KR20160145444A

KR20160145444A - Sorter, sorter controlling method and storage medium storing the sorter controlling method

Info

Publication number: KR20160145444A
Application number: KR1020150082164A
Authority: KR
Inventors: 이경연; 김한규; 윤찬수; 이민환; 정문봉
Original assignee: 주식회사 엘지씨엔에스
Priority date: 2015-06-10
Filing date: 2015-06-10
Publication date: 2016-12-20
Also published as: KR101751215B1

Abstract

The present invention relates to a control method of a sorter and a sorter for photographing a hydrate by using a vision sensor and adjusting the position of the hydrate based on the photographed image, wherein the sorter photographs the hydrate loaded in the cart, Calculating a position correction value for adjusting the position of the baggage based on information about a position where the baggage is loaded and a vision sensor for calculating information about a position where the baggage is loaded, And a controller for controlling the position of the baggage to be adjusted by transmitting the baggage to the cart loaded with the baggage.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a control method of a sorter and a sorter,

TECHNICAL FIELD The present invention relates to a sorter, and more particularly, to a sorter and a sorter control method for photographing a hydrate using a vision sensor and adjusting the position of the hydrate based on the photographed image, and a recording medium storing the same.

Generally, in sorting using a cart that moves along a track, the luggage is not stably landed on or fixed to the cart when the luggage inserted through the inlet is loaded in the cart. Further, when the hydrate is loaded on the cart, abnormalities such as the jumping or piling of the hydrate occur, or the actual hydrate is not stably landed or fixed due to various hydrate sizes. When the baggage is not correctly loaded on the cart, the recognition rate of the reader is deteriorated because the identification code printed on the baggage can not be read.

In addition, if the baggage is not located within the recognition range of the reader, and the reader can not read the identification code of the baggage, the reader transmits the image of the baggage to the video capturing device (VCD). In this case, since the operator must confirm the image output to the image tag apparatus and directly read the identification code, the overall performance (for example, processing speed, processing efficiency, etc.) of the sorter for sorting the baggage may be degraded have. Particularly, in the case of a sorter using an OCR code as an identification code, the performance may be significantly degraded.

Korean Patent Laid-Open No. 10-2009-0118918 relates to an item sorting method and an item sorting apparatus, and provides a method and an apparatus for sorting items into a plurality of sorting destinations. The item is loaded on one of the plurality of independently controlled transport vehicles and the transport vehicle is moved to a sorting destination disposed along the track and when the sorting destination is reached the item is discharged to the sorting destination and returned to receive another item to be transported do.

Korean Patent Registration No. 10-0769839 relates to a shipping classification system, which includes a classification block having a plurality of distribution widths in which a product is input according to classification classification, a product group added to a single or group of products brought in for classification Reading means for reading the classification data, a product classifying device having a controller for indicating a distribution width to which a product should be charged based on the product classifying data inputted from the reading means, and a distribution control means And a direction indicator indicating the direction of the width.

Korean Patent Laid-Open No. 10-2009-0118918 Korean Patent No. 10-0769839

An embodiment of the present invention is to provide a sorter capable of photographing a hydrate using a vision sensor and adjusting the position of the hydrate to a desired position based on the sensed image.

An embodiment of the present invention is to provide a sorter capable of improving the recognition rate of the reader by adjusting the position of the baggage loaded in the cart and improving the processing accuracy of the baggage.

One embodiment of the present invention is to provide a sorter capable of stably handling a hydrate by adjusting the position of the hydrate loaded unstably in the cart.

Among the embodiments, the sorter may include a vision sensor that photographs the hydrate loaded in the cart and calculates information about the position where the hydrate is loaded based on the sensed image, And transmits the calculated position correction value to the cart loaded with the calculated position correction value so as to adjust the position of the corresponding luggage.

In one embodiment, the track may form a closed loop with first and second linear intervals, and may rotate a plurality of carts connected in series.

In one embodiment, the information about the position where the baggage is loaded may correspond to a distance deviation between the center point of the image and the center point of the baggage.

