TWI696804B - Volume measuring apparatus and volume measuring method - Google Patents

Abstract

A volume measuring apparatus having a first camera, a second camera, a processor and a storage is disclosed. The processor controls the first camera and the second camera to respectively capture a left-image and a right-image after being triggered, each of the images involves entire picture of a target box. The processor then performs an image identification on both the left-image and the right-image for obtaining 2D coordinates of at least six end-points of the target box from the left-image and another 2D coordinates of the at least six end-points of the target box from the right-image. Next, the processor retrieves a pre-stored calibration model from the storage, transforms the at least twelve sets of 2D coordinates into six sets of 3D coordinates, and calculates length data, width data and depth data of the target box according to the six sets of 3D coordinates.

Description

Volume measuring device and volume measuring method

The invention relates to a measuring device and a measuring method, in particular to a measuring device and a measuring method for the volume of an object.

Generally speaking, the freight company will determine the transportation fee based on the volume and weight of the goods being transported, and the storage company will also determine the storage fee based on the volume and weight of the goods received. Therefore, how to effectively measure the volume or weight of the goods is very important for related companies.

Refer to FIG. 1 for the volume measurement system of the related art. Taking a freight company as an example, some freight companies will build a measurement system inside the factory. This measurement system includes a conveyor belt 11 for transferring goods 14 and a measurement device 12 and weight set in a measurement area Count 13.

As shown in FIG. 1, when the staff is sorting the goods 14, they will place the goods 14 on the conveyor belt 11. As the conveyor belt 11 rotates, the goods 14 can be sent to the destination. The measurement area is set at a fixed position on the conveyor belt 11. When the cargo 14 reaches the measurement area, the measurement system can measure the size of the cargo 14 by a mechanical measurement device 12 (for example, by a movable ruler) The length, width and depth of the cargo 14). The weight scale 13 is disposed below the conveyor belt 11. When the goods 14 reach the measurement area, the measurement system can simultaneously measure the weight of the goods 14 with the weight scale 13.

However, the above measurement system is quite bulky and cannot be moved, so it is quite inconvenient to use.

In addition, in order to speed up the processing of goods, some logistics companies do not consider the weight of the goods, but directly produce and sell a variety of boxes with fixed sizes (such as large, medium, and small). In this way, when the logistics operator is handling the goods, he can directly charge the corresponding shipping fee and handling fee according to the size of the box carrying the goods, thereby eliminating the measurement procedure. However, the size of the above box is limited, and it is difficult to meet the needs of all users.

In view of the above problems, a novel volume measurement method should be provided on the market to assist the above-mentioned manufacturers to measure the volume of goods more conveniently and quickly.

The main purpose of the present invention is to provide a volume measuring device and a volume measuring method, which can measure the target box through two cameras on the volume measuring device, and directly obtain the volume related data of the target box.

In order to achieve the above object, the volume measuring device of the present invention mainly includes a first camera, a second camera, a processor and a storage unit. The volume measuring device controls the first camera to capture a left image and the second camera to capture a right image when the processor is triggered, wherein the left image and the right image include a target box Image. Then, the processor performs image recognition on the left image and the right image, respectively, to obtain two-dimensional coordinates of at least six endpoints of the target box in the left image, and obtain the target box in the right image The two-dimensional coordinates of at least six endpoints of the volume. Pick up Then, the processor obtains a pre-created calibration model in the storage unit, converts twelve sets of the two-dimensional coordinates into six sets of three-dimensional coordinates according to the corrected model, and then calculates the target box according to the six sets of the three-dimensional coordinates Length, width and depth.

Compared with the prior art, the technical effect of the present invention is that the image of the target box is captured by two cameras, and the volume of the target box can be obtained by identifying and calculating the image. Moreover, in the present invention, the two cameras are installed on a portable measuring device, so that storage personnel and freight personnel can more conveniently and quickly measure the volume of various goods.

11: Conveyor belt

12: Measuring equipment

13: Weight scale

14: Goods

2: Volume measurement device

20, 20’: shell

21: Grip

22: accommodating slot

30: processor

31: The first camera

32: Second camera

33: Introducer

330: Guiding area

34: Trigger unit

35: Warning unit

36: Wireless transmission unit

361: Wired transmission unit

37: display unit

38: Print unit

39: Battery unit

40: storage unit

401: Calibration model

402: Lookup table

5: target cabinet

51: endpoint

6: correction block

61: Grid

62: round target

7: Mobile device

S10: Calibration procedure

S100~S112: Calibration steps

S30: Measurement procedure

S300~312: Measurement steps

S50: Verification procedure of measurement results

S500~S512: verification steps

S70: Measurement result output program

Figure 1 is the volume measurement system of the related art.

