CN109000560B - Method, device and equipment for detecting package size based on three-dimensional camera - Google Patents
Method, device and equipment for detecting package size based on three-dimensional camera Download PDFInfo
- Publication number
- CN109000560B CN109000560B CN201810595464.XA CN201810595464A CN109000560B CN 109000560 B CN109000560 B CN 109000560B CN 201810595464 A CN201810595464 A CN 201810595464A CN 109000560 B CN109000560 B CN 109000560B
- Authority
- CN
- China
- Prior art keywords
- data
- dimensional
- axis
- detected
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a method, a device and equipment for detecting the size of a package based on a three-dimensional camera and a computerA read storage medium comprising: acquiring first three-dimensional data A (x) of a detection platform area where a parcel to be detected is not placed by using a three-dimensional camerai,yi,zi) (ii) a Acquiring second three-dimensional data B (x) of a detection platform area for placing a to-be-detected package by using a three-dimensional cameraj,yj,zj) (ii) a For z in the first three-dimensional dataiAnd z in the second three-dimensional datajPerforming difference processing, and calculating the height value of the to-be-detected package according to the difference data; determining z in the second three-dimensional data according to the height valuejProjecting the three-dimensional data in the value range to a plane formed by an X-Y axis; and fitting a target rectangle by using data projected to a plane formed by the X-Y axis, and acquiring the length value and the width value of the to-be-detected package according to the size of the target rectangle. By utilizing the method, the device, the equipment and the computer readable storage medium provided by the invention, the detection precision can be improved while the package size detection efficiency is ensured.
Description
Technical Field
The invention relates to the technical field of parcel volume measurement, in particular to a method, a device and equipment for detecting parcel size based on a three-dimensional camera and a computer readable storage medium.
Background
With the rapid development of the logistics industry, higher requirements are put on volume detection of packages.
At present, when a two-dimensional camera-based parcel volume detection system collects image information of a parcel to be detected by using a binocular camera, the camera needs to be focused at first, so that the parcel detection speed is low. When the binocular camera is not focused, the imaging quality of the acquired package image is poor, and a large number of adhesive tapes are adhered to the outer surface of the general package, so that light irradiated on the surface of the package can be reflected to the image sensor, and the image acquired by the image sensor is unclear; when the images of the to-be-detected package collected by the binocular camera are not clear, the images are difficult to interact, so that the three-dimensional shape of the to-be-detected package is difficult to reconstruct; therefore, the two-dimensional camera-based parcel volume detection system is difficult to be applied in practical production.
In summary, it can be seen that how to improve the detection accuracy while ensuring the package size detection efficiency is a problem to be solved at present.
Disclosure of Invention
The invention aims to provide a method, a device and equipment for detecting the size of a package based on a three-dimensional camera and a computer readable storage medium, which solve the problems of low detection precision and low efficiency of a package volume detection system based on a two-dimensional camera in the prior art.
In order to solve the technical problem, the invention provides a method for detecting the size of a package based on a three-dimensional camera, which comprises the following steps: acquiring first three-dimensional data A (x) of a detection platform area where a parcel to be detected is not placed by using a three-dimensional camerai,yi,zi) (ii) a Acquiring second three-dimensional data B (x) of the detection platform area where the to-be-detected package is placed by using the three-dimensional cameraj,yj,zj) (ii) a For Z-axis data Z in the first three-dimensional dataiAnd Z-axis data Z in the second three-dimensional datajPerforming difference processing so as to calculate the height value of the to-be-detected parcel according to the difference data; determining z in the second three-dimensional data according to the height valuejTaking the three-dimensional data in the value range as projection data, and projecting the projection data onto a plane formed by an X-Y axis; fitting a target rectangle by using data projected onto a plane formed by an X-Y axis, and acquiring a length value and a width value of the to-be-detected package according to the size of the target rectangle.
Preferably, Z-axis data Z in the pair of the first three-dimensional dataiAnd Z-axis data Z in the second three-dimensional datajPerforming difference processing so as to calculate the height value of the to-be-detected parcel according to the difference data, wherein the step of calculating the height value of the to-be-detected parcel comprises the following steps:
for Z-axis data Z in the first three-dimensional dataiAnd Z-axis data Z in the second three-dimensional datajPerforming difference processing to obtain difference data; screening effective data in the difference data according to the maximum value and the minimum value of the preset height of the parcel to be detected; and counting the frequency of the effective data in each interval of the Z axis, selecting a target interval according to the frequency, and calculating the average value of all difference data in the target interval as the height of the to-be-detected package.