In one embodiment, the information about the position where the hydrate is loaded may correspond to the distance from each baseline on both sides of the image to the hydrate.

In one embodiment, the vision sensor may convert information about the position where the baggage is loaded into an ASCII value or a hexa value and transmit the information to the control unit.

In one embodiment, the sorter further includes a reader for reading and reading an identification code located in the bag, and the control unit is operable to change the position of the bag to a position at which the reader can read the identification code of the bag, The correction value can be calculated.

In one embodiment, the position correction value may include at least one of a moving direction, a moving distance, and a moving time.

In one embodiment, the travel distance may correspond to a distance between a center point of the image and a center point of the baggage.

In one embodiment, the travel distance can be calculated by the following equation (1).

[Equation 1]

Where D _move is the travel distance, D _L is the distance from the left baseline of the image to the baggage, D _R is the distance from the right baseline of the image to the baggage, D _high is the greater of D _L and D _R

In one embodiment, the required travel time can be calculated based on the distance between the vision sensor and the reader and the rotational speed of the track.

In one embodiment, the track further includes a wireless communication unit between the vision sensor and the reader, and the control unit may transmit the calculated position correction value to the cart through the wireless communication unit.

In one embodiment, the cart may include position shifting means for shifting the position of the loaded hydrate, a driving portion for driving the position shifting means, and a driving control portion for controlling the operation of the driving portion.

In one embodiment, the position shifting means may correspond to a cross belt driven in a direction perpendicular to the rotational direction of the track.

In one embodiment, the driving control unit may adjust the position of the baggage by controlling the operation of the driving unit based on the position correction value received by the control unit.

Among the embodiments, the control method of the sorter includes the steps of photographing the baggage loaded on the cart, calculating information on the position where the baggage is loaded based on the captured image, information on the position where the baggage is loaded Calculating a position correction value for adjusting the position of the hydrate on the basis of the calculated position correction value and adjusting the position of the corresponding hydrate on the basis of the calculated position correction value.

In one embodiment, the step of calculating the position correction value for adjusting the position of the baggage may calculate the position correction value for adjusting the position of the baggage to a position where the reader can read the identification code of the baggage.

There is provided a computer program for providing a control method of a sorter for sorting the baggage by loading a baggage at an input portion through a cart moving along a track and unloading the baggage at a discharge portion among the embodiments, A function of photographing the baggage loaded on the cart, a function of calculating information on a position where the baggage is loaded on the basis of the captured image, a function of adjusting the position of the baggage based on the information of the position where the baggage is loaded, And a function of adjusting the position of the corresponding luggage in the cart loaded with the corresponding luggage on the basis of the calculated position correction value.

The sorter according to an embodiment of the present invention can photograph a hydrate using a vision sensor and adjust the position of the hydrate to a desired position based on the sensed image.

The sorter according to one embodiment of the present invention can improve the recognition accuracy of the reader by adjusting the position of the baggage loaded on the cart, and improve the processing accuracy of the baggage.

The sorter according to an embodiment of the present invention can reduce the read failure of the reader and consequently the read through rate due to the read failure can be reduced and the performance of the sorter can be improved.

The sorter according to an embodiment of the present invention can adjust the position of the hydrate which is unstably loaded in the cart, thereby stably handling the hydrate.

1 is a diagram of a sorter according to an embodiment of the present invention.
Fig. 2 is a view of the vision sensor of the hydrate position adjustment region of Fig. 1;
3 is a block diagram of the vision sensor of FIG.
4 is a view for explaining an example of a process of calculating information on a position where a bag is loaded.
5 is a view for explaining another example of a process of calculating information on the position where the baggage is loaded.
6 is a diagram illustrating a wireless communication unit provided in the track of FIG.
Figure 7 is a view of the cart of Figure 1;
Figure 8 is a block diagram of the cart of Figure 7;
9 is a flowchart of a sorter control method performed in the sorter of FIG.