FIG. 2 is a first specific embodiment of a schematic diagram of the volume measuring device of the present invention.

FIG. 3 is a second specific embodiment of the schematic diagram of the volume measurement device of the present invention.

FIG. 4 is a first specific embodiment of the block diagram of the volume measuring device of the present invention.

FIG. 5 is a first specific embodiment of a flowchart of the volume measurement method of the present invention.

6 is a first specific embodiment of the flowchart of the measurement program of the present invention.

7 is a first specific embodiment of the measurement schematic diagram of the present invention.

8 is a first specific embodiment of a flowchart of a measurement result verification program of the present invention.

FIG. 9 is a first specific embodiment of the flowchart of the calibration procedure of the present invention.

FIG. 10 is a first specific embodiment of the schematic diagram of the correction block of the present invention.

11 is a third specific embodiment of the schematic diagram of the volume measuring device of the present invention.

The following is a detailed description of one preferred embodiment of the present invention in conjunction with the drawings.

2 and FIG. 3 are respectively a first specific embodiment and a second specific embodiment of the schematic diagram of the volume measuring device of the present invention. The invention discloses a volume measuring device 2 (hereinafter referred to as a measuring device 2), which is used to detect the volume of a target in real time.

Specifically, the present invention discloses a portable measuring device 2 which is small in size and can be carried by a user, and this measuring device 2 is mainly used to detect a rectangular target box 5. During the measurement, the user holds the measurement device 2 and aligns the appearance of the target box 5 to obtain the measurement result directly, including the length, width and depth of the target box 5, and then obtains the target after calculation The volume of the box 5 can even be calculated again to obtain the processing fee or shipping fee of the target box 5 (to be described in detail below).

As shown in FIG. 2, the measuring device 2 mainly has a housing 20 of a specific shape, and at least has a first camera 31 and a second camera 32, wherein the first camera 31 and the second camera 32 are disposed in the same housing 20 One surface (eg, the first surface). The main technical feature of the present invention is that the first camera 31 and the second camera 32 shoot the same target cabinet 5 from different angles to obtain two images. In this way, the two images can be calculated by an algorithm to further target The two-dimensional coordinates of the box 5 in the two images are converted into three-dimensional coordinates (mainly the coordinates of the end points), and the actual length, width and depth of the target box 5 are further calculated from the three-dimensional coordinates.

The measuring device 2 may also be optionally provided with a guide 33, which is mainly disposed on the same surface of the housing 20 as the first camera 31 and the second camera 32. In an embodiment, the guide 33 is a laser light emitter, which can emit laser light having a specific shape or symbol. When the measurement device 2 is triggered by the user, the guide 33 may emit laser light toward the outside and form a guide area 330 having a specific shape.

In this embodiment, the guide area 330 is a rectangular area, and has a cross-shaped positioning point at the center to assist the user in positioning. In other embodiments, the guiding area 330 may also be an area of other shapes, and an arbitrary symbol positioning point that assists the user in positioning is displayed in the center position, not limited to the one shown in FIG. 3.

In this embodiment, the user can aim the guide area 330 at the target box 5 to be measured. When the target box 5 completely falls within the guide area 330, it means that the two images captured by the first camera 31 and the second camera 32 can be effectively recognized, so that the user can obtain effective measurement results. In other words, the guiding area 330 is the same as or similar to the imaging range of the first camera 31 and the second camera 32. It is worth mentioning that the guide 33 is mainly used to generate the guide area 330 to assist the user to obtain effective images, but the measurement device 2 does not necessarily need to be provided with the guide 33.

As shown in FIG. 2, the measuring device 2 further includes a grip 21 formed by one end of the housing 20, and a trigger unit 34 is provided on the grip 21 (in FIG. 2, a key is taken as an example). The grip 21 is for the user to hold with the hand, and is convenient for the user to press the key with the finger. When the button is pressed by the user, the guide 33 can be triggered to emit the guide area 330, and the first camera 31 and the second camera 32 can be triggered to capture left and right images respectively. In one embodiment, the measurement device 2 controls the first camera 31 and the second camera 32 to continuously capture multiple left images and multiple right images before the keys are released, so that the measurement device 2 can continuously target the target The volume of the box 5 is judged.

Please also refer to FIG. 4 for the first specific embodiment of the block diagram of the volume measuring device of the present invention. In an embodiment, the measurement device 2 of the present invention mainly includes a processor 30, and a first camera 31, a second camera 32, a guide 33, and a trigger unit 34 electrically connected to the processor 30.

