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A technology for contour detection and cargo box, applied in the field of image processing, can solve the problems such as inability to accurately identify the contour of the cargo box to determine the position of the cargo box, low sorting operation efficiency, etc., and achieve the effect of improving efficiency
Pending Publication Date: 2020-06-05
CHINA HEFEI TAIHE OPTOELECTRONICS TECH
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[0004] The purpose of the embodiments of the present invention is to provide a method and device for detecting the outline of a container to improve the problem in the prior art that the outline of the container cannot be accurately identified to determine the position of the container, resulting in low efficiency of the sorting operation
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no. 1 example
[0033] Please refer to figure 2 , figure 2 A flow chart of a method for detecting the outline of a container provided by an embodiment of the present invention is shown. The container contour detection method includes the following steps:
[0034] Step S1, acquiring a first container image including at least one container.
[0035] see image 3 , the first container image may be a grayscale image including at least one container, it can be understood that the first container image may include one container, two containers, or three containers, Or more boxes. The boxes can be the same type of box or different types of boxes. The image of the first container can be captured by the camera 106 in real time.
[0036] Step S2, based on the selected instruction, determine the region of interest and the region of non-interest other than the region of interest in the first container image.
[0037] In the embodiment of the present invention, the region of interest may be an ar...
no. 2 example
[0075] see Figure 11 , Figure 11 A schematic block diagram of a container contour detection device 200 provided by an embodiment of the present invention is shown. The container contour detection device 200 includes a first image acquisition module 201, an interest region determination module 202, a second image acquisition module 203, a binary image acquisition module 204, a closed contour acquisition module 205, a circumscribing rectangle acquisition module 206, and a cargo box contour determination Module 207.
[0076] The first image acquiring module 201 is configured to acquire a first container image including at least one container.
[0077] The ROI determination module 202 is configured to determine ROIs and non-ROIs other than the ROIs in the first container image based on the selected instruction.
[0078] The second image acquiring module 203 is configured to set pixel values of both the region of interest and the region of non-interest in the first container...
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Abstract
The invention relates to the technical field of image processing, and provides a container contour detection method and device. The method comprises the steps: acquiring a first container image containing at least one container; determining a region of interest and a non-region of interest except the region of interest in the first container image based on the selection instruction; setting pixelvalues of the region of interest and the non-region of interest in the first container image to obtain a second container image; performing threshold segmentation on the second container image to obtain a container binary image; processing the container binary image to obtain all closed contours in the container binary image; obtaining an external rectangle of each closed contour and correspondingrectangle information; and comparing the rectangular information of each circumscribed rectangle with preset cargo tank form information, and determining all circumscribed rectangles corresponding tothe rectangular information equal to the preset cargo tank form information as contours of the cargo tank. Compared with the prior art, the efficiency of cargo box sorting operation is improved.
Description
technical field [0001] The embodiments of the present invention relate to the technical field of image processing, and in particular, to a method and device for detecting the outline of a container. Background technique [0002] Containers are a commonly used packaging method for manufacturers. In the warehousing and logistics link, containers are often classified into stacks and put on pallets according to varieties and specifications to facilitate storage and handling. When the container needs to be turned over or shipped out, with the popularization of mechanization and automation equipment, more and more enterprises use industrial robots, multi-degree-of-freedom motion platforms supplemented by manipulators or suction cups to sort and transport goods. [0003] When the manipulator or suction cup sorts the boxes in the stack, the control system needs to obtain the specific position information of each item in the stack before controlling the mechanized equipment to accur...
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