CN108759831B - Goods positioning device and goods positioning method - Google Patents
Goods positioning device and goods positioning method Download PDFInfo
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- CN108759831B CN108759831B CN201810283026.XA CN201810283026A CN108759831B CN 108759831 B CN108759831 B CN 108759831B CN 201810283026 A CN201810283026 A CN 201810283026A CN 108759831 B CN108759831 B CN 108759831B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
- G06Q10/0833—Tracking
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Abstract
The invention discloses a goods positioning device and a goods positioning method, wherein the device comprises a mounting bracket, a terminal acquisition module and a positioning module, wherein the positioning module is arranged on the mounting bracket, and the terminal acquisition module is in communication connection with the positioning module; the positioning module comprises a digital video camera, a searching positioning lamp, a rotating mechanism, a first processor and a first wireless receiving and transmitting unit, and the terminal acquisition module comprises a terminal positioning lamp, a second wireless receiving and transmitting unit, a second processor and a human-computer interaction unit. According to the invention, cargo information is input through the terminal acquisition module, the terminal positioning lamp is started, the positioning module starts the digital video camera, and the position corresponding to the cargo is recorded in the form of image data; when goods are to be extracted, the first processor extracts corresponding image data according to the goods information, calculates the position of the goods according to the image data, and controls the irradiation direction of the object-finding positioning lamp so that the object-finding positioning lamp irradiates on the corresponding goods. The invention is created for locating cargo positions.
Description
Technical Field
The invention relates to the technical field of cargo positioning devices.
Background
With the vigorous development and increasing maturity of electronic commerce, online shopping has become an important shopping mode and even a main shopping mode for consumers. Meanwhile, the express industry closely connected with online shopping is also rapidly developed. The amount of express delivery also increases rapidly in shopping population concentration areas such as communities, schools and factory staff dormitories, and particularly, the phenomenon of cabin explosion occurs in express delivery centers when shopping knots such as twenty-one shopping knots arrive. And because the delivery point express delivery volume is too much in the express delivery set, the customer becomes very difficult to find own express delivery, leads to the express delivery point work inefficiency, wastes a large amount of time of customer, and express delivery experience is also very low. Therefore, the terminal distribution efficiency of the express service is improved, and the method has important significance and market value.
Currently, express or logistics companies generally adopt a simple manual sorting method for delivering express terminals in shopping population concentration areas such as communities, schools, factory staff dormitories and the like. The manual sorting mode is flexible and convenient in operation mode and high in applicability. However, with the explosion of the express delivery, the manual sorting efficiency also becomes low, however, the sorting system in the current express delivery logistics industry is mostly used in the express delivery logistics center, and is not suitable for terminal dispatch of express delivery goods due to huge volume and high price.
Disclosure of Invention
The invention aims to solve the technical problems that: provided are a goods positioning device and a goods positioning method based on an image recognition technology.
The invention solves the technical problems as follows:
the goods positioning device comprises a mounting bracket, a terminal acquisition module for acquiring goods information and a positioning module for positioning the goods, wherein the positioning module is arranged on the mounting bracket and is in communication connection with the positioning module; the positioning module comprises a digital video camera, an object searching positioning lamp, a rotating mechanism, a first processor and a first wireless receiving and transmitting unit, wherein the rotating mechanism is used for driving the object searching positioning lamp to rotate up and down, left and right, the terminal acquisition module comprises a terminal positioning lamp, a second wireless receiving and transmitting unit, a second processor and a man-machine interaction unit, the output end of the digital video camera is connected with the input end of the first processor, the output end of the first processor is connected with the rotating mechanism, the output end of the first processor is connected with the object searching positioning lamp, the first processor is in communication connection with the first wireless receiving and transmitting module, the man-machine interaction unit is in two-way communication connection with the second processor, the output end of the second processor is connected with the terminal positioning lamp, and the second processor is in communication connection with the second wireless receiving and transmitting unit.
As a further improvement of the technical scheme, the rotating mechanism comprises a first stepping motor for controlling the object-finding positioning lamp to rotate on a transverse plane and a second stepping motor for controlling the object-finding positioning lamp to rotate on a vertical plane, and the output end of the first processor is respectively connected with the first stepping motor and the second stepping motor.
As a further improvement of the above technical solution, the first wireless transceiver unit and the second wireless transceiver unit may be a bluetooth communication system or a radio frequency communication system.
As a further improvement of the above technical solution, the man-machine interaction unit includes an input keyboard and a display, the output end of the second processor is connected with the display, and the input end of the second processor is connected with the input keyboard.