The description of the present invention is merely an example for structural or functional explanation, and the scope of the present invention should not be construed as being limited by the embodiments described in the text. That is, the embodiments are to be construed as being variously embodied and having various forms, so that the scope of the present invention should be understood to include equivalents capable of realizing technical ideas. Also, the purpose or effect of the present invention should not be construed as limiting the scope of the present invention, since it does not mean that a specific embodiment should include all or only such effect.

Meanwhile, the meaning of the terms described in the present application should be understood as follows.

The terms "first "," second ", and the like are intended to distinguish one element from another, and the scope of the right should not be limited by these terms. For example, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

It is to be understood that when an element is referred to as being "connected" to another element, it may be directly connected to the other element, but there may be other elements in between. On the other hand, when an element is referred to as being "directly connected" to another element, it should be understood that there are no other elements in between. On the other hand, other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

It is to be understood that the singular " include " or "have" are to be construed as including the stated feature, number, step, operation, It is to be understood that the combination is intended to specify that it does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The present invention can be embodied as computer-readable code on a computer-readable recording medium, and the computer-readable recording medium includes any type of recording device that stores data that can be read by a computer system . Examples of the computer-readable recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and also implemented in the form of a carrier wave (for example, transmission over the Internet) . In addition, the computer-readable recording medium may be distributed over network-connected computer systems so that computer readable codes can be stored and executed in a distributed manner.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used predefined terms should be interpreted to be consistent with the meanings in the context of the related art and can not be interpreted as having ideal or overly formal meaning unless explicitly defined in the present application.

1 is a diagram of a sorter according to an embodiment of the present invention.

1, the sorter 100 includes a track 110, at least one input 120, at least one output 130, and a controller 140, (114), a hydrate position adjustment area (116), and a leading area (118). Here, the control unit 140 may be included in a part of the sorter 100 or may be configured as a device separate from the sorter 100. [

The track 110 forms a closed loop having a first linear section 111 and a second linear section 112 and rotates the plurality of carts. In one embodiment, the track 110 may be comprised of a conveyor belt and may rotate a plurality of carts through friction drives. A plurality of carts may be connected in series.

In one embodiment, each of the plurality of carts may include a cross belt driven in a direction perpendicular to the direction of rotation of the track 110. Each of the plurality of carts drives the crossbelt in the case of loading the baggage from at least one input portion 120 and in the case of unloading the baggage by reaching at least one discharge portion 130 So that the hydrate can be loaded or unloaded.

In one embodiment, the first linear section 111 may include a Stray Parcel Supervision (SPS) area, which is a baggage identification area 114 that identifies the presence or absence of hydration in a plurality of carts. The baggage confirmation area 114 is provided with a sensor, such as a camera, an ultrasonic sensor, or the like, which can detect the presence or absence of the baggage in the cart. In the case of an empty cart having no hydrate, the control unit 140 selects the input unit 120 in which the cart will load the baggage.

The first linear section 111 is in contact with at least one input section 120 and the baggage confirmation area 114 is positioned before the point in contact with the at least one input section 120 with respect to the traveling direction of the track can do.

In one embodiment, the first linear section 111 may include a baggage position adjustment region 116 that identifies and adjusts the position of the hydration within a plurality of carts. The hydrate position adjustment area 116 is provided with a vision sensor capable of confirming the position of the hydrate in the cart. The vision sensor captures the baggage loaded in each cart and calculates information about the position where the baggage is loaded in the cart based on the captured image.

The control unit 140 calculates a position correction value for adjusting the position of the baggage based on the information about the position where the baggage is loaded and transmits the calculated position correction value to the cart loaded with the baggage, . The cart adjusts the position where the baggage is loaded based on the received position correction value.

The hydrate position adjustment region 116 may be positioned after the point of contact with at least one input portion 120 with respect to the traveling direction of the track.

In one embodiment, the first linear section 111 may include a leading area 118 that identifies the hydrate loaded in the cart. The leading region 118 is provided with a reader that can identify the baggage loaded in the cart. For example, the reading area 118 may include a BCR (Bar Code Recognition) reader or an OCR (Optical Character Recognition) reader. The BCR reader or the OCR reader may read bar codes or OCR codes located in the baggage.