Preferably, the counting the frequency of the valid data appearing in each interval of the Z axis includes: and counting the quantity distribution of the effective data in each Z-axis interval by using a data occurrence frequency distribution diagram function, thereby obtaining the frequency of the effective data in each Z-axis interval.
Preferably, the z in the second three-dimensional data is determined according to the height valuejProjecting the three-dimensional data in the value range as projection data onto a plane formed by an X-Y axis, wherein the value range comprises: selecting z in the second three-dimensional data by taking the height value as a median valuejAnd projecting the three-dimensional data in the value range to a plane formed by an X-Y axis.
Preferably, the first three-dimensional data a (x) of the detection platform area where the parcel to be detected is not placed is acquired by using a three-dimensional camerai,yi,zi) The method comprises the following steps: after the setting of the detection area of the three-dimensional laser camera and the setting of the preset parameters are finished in advance, the three-dimensional laser camera is used for acquiring first three-dimensional data A (x) of the detection platform area where the parcel to be detected is not placedi,yi,zi)。
Preferably, the fitting a target rectangle by using the data projected onto the plane formed by the X-Y axes, and the obtaining the length value and the width value of the parcel to be detected according to the size of the target rectangle includes: and fitting a minimum rectangle by using data projected onto a plane formed by an X-Y axis, and obtaining the length value and the width value of the rectangle to be detected according to the side length of the minimum rectangle.
The invention also provides a device for detecting the size of the package based on the three-dimensional camera, which comprises the following components: the system comprises a three-dimensional camera, a detection platform and a processor;
the three-dimensional camera is used for acquiring three-dimensional data of the detection platform when the package to be detected is not placed and three-dimensional data of the detection platform when the package to be detected is placed;
the processor is used for acquiring first three-dimensional data A (x) of a detection platform area where a parcel to be detected is not placed by using a three-dimensional camerai,yi,zi) (ii) a Acquiring second three-dimensional data B (x) of the detection platform area where the to-be-detected package is placed by using the three-dimensional cameraj,yj,zj) (ii) a For Z-axis data Z in the first three-dimensional dataiAnd Z-axis data Z in the second three-dimensional datajPerforming difference processing so as to calculate the height value of the to-be-detected parcel according to the difference data; determining z in the second three-dimensional data according to the height value and a preset rulejTaking the three-dimensional data in the value range as projection data, and projecting the projection data onto a plane formed by an X-Y axis; fitting a target rectangle by using data projected onto a plane formed by an X-Y axis, and acquiring a length value and a width value of the to-be-detected package according to the size of the target rectangle.
Preferably, Z-axis data Z in the pair of the first three-dimensional dataiAnd Z-axis data Z in the second three-dimensional datajPerforming difference processing so as to calculate the height value of the to-be-detected parcel according to the difference data, wherein the step of calculating the height value of the to-be-detected parcel comprises the following steps:
for Z-axis data Z in the first three-dimensional dataiAnd Z-axis data Z in the second three-dimensional datajPerforming difference processing to obtain difference data; screening effective data in the difference data according to the maximum value and the minimum value of the preset height of the parcel to be detected; and counting the frequency of the effective data in each interval of the Z axis, selecting a target interval according to the frequency, and calculating the average value of all difference data in the target interval as the height of the to-be-detected package.
The invention also provides equipment for detecting the size of the package based on the three-dimensional camera, which comprises the following components:
a memory for storing a computer program; a processor for implementing the steps of the above method for detecting the size of the parcel based on the three-dimensional camera when executing the computer program.
The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-mentioned method for detecting a package size based on a three-dimensional camera.