In this embodiment, the trigger unit 34 (for example, the above keys) sends a trigger signal to the processor 30 when receiving an external operation from the user (for example, being pressed by the user). The processor 30 receives the trigger The trigger signal of the element 34 controls the guide 33 to emit laser light outward to form the guide area 330, controls the first camera 31 to capture the left image, and controls the second camera 32 to capture the right image. As described above, when the target box 5 completely falls within the guide area 330, the left image and the right image respectively contain the complete image of the target box 5, so the processor 30 can effectively Image recognition.

Specifically, the measurement device 2 further has a storage unit 40 in which a calibration model 401 previously created is stored. In this embodiment, the calibration model 401 records the correspondence between the two-dimensional angle of view of the first camera 31, the two-dimensional angle of view of the second camera 32, and the three-dimensional coordinate system of the real world.

If the processor 30 successfully performs image recognition on the left image and the right image, it can obtain the two-dimensional coordinates of at least six endpoints of the target cabinet 5 in the left image after the recognition, and simultaneously obtain the target cabinet in the right image The two-dimensional coordinates of at least six endpoints of the volume 5. With the calibration model 401, the processor 30 can convert the at least twelve sets of two-dimensional coordinates into at least six sets of three-dimensional coordinates, thereby calculating the length, width and depth of the target box 5 from the six sets of three-dimensional coordinates. Moreover, the processor 30 may further calculate the volume of the target box 5 according to the length, width and depth.

As described above, if the target cabinet 5 falls completely within the guide area 330, it means that the processor 30 can obtain the two-dimensional coordinates of at least six endpoints of the target cabinet 5 from the left image, and obtain the target from the right image. The two-dimensional coordinates of the same six end points of the cabinet 5. In other words, when the target box 5 completely falls into the guide area 330, the processor 30 can successfully perform image recognition on the left image and the right image to obtain the at least twelve sets of two-dimensional coordinates, and through the above conversion Program to obtain the at least six sets of three-dimensional coordinates.

As shown in FIG. 4, the measurement device 2 further includes a warning unit 35. The warning unit 35 is electrically connected to the processor 30, and can successfully obtain the left image and the right image on the processor 30, at least When twelve sets of two-dimensional coordinates, at least six sets of three-dimensional coordinates, the length, width and depth of the target box 5 or the volume of the target box 5, a warning signal is issued to inform the user that the measurement is successful.

In an embodiment, the warning unit 35 may be a speaker, and the warning signal may be a warning sound. In another embodiment, the warning unit 35 may be a light emitting diode, and the warning signal may be a warning light, but it is not limited.

The measurement device 2 further includes a wireless transmission unit 36 (such as a Wi-Fi unit or a Bluetooth unit) or a wired transmission unit 361 (such as a connector or a transmission line) that is electrically connected to the processor 30. In one embodiment, the measurement device 2 can be wirelessly connected through the wireless transmission unit 36 or wiredly connected to an external mobile device (not shown) through the wired transmission unit 361, and transmit the captured left and right images to the mobile The device is displayed on the screen of the mobile device. In this embodiment, the user can determine the angle and distance between the first camera 31, the second camera 32, and the target cabinet 5 through the visible left and right images, so the measurement device 2 does not need to be provided with引器33。 33. Guider

The measurement device 2 can also transmit the calculated length, width, depth, volume and other data of the target cabinet 5 to the mobile device through the wireless transmission unit 36 or the wired transmission unit 361 and display it on the screen of the mobile device. In this way, the user can obtain the above data directly on the mobile device after the measurement.

In another embodiment, the measurement device 2 can transmit the captured left image and right image to the mobile device through the wireless transmission unit 36 or the wired transmission unit 361, and the left image and the The right image performs image recognition to obtain the two-dimensional coordinates and the three-dimensional coordinates, and then calculates the length, width, depth, volume and other data of the target box 5. In this embodiment, the main tasks of image recognition, coordinate conversion and data calculation are performed by the processor of the mobile device Therefore, the measurement device 2 can be provided with only a low-level processor, thereby greatly reducing the manufacturing cost of the measurement device 2.

In an embodiment, the measurement device 2 may further include a display unit 37 electrically connected to the processor 30. The display unit 37 is disposed on the casing 20 and is disposed on a different surface (for example, a second surface) from the first camera 31 and the second camera 32. In this embodiment, the measurement device 2 may directly display the left and right images captured by the first camera 31 and the second camera 32 through the display unit 37 on the housing 20, or calculated by the display processor 30 Data such as the length, width, depth and volume of the target box 5. With this, the usability of the measuring device 2 can be further enhanced.