The beneficial effects of the invention are as follows: according to the invention, the terminal acquisition module is used for inputting goods information, and meanwhile, the terminal acquisition module is moved to the position of the goods, the terminal positioning lamp is started, the positioning module receives the goods information, the digital camera is started, and the position corresponding to the goods is recorded in the form of image data; when a person extracts goods, goods information is input through the terminal acquisition module, the first processor extracts corresponding image data according to the goods information, calculates the position of the goods according to the image data, and adjusts the irradiation direction of the object searching positioning lamp through controlling the rotating mechanism, so that the object searching positioning lamp irradiates on the corresponding goods, and the quick positioning function of the goods is realized. The invention is created for locating cargo positions.
The invention also discloses a goods positioning method, which comprises the following steps:
step 1, constructing the goods positioning device;
step 2, placing the goods on the ground, starting a terminal positioning lamp, starting a digital camera, and collecting positioning images;
step 3, defining the bottom edge center point of the positioning image as an O point, defining the point of the terminal positioning lamp positioned on the positioning image as an A point, taking the bottom edge of the positioning image as an X axis, passing through the O point and a vertical line perpendicular to the bottom edge of the positioning image as a Y axis, and calculating the pixel distance L from the A point to the O point in the positioning image OA Calculating the pixel distance L from A point to Y axis in the positioning image AB Acquiring the height H of the digital video camera from the ground;
step 4, calculating a longitudinal rotation angle alpha of the object-finding positioning lamp, wherein the longitudinal rotation angle alpha is equal to the longitudinal rotation angle of the object-finding positioning lampWherein n represents the magnification of the digital video camera, and calculates the transverse rotation angle beta of the object-finding positioning lamp, which is +.>
And 5, the first processor takes the longitudinal rotation angle alpha and the transverse rotation angle beta as initial values, iterates through a PID fuzzy algorithm, and is used as supplementary searching and positioning to obtain the final longitudinal rotation angle alpha and the transverse rotation angle beta, and the irradiation direction of the object searching and positioning lamp is controlled through the first stepping motor and the second stepping motor, so that the object searching and positioning lamp irradiates on goods.
The beneficial effects of the invention are as follows: according to the invention, the position of the goods to be positioned is determined through the acquired positioning image, and the longitudinal rotation angle alpha and the transverse rotation angle beta of the object-finding positioning lamp are calculated, so that the object-finding positioning lamp irradiates the goods, and the rapid positioning function of the goods is realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is evident that the drawings described are only some embodiments of the invention, but not all embodiments, and that other designs and drawings can be obtained from these drawings by a person skilled in the art without inventive effort.
FIG. 1 is a schematic view of the apparatus of the present invention;
FIG. 2 is a schematic view of the use state created by the present invention;
FIG. 3 is a schematic circuit diagram of the present invention;
FIG. 4 is a schematic diagram of the coordinate axes created by the present invention;
fig. 5 is a schematic view of a positioning image created by the present invention.
Detailed Description
The conception, specific structure, and technical effects produced by the present invention will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, features, and effects of the present invention. It is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and that other embodiments obtained by those skilled in the art without inventive effort are within the scope of the present invention based on the embodiments of the present invention. In addition, all coupling/connection relationships mentioned herein do not refer to direct connection of the components, but rather, refer to the fact that a more optimal coupling structure may be formed by adding or subtracting coupling aids depending on the particular implementation. The technical features in the invention can be interactively combined on the premise of no contradiction and conflict.
Referring to fig. 1 to 3, the invention discloses a goods positioning device, which comprises a mounting bracket 1, a terminal acquisition module 3 for acquiring goods information and a positioning module 2 for positioning the goods, wherein the goods information can be express bill numbers of the goods or names of senders, addressees and the like, the positioning module 2 is arranged on the mounting bracket 1, and the terminal acquisition module 3 is in communication connection with the positioning module 2; the positioning module 2 comprises a digital video camera 21, an object searching positioning lamp 22, a rotating mechanism for driving the object searching positioning lamp 22 to rotate up and down, left and right, a first processor and a first wireless receiving and transmitting unit, the terminal acquisition module 3 comprises a terminal positioning lamp 31, a second wireless receiving and transmitting unit, a second processor and a man-machine interaction unit, the output end of the digital video camera 21 is connected with the input end of the first processor, the output end of the first processor is connected with the rotating mechanism, the output end of the first processor is connected with the object searching positioning lamp 22, the first processor is in communication connection with the first wireless receiving and transmitting module, the man-machine interaction unit is in two-way communication connection with the second processor, the output end of the second processor is connected with the terminal positioning lamp 31, the second processor is in communication connection with the second wireless receiving and transmitting unit, and the first wireless receiving and transmitting unit is in two-way communication connection. Specifically, the invention inputs goods information through the terminal acquisition module 3, simultaneously moves the terminal acquisition module 3 to the position of the goods, starts the terminal positioning lamp 31, receives the goods information by the positioning module 2, starts the digital camera 21, records the position corresponding to the goods in the form of image data, and realizes the one-to-one correspondence of the goods information and the image data of the position of the goods; when a person extracts goods, goods information is input through the terminal acquisition module 3, the first processor extracts corresponding image data according to the goods information, calculates the position of the goods according to the image data, and adjusts the irradiation direction of the object searching positioning lamp 22 through controlling the rotating mechanism, so that the object searching positioning lamp 22 irradiates on the corresponding goods, and the quick positioning function of the goods is realized.