The method for detecting the size of the package based on the three-dimensional camera comprises the steps of respectively acquiring first three-dimensional data of a detection platform when the package to be detected is not placed and second three-dimensional data of the detection platform when the package to be detected is placed by the three-dimensional camera; obtaining a plurality of groups of difference data by performing difference processing on Z-axis data in the first three-dimensional data and Z-axis data in the second three-dimensional data, wherein the X-axis coordinate and the Y-axis coordinate are the same; calculating the height value of the to-be-detected package according to the difference data; determining a value interval of a Z coordinate in the second three-dimensional data according to the height value, and projecting the three-dimensional data in the value interval as projection data onto a plane formed by an X axis and a Y axis; fitting a target rectangle by using data projected onto a plane formed by an X axis and a Y axis, and obtaining the length value and the width value of the to-be-detected package according to the target rectangle. Compared with the prior art that a parcel volume detection system based on a two-dimensional camera acquires a plurality of parcel images by using a binocular camera to reconstruct the three-dimensional shape of a parcel, the parcel volume detection method provided by the invention has the advantages that the camera is not required to be focused when the parcel to be detected is acquired, and the plurality of images are not required to be interactively processed; therefore, the acquired three-dimensional data of the to-be-detected package is more accurate, the package size detection result is more accurate, and the detection efficiency is greatly improved.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a flow chart of a first embodiment of a method for detecting a package size based on a three-dimensional camera according to the present invention;
FIG. 2 is a flowchart of a second embodiment of a method for detecting a package size based on a three-dimensional camera according to the present invention;
FIG. 3 is a histogram of valid data in various intervals along the Z-axis;
fig. 4 is a structural diagram of an apparatus for detecting a package size based on a three-dimensional camera according to an embodiment of the present invention.
Detailed Description
The core of the invention is to provide a method, a device and equipment for detecting the size of a package based on a three-dimensional camera and a computer readable storage medium, which can improve the detection precision while ensuring the detection efficiency of the size of the package.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for detecting a package size based on a three-dimensional camera according to a first embodiment of the present invention; the specific operation steps are as follows:
step S101: acquiring first three-dimensional data A (x) of a detection platform area where a parcel to be detected is not placed by using a three-dimensional camerai,yi,zi)；
Before three-dimensional data are collected by the three-dimensional camera, the three-dimensional camera is installed above the detection platform, the central line of the three-dimensional camera is perpendicular to the detection platform, the detection platform is parallel to the ground, the height of the detection platform is adjustable, and the distance between the three-dimensional camera and the detection platform is adjusted to enable the visual field range of the three-dimensional camera to cover the maximum cuboid package capable of being detected; the package to be detected is placed on the upper surface of the detection platform; the package to be detected is a cuboid package.
And setting parameters of the detection area and setting other parameters after the three-dimensional camera and the detection platform are installed.
Step S102: acquiring second three-dimensional data B (x) of the detection platform area where the to-be-detected package is placed by using the three-dimensional cameraj,yj,zj)；
The laser three-dimensional imaging technology has the advantages of high measuring point precision, large measuring point density, rich information quantity, high automation of data processing, high digitization of products and the like; therefore, the three-dimensional laser camera is used for collecting the three-dimensional data of the detection platform area where the parcel to be detected is not placed and the three-dimensional data of the detection platform area where the parcel to be detected is placed, the detection efficiency and the detection precision of the size of the parcel to be detected can be improved, and therefore the three-dimensional information of the parcel to be detected can be accurately generated.
Step S103: for Z-axis data Z in the first three-dimensional dataiAnd Z-axis data Z in the second three-dimensional datajPerforming difference processing so as to calculate the height value of the to-be-detected parcel according to the difference data;
step S104: determining z in the second three-dimensional data according to the height valuejTaking the three-dimensional data in the value range as projection data, and projecting the projection data onto a plane formed by an X-Y axis;
in this embodiment, z in the second three-dimensional data may be selected by taking the height value as a medianjThe value interval of (a) is, for example: z is a radical ofjThe value interval of (2) is the height value +/-10 mm. Is z in the second three-dimensional datajSelecting a value range, and projecting three-dimensional coordinate data in the value range as projection data onto a plane formed by X-Y axes, so that on one hand, the influence of the self error of the three-dimensional laser camera on the detection result is reduced, and on the other hand, the size information of the to-be-detected parcel is stored in the projection data as comprehensively as possible.
Step S105: fitting a target rectangle by using data projected onto a plane formed by an X-Y axis, and acquiring a length value and a width value of the to-be-detected package according to the size of the target rectangle.