In an embodiment, the measuring device 2 further includes a printing unit 38 electrically connected to the processor 30. The printing unit 38 is disposed on the casing 20 and is disposed on a different surface (for example, a third surface) from the first camera 31 and the second camera 32. In this embodiment, after the processor 30 obtains data such as the length, width, depth, volume, processing fee, or shipping fee of the target box 5 through calculation, the data can be directly printed on the paper through the printing unit 38. In this way, it is convenient for the user to memorize the above data.

In an embodiment, the measurement device 2 further includes a battery unit 39 electrically connected to the processor 30. In this embodiment, the battery unit 39 is mainly used to store power and provide power required for the processor 30 to operate.

As shown in FIG. 4, the storage unit 40 can also store a lookup table 402. In one embodiment, the look-up table 402 is mainly used to record the correspondence between a plurality of volumes (or a plurality of lengths, widths, and depths) and fees (processing fees or shipping fees). For example, the lookup table 402 can record the shipping fee corresponding to the box with a size of 10cm*10cm*10cm* (for example, 100 yuan) and the shipping fee corresponding to a box with a size of 20cm*20cm*20cm How much (for example, 200 yuan), and so on.

As mentioned above, after the processor 30 obtains volume-related data such as the length, width and depth of the target cabinet 5 through calculation, it may further query the look-up table 402 with these volume-related data and obtain the target cabinet after query 5. The corresponding cost. In an embodiment of the invention, the measurement device 2 can send the fee to an external mobile device for display after obtaining the fee. In another embodiment, the measuring device 2 can display the cost on the display unit 37 on the housing 20. In yet another embodiment, the measurement device 2 can print the fee by the printing unit 38.

Referring to FIG. 5, it is a first specific embodiment of the flowchart of the volume measurement method of the present invention. FIG. 5 discloses a plurality of procedures required by the volume measurement method of the present invention (hereinafter simply referred to as the measurement method).

As shown in FIG. 5, before actually measuring the target cabinet 5 with the measuring device 2, the user needs to perform a calibration procedure on the measuring device 2 (step S10) to correct the first camera of the measuring device 2 The correspondence between the angle of view of 31, the angle of view of the second camera 32, and the three-dimensional space of the real world. That is, the measurement device 2 needs to establish the calibration model 401 by executing the calibration procedure. It is worth mentioning that the calibration model 401 can be created in advance during the manufacturing process of the measuring device 2 and loaded into the storage unit 40 of the measuring device 2. In this embodiment, the correction program S10 may be omitted without being executed.

After obtaining the calibration model 401, the measuring device 2 can perform a measuring procedure on the target box 5 (step S30) to obtain volume-related data such as the length, width, and depth of the target box 5 after the measurement. Next, the measurement device 2 executes a measurement result verification procedure based on the volume-related data (step S50) to confirm whether the measurement result is correct or whether the error falls within the tolerance range.

After confirming that the measurement result is correct, the measurement device 2 can further execute the measurement result output program (step S70) to output the volume-related data obtained by the measurement and based on the volume-related The data is processed further (for example, the processing fee or shipping fee is calculated, or the volume-related data, processing fee, or shipping fee is printed by the printing unit 38).

Referring to FIG. 6, it is the first specific embodiment of the flowchart of the measurement procedure of the present invention. FIG. 6 is mainly used to further explain the measurement program S30 of FIG. 5, and the measurement program S30 is mainly applied to the measurement device 2 shown in FIGS. 2 to 4.

As shown in FIG. 6, the processor 30 of the measurement device 2 determines whether the trigger unit 34 is triggered (step S300). If the trigger unit 34 is not triggered (for example, the key is not pressed by the user), the measurement device 2 does not perform any action. If the trigger unit 34 is triggered, the processor 30 activates the first camera 31 and the second camera 32 (step S302), and controls the first camera 31 to obtain the left image, and controls the second camera 32 to obtain the right image (step S304) .

It is worth mentioning that if the measuring device 2 is equipped with the guide 33, the measuring device 2 simultaneously activates the guide 33 in step S302, and simultaneously controls the guide 33 to emit outward in step S304 Laser light forms the guide area 330. This helps the user to align the first camera 31 and the second camera 32 with the target cabinet 5 to obtain effective left and right images.

Please also refer to FIG. 7, which is the first specific embodiment of the measurement schematic diagram of the present invention. In one embodiment, the first camera 31 and the second camera 32 are co-located on the same surface of the housing 20 of the measuring device 2 and capture images at the same position at different angles, thereby respectively The left image and the right image are formed. In other words, if both the left image and the right image include the overall image of the target cabinet 5, the angle of the target cabinet 5 in the left image will be different from the angle of the target cabinet 5 in the right image.