In one embodiment, the reader is provided in a modular tower, and the tower can be secured to a vibration free system structure. In one embodiment, the reader measures the height of the bag through a sensor (e.g., an ultrasonic sensor, etc.) capable of measuring the height of the bag, and determines the focus of the line scan camera based on the measured height So that the identification code of the corresponding baggage can be photographed. The reader can read the identification information based on the photographed image. If the reading of the identification information is unsuccessful, the reader transmits the corresponding image to the VCD (Video Coding Desk). The video image device outputs the image on the screen and receives the result read by the operator.

The control unit 140 identifies the baggage loaded in the cart based on the identification information read by the reader, and selects the discharging unit 130 for unloading the baggage based on the identification information. For example, the control unit 140 may acquire information on the baggage such as the destination of the baggage or the type of the baggage, and may select the discharging unit 130 for unloading the baggage on the basis of the information.

The leading region 118 may be located after the baggage position adjusting region 116 based on the traveling direction of the track.

At least one input portion 120 is disposed obliquely in the first linear section 111 and draws the hydrate into the track 110. In one embodiment, each of the at least one input 120 may control the rate of entry of the baggage through the controller 140.

At least one discharge section 130 is located in the second linear section 112 and is drawn through at least one input section 120 and draws the luggage transported through the cart. In one embodiment, the at least one discharge portion 130 may contact the track 110 in the vertical direction with respect to the direction of travel of the track 110, and may be inclined toward the bottom so that the baggage may descend. have.

In one embodiment, at least one discharge section 130 may be provided bilaterally with respect to the second linear section 112, and each of the at least one discharge section 130 may be classified according to a specific criterion .

The control unit 140 controls each component of the sorter to control the incoming, sorting, transporting and retrieving of the baggage. In one embodiment, the control unit 140 calculates a position correction value for adjusting the position of the baggage based on the information about the position where the baggage calculated in the vision sensor is loaded. The control unit 140 controls the position correction value to be transmitted to the cart loaded with the calculated position correction value to adjust the position of the corresponding luggage. The cart adjusts the position of the baggage to a position where the reader can read the identification code of the baggage based on the received position correction value. A more detailed description of a method for adjusting the position of the hydrate will be described below with reference to Figs. 2 to 7. Fig.

Fig. 2 is a view of the vision sensor of the baggage position adjustment region of Fig. 1, and Fig. 3 is a block diagram of the vision sensor of Fig. 2. Fig.

Referring to FIG. 2, the track 110 may be formed of a conveyor belt, and the plurality of carts 230 may be rotated by friction drive. Cart 230 loads cargo 240 and moves along track 110. The vision sensor 210 photographs the baggage 240 loaded on the cart 230 and calculates information on the position where the baggage is loaded based on the photographed image.

The vision sensor 210 is provided in a gantry 220 and the gantry 220 can be secured to a vibration free system structure. In one embodiment, the track 110 may be arranged to pass through a gantry 230 in the form of a gate, and the vision sensor 210 may be located at the top of the gantry 230, It is possible to photograph the passing luggage 240.

3, the vision sensor 210 includes an image capturing unit 310 for capturing an image and an image analyzing unit 320 for analyzing the captured image and calculating information about the position where the baggage is loaded. The image capturing unit 310 and the image analyzing unit 320 may be located at the same place or separately at different places.

The image capturing unit 310 may include a single camera or a stereo camera. The image photographing unit 310 photographs the baggage and transmits the photographed image to the image analyzing unit 320. In one embodiment, the vision sensor 210 further comprises a sensor (e.g., an ultrasonic sensor, etc.) that is capable of measuring the height of the baggage, measures the height of the baggage through the sensor, The user can photograph the baggage by adjusting the focus of the image capturing unit 310.

The image analysis unit 320 analyzes the photographed image and calculates information about the position where the baggage is loaded. In one embodiment, the information about the position at which the hydrate is loaded may correspond to a distance deviation between the center point of the image and the center point of the hydrate.

4 is a view for explaining an example of a process of calculating information on a position where a bag is loaded.

