pool and configuring the unique identifiers into unassigned states.
5. The high-speed barcode reader of claim 1, wherein the pose parameter acquisition unit further comprises:
a first edge line function fitting subunit for fittingFitting the coordinate value of each positioning base point to a first edge line function of the bar code image at the moment;
a second edge line function fitting subunit, configured to fit a second edge line function of the barcode image according to the first edge line function and the first included angle, where the second edge line function is an edge line function of a projected barcode image obtained by rotationally projecting the barcode image onto a plane parallel to the ground with one edge line of the barcode image as a rotation axis and keeping the lengths of other edge lines unchanged;
and the second included angle calculating subunit is used for calculating the included angle of the perpendicular line of each edge line of the projected bar code image relative to the moving direction of the conveying channel according to the second edge line function, and determining the included angle with the minimum angle value as the second included angle.
6. The high-speed barcode reader of claim 5, wherein the pose parameter acquisition unit further comprises:
A third coordinate computing subunit for computing according to the first edge line functionCoordinates of a center point and coordinates of corners of the bar code image at moment, wherein the corners are intersection points between every two adjacent edge lines of the bar code image;
a time calculating subunit for calculating the moving speed of the moving object on the conveying channelCalculating the moment when the central point of the bar code image enters the appointed position of the identification area +.>；
A fourth coordinate calculating subunit for calculating the moment of the cornerCoordinate values of (2);
a gesture parameter calculation subunit for calculating the time according to the cornerCalculating the coordinate value of the bar code image at momentIs a target attitude parameter of (a).
7. The high-speed barcode reader of claim 6, wherein the pose parameter acquisition unit further comprises:
the gesture parameter corrector unit is used for extracting barcode images and time slots from real-time images at different moments according to the barcode image extraction unitIs corrected for the attitude parameters of (a).
8. The high-speed barcode reader of claim 7, wherein the barcode image recognition unit comprises:
a highlight region identification subunit, configured to identify a highlight region on the barcode image;
And the shadow area identification subunit is used for identifying the shadow area on the bar code image.
9. The high speed barcode reader of claim 8, wherein the barcode image recognition unit further comprises:
a local image extraction subunit, configured to extract a replacement image corresponding to a highlight region or a shadow region on the barcode image from the real-time image captured by the tracking area image capturing unit;
a gesture conversion subunit, configured to convert the replacement image into a corresponding time according to the target gesture parameterIs a target attitude of (a);
and the image splicing subunit is used for splicing the replacement image with the bar code image in the real-time image captured by the recognition area image capturing unit to generate a recognizable bar code image when the highlight area or the shadow area is unrecognizable.
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| JP3580901B2 (en) * | 1995-06-01 | 2004-10-27 | オリンパス株式会社 | Symbol information reader |
| KR20120003231A (en) * | 2010-07-02 | 2012-01-10 | (주) 애니모비 | 2D barcode recognition method |
| CN111144151A (en) * | 2019-12-25 | 2020-05-12 | 山东财经大学 | High-speed dynamic bar code real-time detection method based on image recognition |
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