In the method for detecting the size of the package based on the three-dimensional camera, three-dimensional data of the detection platform area without the package and three-dimensional data of the detection platform area with the package are acquired through the three-dimensional laser camera; after the height value of the parcel to be detected is calculated by using the difference between the two acquired three-dimensional data, the height value is used for determining z in the second three-dimensional datajTo obtain the length value and the width value of the to-be-detected package. The package size detection method provided by the embodiment solves the problems that in the prior art, a package volume detection method based on a two-dimensional camera is low in detection efficiency, inaccurate in detection result and difficult to apply to actual production, improves the package detection precision while ensuring the package size detection efficiency, can be applied to a package sorting system, and has good social value.
Based on the above embodiment, in this embodiment, the Z-axis data Z in the first three-dimensional data is processediAnd Z-axis data Z in the second three-dimensional datajAnd performing difference processing to obtain difference data, screening the obtained difference data to obtain effective data, counting the frequency of the effective data appearing in different Z-axis intervals, and averaging the effective data in the interval with the highest frequency of appearance to obtain the height value of the to-be-detected parcel.
Referring to fig. 2, fig. 2 is a flowchart illustrating a method for detecting a parcel size based on a three-dimensional camera according to a second embodiment of the present invention; the specific operation steps are as follows:
step S201: after the installation and parameter setting of the three-dimensional laser camera Vision-T are completed in advance, the Vision-T is used for collecting first three-dimensional data A (x) of a detection platform area when a parcel to be detected is not placedi,yi,zi)；
The Vision-T is a laser 3D camera, based on the three-dimensional laser time flight principle, and based on the laser snapshot (3D Snap-shot) technology, effective three-dimensional data can be statically acquired and output through buses such as Ethernet. The sensor outputs three-dimensional data by sending a group of laser dot matrixes (about 25000) each time and collecting distance information and intensity values of relevant laser points and processing the data. And about 25000 pieces of three-dimensional data are returned by Visionary-T each time.
According to SOPAS software provided by SICK company, the detection area setting and other parameter setting of the three-dimensional camera are completed.
Step S202: collecting second three-dimensional data B (x) of a detection platform area when the parcel to be detected is placed by using the Vision-Tj,yj,zj)；
Step S203: for Z-axis data Z in the first three-dimensional dataiAnd Z-axis data Z in the second three-dimensional datajPerforming difference processing to obtain a plurality of difference data;
step S204: screening effective data in the difference data according to the maximum value and the minimum value of the preset height of the parcel to be detected;
step S205: counting the quantity distribution of the effective data in each Z-axis interval by using a data occurrence frequency distribution map function, so as to obtain the frequency of the effective data in each Z-axis interval;
the frequency distribution of the effective data in each interval of the Z-axis is shown in fig. 3.
Step S206: selecting a target interval according to the frequency, and calculating the average value of all difference data in the target interval as the height value of the to-be-detected package;
step S207: selecting z in the second three-dimensional data by taking the height value as a median valuejProjecting the three-dimensional data in the value range to a plane formed by an X-Y axis;
step S208: calculating discrete points projected onto a plane formed by an X-Y axis and fitting a minimum rectangle, and obtaining a length value and a width value of the rectangle to be detected according to the side length of the minimum rectangle.
In this embodiment, the range of the deviation of the difference data from the average value of the difference data, or z, may be set according to actual requirementsjTo dynamically adjust the package detection speed, detection accuracy and detection environment, for example,when a faster detection rate is needed, the calculation amount of the target interval for calculating the height value of the to-be-detected package is smaller, and the calculation amount is correspondingly reduced when the average value of all difference data in the target interval is solved, so that the detection speed is improved; z in the second three-dimensional data can also be selected by appropriately reducing the height value as a median valuejThe value range of the interval can be used for calculating the length value and the width value of the to-be-detected package more quickly, so that the detection speed can be accelerated while the measurement precision is ensured.