4, the image analyzing unit 320 calculates a center point 412 of the captured image 410 and a center point 422 of the baggage 420 and calculates a distance deviation between the center points 412 and 422 .

The image analyzing unit 320 calculates the width W and the length L of the baggage 420 and calculates the coordinates of the center point 422 of the baggage 420 , Yc = L / 2). The image analyzing unit 320 calculates a coordinate value corresponding to the coordinates Xc and Yc of the center point 422 of the baggage 420 based on the coordinate system of the image 410 and calculates a coordinate value corresponding to the center point 412 (Xc-Xp, Yc-Yp) from the difference (Xp, Yp) can be calculated.

In another embodiment, the image analyzing unit 320 calculates the coordinates (X1, Y1) of one point of the baggage 420 based on the coordinate system of the image 410 and calculates the coordinates (Xc = X1 + W / 2, Yc = Y1 + L / 2) of the center point 422 on the basis of the length L and the length L of the center point 422.

The image analyzing unit 320 analyzes the coordinates (Xc, Yc) of the center point 422 of the calculated hydrate 420 and the coordinates (Xp, Yp) of the center point 412 of the image with the center point 412 of the image The deviation (Xc-Xp, Yc-Yp) can be calculated.

In another embodiment, the information about the position where the hydrate is loaded may correspond to the distance from each baseline on both sides of the image to the hydrate.

5 is a view for explaining another example of a process of calculating information on the position where the baggage is loaded. Referring to FIG. 5, the image analyzer 320 calculates distances from the reference lines on both sides of the photographed image 510 to the baggage.

For example, the image analysis unit 320 may calculate the distance 530 from the left baseline of the photographed image 510 to the baggage 520 and the distance 540 from the right baseline to the baggage 520 . In one embodiment, the baseline may correspond to an end line of the image, or may correspond to a line at a location predetermined by the designer.

Referring back to FIG. 2, the vision sensor 210 converts information about the position where the baggage 240 is loaded into an ASCII value or a Hexa value, and transmits the information to the control unit 140.

The control unit 140 calculates a position correction value for adjusting the position of the baggage based on the information about the position where the baggage is loaded. For example, the control unit 140 may calculate the position correction value so that the reader can adjust the position of the baggage to a position where the reader can read the identification code of the baggage. The position where the leader can read the identification code of the baggage can be set by the designer or automatically determined according to the leader's reading position. Hereinafter, for the sake of convenience of explanation, it is assumed that the case where the center of the baggage is adjusted to the center position of the image is set by the designer.

The control unit 140 may calculate at least one of the moving direction, the moving distance, and the moving time, and may calculate the position correction value.

In one embodiment, when the information about the position where the baggage is loaded corresponds to a distance deviation between the center point of the image and the center point of the baggage, the control unit 140 moves the center point of the baggage relative to the center point of the image Select the direction. For example, if the center point of the hydrate is located to the right of the center of the image, the direction of movement of the hydrate can be selected as the left direction. The control unit 140 calculates the distance between the center point of the baggage and the center point of the image as the moving distance of the baggage.

The control unit 140 calculates the required travel time based on the distance between the vision sensor and the reader and the rotation speed of the track. For example, the control unit 140 calculates the travel time (t = D (distance between the vision sensor and the reader) / V (rotational speed of the track)) so that the position of the baggage is adjusted before the baggage arrives at the leader .

In another embodiment, when the information about the position where the hydrate is loaded corresponds to the distance from each reference line on both sides of the image to the hydrate, the controller 140 selects the direction of movement based on the distance from each baseline to the hydrate . For example, if the distance from the left baseline of the baggage is greater than the distance from the right baseline, the direction of movement of the baggage can be selected to the left.

When the information on the position where the baggage is loaded corresponds to the distance from each reference line on both sides of the image to the baggage, the control unit 140 calculates the movement distance of the baggage through the following equation (1).

Where D _move is the travel distance, D _L is the distance from the left baseline of the image to the baggage, D _R is the distance from the right baseline of the image to the baggage, and D _high is the larger of D _L and D _R.