After obtaining the left image and the right image in step S304, the processor 30 performs image recognition on the left image and the right image respectively to capture at least six ends of the target cabinet 5 in the left image The two-dimensional coordinates of the point 51 and the two-dimensional coordinates of at least six end points 51 of the target box 5 in the right image are captured (step S306). As described above, because the first camera 31 and the second camera 32 have different viewing angles, the two-dimensional coordinates of the multiple end points 51 on the same target cabinet 5 in the left image will be different from these end points 51 2D coordinates in the right image.

In the embodiment of FIG. 7, the target box 5 is a rectangular body, and after performing image recognition, the processor 30 mainly captures the two-dimensional coordinates of at least six corners of the rectangular body in the left image. And capture the two-dimensional coordinates of at least six corners of the rectangular body in the right image.

Next, the processor 30 determines whether the acquisition is successful (step S308), that is, whether at least six endpoints 51 on the target cabinet 5 can be successfully identified from the left image, and the target cabinet is successfully identified from the right image 5的At least six endpoints 51.

If the processor 30 determines in step S308 that the capture fails, it means that the captured left and/or right images do not meet the image recognition conditions (the complete image of the target cabinet 5 is not included, for example, only the target cabinet 5 can be recognized The three endpoints 51). At this time, the measuring device 2 returns to step S304, the processor 30 controls the first camera 31 and the second camera 32 to capture new left images and new right images again, and executes step S306 again to obtain the target cabinet The two-dimensional coordinates of at least six endpoints 51 of 5.

Specifically, if the measurement device 2 is provided with the guide 33, the user can hold the measurement device 2 and adjust the distance between the measurement device 2 and the target box 5 according to the display position of the guide area 330 Relative angle and relative distance. As mentioned above, the user can adjust the shape and size of the guide area 330 so that when the target box 5 completely falls within the guide area 330, the left image must contain the complete image of the target box 5 , The right image also necessarily contains the complete image of the target box 5.

If it is determined in step S308 that the extraction is successful, it indicates that the processor 30 has successfully obtained at least twelve sets of two-dimensional coordinates (that is, each endpoint 51 on the target cabinet 5 corresponds to two sets of two-dimensional coordinates, respectively), At this time, the processor 30 can obtain the calibration model 401 from the storage unit 40 and insert at least twelve sets of two-dimensional coordinates into the calibration model 401 to convert the twelve sets of two-dimensional coordinates into at least six sets of three-dimensional coordinates. (Step S310). Finally, the processor 30 can calculate volume-related data such as the length, width, and depth of the target box 5 in the actual three-dimensional space according to the six sets of three-dimensional coordinates (step S312).

Specifically, the calibration model 401 is established in advance through training, and records the correspondence between the two-dimensional angle of view of the first camera 31, the two-dimensional angle of view of the second camera 32, and the three-dimensional coordinate system in the real world. When the processor 30 inputs the two-dimensional coordinates of any endpoint 51 on the target box 5 in the left image and the two-dimensional coordinates in the right image into the calibration model 401, the two sets of two-dimensional coordinates can be converted into It can correspond to a three-dimensional coordinate in three-dimensional space.

After step S312, the processor 30 may further execute the measurement result verification procedure (step S50) to determine whether the volume-related data calculated in step S312 is correct.

Please refer to FIG. 8 for the first specific embodiment of the flowchart of the measurement result verification procedure of the present invention. FIG. 8 is mainly used to further explain the measurement result verification program S50 of FIG. 5.

After the aforementioned measurement procedure S30 ends, the processor 30 can obtain the calculated volume-related data (step S500), and determine whether the historical measurement results have been temporarily stored (step S502). If the processor 30 does not temporarily store any measurement results, it means that the volume-related data obtained this time is the first piece of data, so the processor 30 will convert the volume-related data obtained in step S500 (including the target box 5’s Length, width and depth) are recorded as the first measurement results of the target box 5 (step S504), and the measurement program S30 is executed again to obtain more measurement results.

If the processor 30 determines in step S502 that at least one historical measurement result has been temporarily stored, the processor 30 further determines that the volume-related data obtained in step S500 is in error compared with one or more historical measurement results Whether it is less than a tolerance value (step S506), that is, it is judged whether the results of multiple measurements are similar.

If the judgment in step S506 is NO, it means that the user may have changed the measurement target (for example, transferred from the target box A to the target box B), thus causing the difference in multiple measurement results to be too large (ie, the difference is not less than The tolerance value). In this case, the processor 30 clears all temporarily stored measurement results (step S508), and re-records the volume-related data obtained in step S500 as the first measurement results of the target cabinet 5 (step S504) And execute the measurement program S30 again.

If the determination in step S506 is negative, it means that the user continues to aim the measuring device 2 at the same target box 5. In this case, the processor 30 temporarily stores the volume-related data obtained in step S500 as one of one or more historical measurement results (step S510).