Referring to fig. 4, fig. 4 is a structural diagram of an apparatus for detecting a package size based on a three-dimensional camera according to an embodiment of the present invention; the specific device may include:
the system comprises a three-dimensional camera, a detection platform and a processor;
the three-dimensional camera is used for acquiring three-dimensional data of the detection platform when the package to be detected is not placed and three-dimensional data of the detection platform when the package to be detected is placed;
the processor is used for acquiring first three-dimensional data A (x) of a detection platform area where a parcel to be detected is not placed by using a three-dimensional camerai,yi,zi) (ii) a Acquiring second three-dimensional data B (x) of the detection platform area where the to-be-detected package is placed by using the three-dimensional cameraj,yj,zj) (ii) a For Z-axis data Z in the first three-dimensional dataiAnd Z-axis data Z in the second three-dimensional datajPerforming difference processing so as to calculate the height value of the to-be-detected parcel according to the difference data; determining z in the second three-dimensional data according to the height value and a preset rulejTaking the three-dimensional data in the value range as projection data, and projecting the projection data onto a plane formed by an X-Y axis; fitting a target rectangle by using data projected onto a plane formed by an X-Y axis, and acquiring a length value and a width value of the to-be-detected package according to the size of the target rectangle.
The device for detecting the package size based on the three-dimensional camera is used for implementing the method for detecting the package size based on the three-dimensional camera, and therefore a specific implementation manner of the device for detecting the package size based on the three-dimensional camera can be found in the embodiment section of the method for detecting the package size based on the three-dimensional camera in the foregoing description, and therefore the specific implementation manner of the device for detecting the package size based on the three-dimensional camera can refer to descriptions of corresponding embodiments of each section, and is not repeated herein.
The specific embodiment of the invention also provides equipment for detecting the size of a package based on the three-dimensional camera, which comprises the following components: a memory for storing a computer program; a processor for implementing the steps of the above method for detecting the size of the parcel based on the three-dimensional camera when executing the computer program.
The specific embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the method for detecting a package size based on a three-dimensional camera.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The method, the device, the equipment and the computer readable storage medium for detecting the size of the parcel based on the three-dimensional camera provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (8)
1. A method for detecting the size of a package based on a three-dimensional camera is characterized by comprising the following steps:
acquiring first three-dimensional data A (x) of a detection platform area where a parcel to be detected is not placed by using a three-dimensional camerai,yi,zi)；
Acquiring second three-dimensional data B (x) of the detection platform area where the to-be-detected package is placed by using the three-dimensional cameraj,yj,zj)；
For Z-axis data Z in the first three-dimensional dataiAnd Z-axis data Z in the second three-dimensional datajPerforming difference processing so as to calculate the height value of the to-be-detected parcel according to the difference data;
determining z in the second three-dimensional data according to the height valuejTaking the three-dimensional data in the value range as projection data, and projecting the projection data onto a plane formed by an X-Y axis;
fitting a target rectangle by using data projected onto a plane formed by an X-Y axis, and acquiring a length value and a width value of the to-be-detected package according to the size of the target rectangle;
wherein the Z-axis data Z in the pair of the first three-dimensional dataiAnd Z-axis data Z in the second three-dimensional datajPerforming difference processing so as to calculate the height value of the to-be-detected parcel according to the difference data, wherein the step of calculating the height value of the to-be-detected parcel comprises the following steps:
for Z-axis data Z in the first three-dimensional dataiAnd Z-axis data Z in the second three-dimensional datajPerforming difference processing to obtain difference data;
screening effective data in the difference data according to the maximum value and the minimum value of the preset height of the parcel to be detected;
and counting the frequency of the effective data in each interval of the Z axis, selecting a target interval according to the frequency, and calculating the average value of all difference data in the target interval as the height of the to-be-detected package.
2. The method of claim 1, wherein said counting the frequencies at which said valid data occurs in respective intervals of the Z-axis comprises:
and counting the quantity distribution of the effective data in each Z-axis interval by using a data occurrence frequency distribution diagram function, thereby obtaining the frequency of the effective data in each Z-axis interval.
3. The method of claim 2, wherein said determining z of said second three dimensional data is based on said height valuejProjecting the three-dimensional data in the value range as projection data onto a plane formed by an X-Y axis, wherein the value range comprises:
selecting z in the second three-dimensional data by taking the height value as a median valuejAnd projecting the three-dimensional data in the value range to a plane formed by an X-Y axis.