It should be noted that, although the present invention relates to a technical means in the application of computer programs, the technical mobile phone belongs to the prior art, and the present invention mainly protects circuits and mechanical structures.
Referring to fig. 2, it is assumed that the position of the cargo a placed at a certain position on the ground needs to be recorded at this time, and the following steps are required: firstly, a terminal acquisition module 3 is moved to a position of a goods A, goods information of the goods A is input through a man-machine interaction unit, the goods information is transmitted to a positioning module 2 in a wireless transmission mode, then a terminal positioning lamp 31 of the terminal acquisition module 3 is started, a digital camera 21 of the positioning module 2 is started and shoots, image data of the position of the goods A is recorded, the position of the terminal positioning lamp 31 can be clearly reflected in the image data, and the position of the terminal positioning lamp 31 represents the position of the goods A; and then, when a person comes to extract the goods A, the goods information of the goods A is input through the man-machine interaction unit, the goods information is transmitted to the positioning module 2 in a wireless transmission mode, the first processor acquires corresponding image data according to the goods information, and according to the position of the terminal positioning lamp 31 in the image data, the irradiation angle of the object searching positioning lamp 22 is controlled through the rotating mechanism, so that the object searching positioning lamp 22 irradiates the goods A.
Further as a preferred embodiment, the rotating mechanism includes a first stepper motor 23 for controlling the rotation of the locating lamp 22 on the transverse plane and a second stepper motor 24 for controlling the rotation of the locating lamp 22 on the vertical plane, and the output end of the first processor is respectively connected with the first stepper motor 23 and the second stepper motor 24. The invention realizes the control of the irradiation direction of the object-finding positioning lamp 22 through the first stepping motor 23 and the second stepping motor 24 respectively, has high control precision and effectively improves the accuracy of goods positioning.
Further, in a specific embodiment of the present invention, the first wireless transceiver unit and the second wireless transceiver unit may be a bluetooth communication system or a radio frequency communication system.
Further, in a specific embodiment of the present invention, the man-machine interaction unit includes an input keyboard and a display, the output end of the second processor is connected to the display, and the input end of the second processor is connected to the input keyboard. Of course, the man-machine interaction unit may also be a touch display screen configured with an input and output function.
Referring to fig. 4 and 5, the invention also discloses a cargo positioning method, which comprises the following steps:
step 1, constructing the goods positioning device;
step 2, placing the goods on the ground, starting a terminal positioning lamp 31, starting a digital camera 21, and collecting positioning images;
step 3, defining the bottom edge center point of the positioning image as an O point and defining a terminalThe positioning lamp 31 is positioned at the point of the positioning image as the point A, the bottom edge of the positioning image is taken as the X axis, the vertical line passing through the point O and vertical to the bottom edge of the positioning image is taken as the Y axis, the vertical line vertical to the ground is taken as the Z axis, and the pixel distance L from the point A to the point O in the positioning image is calculated OA Calculating the pixel distance L from A point to Y axis in the positioning image AB Acquiring the height H of the digital video camera 21 from the ground;
step 4. Calculating the longitudinal rotation angle alpha of the object-finding positioning lamp 22Where n represents the magnification of the digital camera 21, and calculates the lateral rotation angle β of the finder positioning lamp 22, which
And 5, the first processor takes the longitudinal rotation angle alpha and the transverse rotation angle beta as initial values, iterates through a PID fuzzy algorithm, performs supplementary searching and positioning to obtain the final longitudinal rotation angle alpha and the final transverse rotation angle beta, and controls the irradiation direction of the object searching and positioning lamp 22 through the first stepping motor 23 and the second stepping motor 24 so that the object searching and positioning lamp 22 irradiates on the goods.