Next, the processor 30 determines whether the number of temporarily stored historical measurement results is greater than the threshold (step S512), for example, whether the number of historical measurement results exceeds five, ten, or fifteen. If the determination in step S512 is negative, it means that the current number of reference samples is not enough, so the processor 30 executes the measurement procedure S30 again to obtain more measurement results of the target cabinet 5.

If it is determined in step S512 that the reference sample number is sufficient, the processor 30 may further execute a measurement result output program (step S70) to output the volume-related data of the target cabinet 5.

In the first embodiment, the measuring device 2 can calculate the average value of multiple measurement results in the above step S70, and output the average value as the final volume-related data (including the long Degree, width, depth and/or volume). In the second embodiment, the measuring device 2 can directly output the last volume-related data in the above step S70.

In the third embodiment, the measurement device 2 can display the volume-related data directly on the display unit 37 on the housing 20, or transmit the volume-related data via the wireless transmission unit 36 or the wired transmission unit 361 Displayed on external mobile devices. In the fourth embodiment, the measuring device 2 can print the volume-related data by the printing unit 38, so that the user can carry the paper on which the volume-related data is recorded, or directly paste the paper on the paper On the target cabinet 5.

It is worth mentioning that, after the step S510, the processor 30 may further query the lookup table 402 in the storage unit 40 with the volume-related data, thereby obtaining the cost corresponding to the target cabinet 5. In this embodiment, the data output by the measuring device 2 in step S70 may further include the corresponding fee (such as processing fee or shipping fee) of the target box 5. Moreover, the measurement device 2 can further display the fee on the display unit 37, send the fee to an external mobile device for display, or print the fee by the printing unit 38 to facilitate the user to perform Subsequent homework.

Please refer to FIG. 9 for the first specific embodiment of the flowchart of the calibration procedure of the present invention. FIG. 9 is mainly used to further explain the correction procedure S10 of FIG. 5, and the correction procedure S10 is mainly applied to the measurement device 2 shown in FIGS. 2 to 4.

As mentioned above, before the user wants to use the measurement device 2 officially, the measurement device 2 (especially the first camera 31, the second camera 32, and the guide 33) must be calibrated to make the measurement device 2 Has the correction model 401.

When performing the calibration procedure S10, the measurement device 2 first triggers the processor 30 to activate the first camera 31 and the second camera 32 when the trigger unit 34 accepts an external operation (step S100), and controls the first camera 31 to perform Image to get the first image while controlling the second image The machine 32 performs image capturing to obtain a second image (step S102). It is worth mentioning that if the measuring device 2 is equipped with the guide 33, the processor 30 will simultaneously activate the guide 33 in step S100, and the processor 30 will simultaneously control the guide in step S102 33 Laser light is emitted outward to form the guide area 330.

Then, the user can adjust the correspondence between the angle of view of the first camera 31, the angle of view of the second camera 32, and the guide area 330 of the guide 33 by manual or auxiliary equipment. In other words, the user needs to ensure that an object can be covered by the angles of view of the first camera 31 and the second camera 32 at the same time when it completely falls into the guide area 330. After the adjustment is completed, the user can place a correction block in the field of view of the first camera 31 and the second camera 32 (ie, in the guide area 330) (step S104), by which the processor 30 can The calibration block performs the calibration procedure and establishes the calibration model 401.

Please also refer to FIG. 10, which is a first specific embodiment of the schematic diagram of the calibration block of the present invention. FIG. 10 discloses a correction block 6 which is a rectangular body, and a grid 61 or a plurality of circular targets 62 are selectively provided on the surface of the correction block 6. Specifically, a grid 61, a circular target 62, or other recognizable symbols need to be provided on the surface of the correction block 6, depending on the correction algorithm used by the processor 30, not shown in FIG. 10 The limit.

In the embodiment of FIG. 10, the grid 61 has a specific size, and the plurality of circular targets 62 also have a specific size and pitch. After obtaining the images of the grid 61 and/or the circular target 62, the processor 30 can calculate the size of the correction block 6 according to the size and spacing, and calculate the end points of the correction block 6 coordinate.

Back to Figure 9. After step S104, the processor 30 can obtain the first image and the second image from the first camera 31 and the second camera 32, and use the embedded algorithm to Image recognition of the image and the second image to obtain at least six correction point coordinates on the correction block 6 from the first image, and at least six correction point coordinates on the correction block 6 from the second image (step S106) . In this embodiment, the correction point may mainly be any endpoint on the rectangular body, but it is not limited.