4. Method according to claim 3, characterized in that said first three-dimensional data A (x) of the area of the inspection platform where no parcel to be inspected is placed are acquired with a three-dimensional camerai,yi,zi) The method comprises the following steps:
after the setting of the detection area of the three-dimensional laser camera and the setting of the preset parameters are finished in advance, the three-dimensional laser camera is used for acquiring first three-dimensional data A (x) of the detection platform area where the parcel to be detected is not placedi,yi,zi)。
5. The method according to any one of claims 1 to 4, wherein the fitting of the target rectangle by using the data projected onto the plane formed by the X-Y axes, and the obtaining of the length value and the width value of the parcel to be detected according to the size of the target rectangle comprises:
and fitting a minimum rectangle by using data projected onto a plane formed by an X-Y axis, and obtaining the length value and the width value of the rectangle to be detected according to the side length of the minimum rectangle.
6. An apparatus for detecting a package size based on a three-dimensional camera, comprising: the system comprises a three-dimensional camera, a detection platform and a processor;
the three-dimensional camera is used for acquiring three-dimensional data of the detection platform when the package to be detected is not placed and three-dimensional data of the detection platform when the package to be detected is placed;
the processor is used for acquiring first three-dimensional data A (x) of a detection platform area where a parcel to be detected is not placed by using a three-dimensional camerai,yi,zi) (ii) a Acquiring second three-dimensional data B (x) of the detection platform area where the to-be-detected package is placed by using the three-dimensional cameraj,yj,zj) (ii) a For Z-axis data Z in the first three-dimensional dataiAnd Z-axis data Z in the second three-dimensional datajPerforming difference processing so as to calculate the height value of the to-be-detected parcel according to the difference data; determining z in the second three-dimensional data according to the height value and a preset rulejTaking the three-dimensional data in the value range as projection data, and projecting the projection data onto a plane formed by an X-Y axis; fitting a target rectangle by using data projected on a plane formed by an X-Y axis, and acquiring the target rectangle according to the size of the target rectangleThe length value and the width value of the package to be detected;
wherein, when the x isi＝xjAnd y isi＝yjFor Z-axis data Z in the first three-dimensional dataiAnd Z-axis data Z in the second three-dimensional datajPerforming difference processing so as to calculate the height value of the to-be-detected parcel according to the difference data, wherein the step of calculating the height value of the to-be-detected parcel comprises the following steps:
when x isi＝xjAnd y isi＝yjFor Z-axis data Z in the first three-dimensional dataiAnd Z-axis data Z in the second three-dimensional datajPerforming difference processing to obtain difference data;
screening effective data in the difference data according to the maximum value and the minimum value of the preset height of the parcel to be detected;
and counting the frequency of the effective data in each interval of the Z axis, selecting a target interval according to the frequency, and calculating the average value of all difference data in the target interval as the height of the to-be-detected package.
7. An apparatus for detecting a package size based on a three-dimensional camera, comprising:
a memory for storing a computer program;
a processor for implementing the steps of a method for detecting a size of a package based on a three-dimensional camera according to any one of claims 1 to 5 when executing the computer program.
8. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of a method for detecting a size of a package based on a three-dimensional camera according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810595464.XA CN109000560B (en) | 2018-06-11 | 2018-06-11 | Method, device and equipment for detecting package size based on three-dimensional camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810595464.XA CN109000560B (en) | 2018-06-11 | 2018-06-11 | Method, device and equipment for detecting package size based on three-dimensional camera |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109000560A CN109000560A (en) | 2018-12-14 |
| CN109000560B true CN109000560B (en) | 2021-07-06 |
Family
ID=64601289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810595464.XA Expired - Fee Related CN109000560B (en) | 2018-06-11 | 2018-06-11 | Method, device and equipment for detecting package size based on three-dimensional camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109000560B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111238369B (en) * | 2020-01-19 | 2021-07-06 | 广东工业大学 | Method, system and equipment for measuring volume of double rectangular objects |
| CN115077425B (en) * | 2022-08-22 | 2022-11-11 | 深圳市超准视觉科技有限公司 | Product detection equipment and method based on structured light three-dimensional vision |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5178965A (en) * | 1992-02-14 | 1993-01-12 | Rockwell International Corporation | Uniform solder coating on roughened substrate |
| FR2785382A1 (en) * | 1998-11-03 | 2000-05-05 | Aerospatiale | System for measuring weight and dimensions of moving objects, such as for measuring dimensions of parcels moving along a conveyor belt has device for removing oscillations from weight measurement sensor |
| CN1877251A (en) * | 2005-06-07 | 2006-12-13 | 安立株式会社 | Printing solder detecting device |
| EP2335200A1 (en) * | 2008-09-30 | 2011-06-22 | Amazon Technologies, Inc. | Systems and methods for receiving shipment parcels |
| CN104525422A (en) * | 2015-01-04 | 2015-04-22 | 成都思达特电器有限公司 | Method for controlling paths of spray robot |
| CN106839975A (en) * | 2015-12-03 | 2017-06-13 | 杭州海康威视数字技术股份有限公司 | Volume measuring method and its system based on depth camera |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI494538B (en) * | 2014-06-25 | 2015-08-01 | Ind Tech Res Inst | System and method for measuring an object |
-
2018
- 2018-06-11 CN CN201810595464.XA patent/CN109000560B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5178965A (en) * | 1992-02-14 | 1993-01-12 | Rockwell International Corporation | Uniform solder coating on roughened substrate |
| FR2785382A1 (en) * | 1998-11-03 | 2000-05-05 | Aerospatiale | System for measuring weight and dimensions of moving objects, such as for measuring dimensions of parcels moving along a conveyor belt has device for removing oscillations from weight measurement sensor |
| CN1877251A (en) * | 2005-06-07 | 2006-12-13 | 安立株式会社 | Printing solder detecting device |
| EP2335200A1 (en) * | 2008-09-30 | 2011-06-22 | Amazon Technologies, Inc. | Systems and methods for receiving shipment parcels |
| CN104525422A (en) * | 2015-01-04 | 2015-04-22 | 成都思达特电器有限公司 | Method for controlling paths of spray robot |
| CN106839975A (en) * | 2015-12-03 | 2017-06-13 | 杭州海康威视数字技术股份有限公司 | Volume measuring method and its system based on depth camera |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109000560A (en) | 2018-12-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108537834B (en) | Volume measurement method and system based on depth image and depth camera | |
| CN109000559B (en) | Object volume measuring method, device and system and readable storage medium | |
| CN112270713B (en) | Calibration method and device, storage medium and electronic device | |
| CN109801333B (en) | Volume measurement method, device and system and computing equipment | |
| CN103644865B (en) | Plane area measuring method based on digital image analysis | |
| CN111383279A (en) | External parameter calibration method and device and electronic equipment | |
| CN113252700A (en) | Structural crack detection method, equipment and system | |
| CN109000560B (en) | Method, device and equipment for detecting package size based on three-dimensional camera | |
| CN109029250A (en) | A kind of method, apparatus and equipment based on three-dimensional camera detection package dimensions | |
| US20230267593A1 (en) | Workpiece measurement method, workpiece measurement system, and program | |
| CN115731165A (en) | Detection system and method for lithium battery online size point inspection | |
| CN107504917B (en) | Three-dimensional size measuring method and device | |
| CN113281777A (en) | Dynamic measuring method and device for cargo volume | |
| CN114396875B (en) | Rectangular package volume measurement method based on vertical shooting of depth camera | |
| CN103471532A (en) | System and corresponding method for measuring surface waviness of aircraft | |
| CN109029303B (en) | Method, device and system for measuring bottom area parameters of object and readable storage medium | |
| CN117422777B (en) | Security check machine calibration method, related method, device, equipment and storage medium | |
| CN113947630A (en) | Method and device for estimating volume of object and storage medium | |
| CN115861443A (en) | Multi-camera internal reference calibration method and device, electronic equipment and storage medium | |
| CN113538556B (en) | Volume measuring device based on IR diagram | |
| CN115393381A (en) | Straightness detection method and device, computer equipment and storage medium | |
| CN112184790B (en) | Object size high-precision measurement method based on depth camera | |
| CN115511718A (en) | PCB image correction method and device, terminal equipment and storage medium | |
| CN109238243B (en) | Measuring method, system, storage medium and equipment based on oblique photography | |
| CN107741220B (en) | Image processing method and device and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210706 |