Specifically, the invention determines the position of the goods to be positioned through the collected positioning image, calculates the longitudinal rotation angle alpha and the transverse rotation angle beta of the object-finding positioning lamp 22, and enables the object-finding positioning lamp 22 to irradiate the goods, thereby realizing the rapid positioning function of the goods.
While the preferred embodiments of the present invention have been illustrated and described, the present invention is not limited to the embodiments, and various equivalent modifications and substitutions can be made by one skilled in the art without departing from the spirit of the present invention, and these are intended to be included in the scope of the present invention as defined in the appended claims.
Claims (5)
1. The utility model provides a goods positioning method, is applied to a goods positioner, the device includes installing support (1), is used for gathering terminal collection module (3) and the location module (2) that are used for locating the goods position of goods information, location module (2) set up on installing support (1), terminal collection module (3) and location module (2) communication connection; the positioning module (2) comprises a digital video camera (21), an object searching positioning lamp (22), a rotating mechanism for driving the object searching positioning lamp (22) to rotate up and down and left and right, a first processor and a first wireless receiving and transmitting unit, the terminal acquisition module (3) comprises a terminal positioning lamp (31), a second wireless receiving and transmitting unit, a second processor and a man-machine interaction unit, the output end of the digital video camera (21) is connected with the input end of the first processor, the output end of the first processor is connected with the rotating mechanism, the output end of the first processor is connected with the object searching positioning lamp (22), the first processor is in communication connection with the first wireless receiving and transmitting module, the man-machine interaction unit is in two-way communication connection with the second processor, the output end of the second processor is connected with the terminal positioning lamp (31), and the second processor is in communication connection with the second wireless receiving and transmitting unit, and the first wireless receiving and transmitting unit is in two-way communication connection with the second wireless receiving and transmitting unit.
Characterized in that the method comprises the following steps:
step 1, constructing the goods positioning device;
step 2, placing the goods on the ground, starting a terminal positioning lamp (31), starting a digital video camera (21), and collecting positioning images;
step 3, defining the center point of the bottom edge of the positioning image as an O point, defining the point of the terminal positioning lamp (31) positioned on the positioning image as an A point, taking the bottom edge of the positioning image as an X axis, passing through the O point and being perpendicular to the vertical line of the bottom edge of the positioning image as a Y axis, and calculating the pixel distance from the A point to the O point in the positioning imageCalculating the pixel distance from the A point to the Y axis in the positioning image>Acquiring distance between a digital video camera (21) and the groundHeight H of (2);
step 4, calculating the longitudinal rotation angle of the object-finding positioning lamp (22)Said longitudinal rotation angle->Wherein n represents the magnification of the digital video camera (21), and calculates the transverse rotation angle of the object-finding positioning lamp (22)>The transverse rotation angle；
Step 5, the first processor rotates at a longitudinal rotation angleLateral rotation angle +>Iteration is carried out as a supplementary search positioning by a PID fuzzy algorithm to obtain the final longitudinal rotation angle>Lateral rotation angle +>And the irradiation direction of the object-finding positioning lamp (22) is controlled by the first stepping motor (23) and the second stepping motor (24), so that the object-finding positioning lamp (22) irradiates the goods.
2. A method of positioning cargo as defined in claim 1, wherein: the rotating mechanism comprises a first stepping motor (23) used for controlling the object searching positioning lamp (22) to rotate on a transverse plane and a second stepping motor (24) used for controlling the object searching positioning lamp (22) to rotate on a vertical plane, and the output end of the first processor is respectively connected with the first stepping motor (23) and the second stepping motor (24).
3. A method of positioning cargo as defined in claim 1, wherein: the first wireless receiving and transmitting unit and the second wireless receiving and transmitting unit are radio frequency communication systems.
4. A method of positioning cargo as claimed in claim 3, wherein: the radio frequency communication system is a Bluetooth communication system.
5. A method of positioning cargo as defined in claim 1, wherein: the man-machine interaction unit comprises an input keyboard and a display, wherein the output end of the second processor is connected with the display, and the input end of the second processor is connected with the input keyboard.
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| CN201810283026.XA CN108759831B (en) | 2018-04-02 | 2018-04-02 | Goods positioning device and goods positioning method |
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| CN110304551B (en) * | 2019-08-08 | 2024-05-07 | 陕西理工大学 | Machine vision-based bridge girder erection machine accurate girder dropping wireless control system and method |
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