It is worth mentioning that the processor 30 can mainly use a point detection algorithm, a line detection algorithm or a circle detection algorithm to identify the correction block 6 in the first image and the second image, so that The grid 61 and the complex circular target 62 are used to calculate the coordinates of a plurality of correction points (end points) on the correction block 6.

In the above step S106, the processor 30 can extract at least twelve calibration point coordinates (corresponding to the six endpoints on the calibration block 6) from the first image and the second image. After step S106, the processor 30 can summarize the real-world three-dimensional coordinates, the two-dimensional correction point coordinates of the first camera 31 and the two-dimensional correction point coordinates of the second camera 32 according to the twelve correction point coordinates (step S108) .

After step S108, the processor 30 may further incorporate the three-dimensional coordinates of the real world, the two-dimensional correction point coordinates of the first camera 31, and the two-dimensional correction point coordinates of the second camera 32 into a visual correction algorithm as visual The calculation parameters of the correction algorithm, whereby the correction model 401 is generated by the visual correction algorithm (step S110). Finally, the processor 30 stores the calibration model 401 in the storage unit 40 for the measurement device 2 to use in the measurement program S30.

With the measurement device 2 and the measurement method of the present invention described above, the user only needs to align the first camera 31 and the second camera 32 of the measurement device 2 with the target cabinet 5 to be measured, and press the trigger unit 34 , You can query the volume-related data (ie, length, width, depth, volume, etc.) of the target cabinet 5 and the corresponding fees (such as processing fees) on the display unit 37, external mobile device, or printed paper in real time And shipping fee), it is quite convenient.

Referring to FIG. 11, it is a third specific embodiment of the schematic diagram of the volume measuring device of the present invention. FIG. 11 discloses another embodiment of the measuring device 2. In the embodiment of FIG. 11, the measuring device 2 has another housing 20 ′, the first camera 31, the second camera 32 and the guide 33 are disposed on the first surface of the housing 20 ′, the display The unit 37 is disposed on the second surface of the housing 20', and the printing unit 38 is disposed on the third surface of the housing 20'.

An accommodating groove 22 is also provided on any surface of the housing 20' (the second surface is taken as an example in FIG. 11), and the user can directly place the mobile device 7 in the accommodating groove 22. In this embodiment, the measurement device 2 can transmit the calculated volume-related data and fees to the mobile device 7 in the accommodating slot 22 through the wireless transmission unit 36 or the wired transmission unit 361 for the user to view. In this way, the display unit 37 need not be provided on the measuring device 2, thereby reducing the manufacturing cost of the measuring device 2.

The above is only a preferred specific example of the present invention, and therefore does not limit the patent scope of the present invention. Therefore, any equivalent changes in the content of the present invention are included in the scope of the present invention in the same way. Bright.

2: Volume measurement device

30: processor

31: The first camera

32: Second camera

33: Introducer

34: Trigger unit

35: Warning unit

36: Wireless transmission unit

361: Wired transmission unit

37: display unit

38: Print unit

39: Battery unit

40: storage unit

401: Calibration model

402: Lookup table

Claims (13)

A volume measuring device includes: a housing; a processor; a first camera, which is disposed on a first surface of the housing, is electrically connected to the processor, and is controlled by the processor to capture a left Image, wherein the left image contains the overall image of a target box; a second camera is disposed on the first surface of the housing, electrically connected to the processor, and controlled by the processor to capture a The right image, wherein the right image contains the overall image of the target box; a guide is provided on the first surface of the casing, is electrically connected to the processor, and is controlled by the processor to emit to the outside The laser light forms a rectangular guiding area, the central position of the guiding area has a positioning point for assisting the user to locate, and the guiding area is the same as the imaging range of the first camera and the second camera Or similar; and a storage unit, which is electrically connected to the processor and stores a calibration model; wherein, the processor performs the left image and the right image respectively when the target box completely falls within the guide area Image recognition to obtain the two-dimensional coordinates of at least six endpoints of the target cabinet in the left image, and the two-dimensional coordinates of the at least six endpoints of the target cabinet in the right image, and according to The calibration model converts twelve sets of the two-dimensional coordinates into six sets of three-dimensional coordinates, and calculates a length, a width and a depth of the target box according to the six sets of the three-dimensional coordinates. The volume measurement device according to claim 1, further comprising: A trigger unit is electrically connected to the processor. The trigger unit triggers the processor to control the first camera and the second camera when receiving an external operation; a battery unit is electrically connected to the processor to provide the processing The power required for the operation of the device; and a warning unit, which is electrically connected to the processor, and sends a warning signal when the processor successfully obtains the length, width and depth of the target cabinet. The volume measuring device according to claim 1, further comprising a display unit disposed on a second surface of the casing, electrically connected to the processor, and the display unit is used to display the left image and the right image And the length, width and depth of the target box. The volume measurement device according to claim 1, further comprising a wireless transmission unit or a wired transmission unit, electrically connected to the processor, and the volume measurement device is connected to a mobile device through the wireless transmission unit or the wired transmission unit, And transmit the left image, the right image and the length, width and depth of the target box to the mobile device for display. The volume measurement device according to claim 1, wherein the storage unit stores a look-up table that records the correspondence between complex volume-related data and cost, wherein the processor is based on the length of the target box, the The width and the depth query the lookup table and output a fee corresponding to the target box. The volume measuring device according to claim 5, further comprising a printing unit disposed on a third surface of the casing, electrically connected to the processor, and the printing unit is used to print the length and the width , At least one of the depth and the cost. The volume measuring device according to claim 1, wherein the target box is a rectangular box, and the processor performs image recognition on the left image to obtain the rectangular box in the left image Two-dimensional coordinates of at least six corners, and obtain the two-dimensional coordinates of at least six corners of the rectangular box in the right image A volume measurement method is applied to a volume measurement device having a first camera, a second camera, a guide and a processor, wherein the first camera, the second camera and the guide are provided On the same surface of the volume measuring device, and the volume measuring method includes: a) the processor controls the first camera to obtain a left image, controls the second camera to obtain a right image, and controls the guide at the same time Laser light is emitted towards the outside and forms a rectangular guide area, wherein the left image and the right image contain the overall image of a target box, and the center of the guide area has a positioning to assist the user in positioning Point, and the guidance area is the same as or close to the imaging range of the first camera and the second camera; b) the processor, when the target box falls completely within the guidance area, the left image and the The right image performs image recognition to capture the two-dimensional coordinates of at least six endpoints of the target cabinet in the left image, and captures the two-dimensional coordinates of at least six endpoints of the target cabinet in the right image Coordinates; c) perform the step a) and step b) again when the acquisition fails; d) obtain a calibration model from a storage unit when the acquisition succeeds, and according to the calibration model, twelve sets of the two-dimensional The coordinates are converted into six groups of three-dimensional coordinates; and e) a length, a width and a depth of the target box are calculated according to the six groups of the three-dimensional coordinates. The volume measurement method according to claim 8, wherein the volume measurement device further includes a trigger unit, and the step a) is to trigger the processor to control the first camera and the camera when the trigger unit receives an external operation The second camera obtains the left image and the right image. The volume measurement method according to claim 8, further comprising the following steps: f) After step e), the processor determines whether a historical measurement result is temporarily stored; g) When there is no historical measurement result, record the length, width and depth obtained in step e) as a first measurement result of the target box, and perform steps a) to Step f); h) When there are one or more historical measurement results, determine an error between the length, the width and the depth obtained in step e) and the one or more historical measurement results Whether it is less than a tolerance value; i) clear the historical measurement results when the error is not less than the tolerance value; and j) after the step i), the length, the width and the length to be obtained in the step e) The depth record is the first measurement result of the target box, and the steps a) to f) are executed again. The volume measurement method according to claim 10, further comprising the following steps: k) when the error is less than the tolerance value, the length, the width and the depth obtained in the step e) are recorded as the one or One of multiple historical measurement results; l) Determine whether the number of historical measurement results is greater than a threshold; m) Perform the step a again when the number of historical measurement results is not greater than the threshold ) To step e), step f) to step h) and step k) to step l); and n) when the number of historical measurement results is greater than the threshold value, output the target cabinet The length, the width and the depth. The volume measurement method according to claim 8, further comprising the following steps: e01) after step e), querying a look-up table of the volume measurement device according to the length, width and depth of the target box , Where the look-up table records the correspondence between the volume-related data and the cost; and e02) obtain and output a cost corresponding to the target box. The volume measurement method according to claim 8, wherein the step a) further includes the following steps: a01) the processor controls the first camera to obtain a first image, and controls the second camera to obtain a second image A02) Place a correction block within the field of view of the first camera and the second camera, wherein the correction block is a rectangular body with a grid or a plurality of circular targets on the surface; a03) The processor passes One of the point detection algorithm, line detection algorithm or circle detection algorithm obtains at least six correction point coordinates on the correction block from the first image, and obtains the correction from the second image At least six correction point coordinates on the block; a04) the processor summarizes real-world three-dimensional coordinates, two-dimensional correction point coordinates of the first camera and two-dimensional correction of the second camera based on at least twelve of the correction point coordinates Point coordinates; a05) the processor integrates the three-dimensional coordinates, the two-dimensional correction point coordinates of the first camera and the two-dimensional correction point coordinates of the second camera into a visual correction algorithm to calculate the correction model; And a06) store the calibration model.

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