The control unit 140 calculates the travel time based on the distance between the vision sensor and the reader and the rotation speed of the track. For example, the control unit 140 calculates the travel time (t = D (distance between the vision sensor and the reader) / V (rotational speed of the track)) so that the position of the baggage is adjusted before the baggage arrives at the leader .

The control unit 140 transmits the calculated position correction value to the cart 230 in which the corresponding baggage is loaded. In one embodiment, the controller 140 may transmit the calculated position correction value to the cart that has passed through the vision sensor in order to adjust the position of the cart.

In another embodiment, when a plurality of carts pass through the vision sensor before the position correction value is calculated due to the fast moving speed of the cart, the control unit 140 identifies a cart loaded with the corresponding bag among the carts moving along the track , The position correction value calculated in the corresponding cart can be transmitted. In another embodiment, the control unit 140 transmits the calculated position correction value together with the identification information of the cart loaded with the corresponding baggage, and when the cart having the identification information matched with the received identification information, As shown in FIG. For example, the control unit 140 transmits the position correction value to the cart passing through the vision sensor 210 together with the identification information of the cart loaded with the corresponding baggage, and the cart matches the identification information thereof with the received identification information The position can be adjusted according to the correction value.

The track 110 further includes a wireless communication unit between the vision sensor 210 and the reader and the control unit 140 can transmit the calculated position correction value to the cart 230 via the wireless communication unit.

6 is a diagram illustrating a wireless communication unit provided in the track of FIG.

Referring to FIG. 6, the wireless communication unit 610 transmits and receives data to and from the controller 140 and the cart 230. The communication unit 610 may include wireless communication means or wired communication means. In one embodiment, the control unit 140 and the wireless communication unit 610 can transmit and receive data through serial communication such as RS-485 communication.

The wireless communication unit 610 and the cart 230 may transmit and receive data through wireless communication means such as infrared communication, Bluetooth, and short distance communication. For example, the wireless communication unit 610 and the cart 230 may include an infrared communication unit in the opposite area, respectively, and may transmit and receive data through infrared communication. When receiving the position correction value from the control unit 140, the wireless communication unit 610 may transmit the received position correction value to the cart 230 through infrared communication.

Figure 7 is a view of the cart of Figure 1;

Referring to FIG. 7, a plurality of carts 230 may be connected to each other in series to move along the track 110. The cart, which receives a position correction value from the control unit 140 among a plurality of carts, adjusts the position of the baggage based on the received position correction value. Hereinafter, for convenience of description, one cart among a plurality of carts will be described as an example.

Figure 8 is a block diagram of the cart of Figure 7;

8, the cart includes a position shifting unit 810, a driving unit 820, and a driving control unit 830.

The position shifting means 810 shifts the position of the loaded baggage. In one embodiment, the position shifting means 810 may be a cross belt driven in a direction perpendicular to the direction of rotation of the track. The position shifting means 810 can adjust the position of the baggage through the cross belt in the direction perpendicular to the rotational direction of the track.

In another embodiment, the position shifting means 810 may adjust the position of the baggage in the direction of rotation of the track and in the horizontal direction. For example, the position shifting means 810 can adjust the position of the luggage by moving the cross belt in the direction of rotation of the track. Alternatively, the crossbelt may be tilted in the direction of rotation or the direction of rotation of the track, or the tray of the cart may be tilted to adjust the position of the luggage in the direction parallel to the direction of rotation of the track.

The driving unit 820 drives the position moving means to adjust the position of the baggage, and the driving control unit 830 controls the operation of the driving unit 830. The driving control unit 830 controls the operation of the driving unit 820 based on the position correction value received from the control unit through the wireless communication unit 610. In one embodiment, the drive control unit 830 may correspond to a BLDC (Brushless DC) driver.

For example, the driving control unit 830 may determine the driving direction of the driving unit 820 based on the received moving direction, and may determine the driving frequency of the driving unit 820 based on the received moving distance. For example, when the driving unit 820 corresponds to the electric motor, the driving control unit 830 compares the moving distance of the cross belt corresponding to one rotation of the electric motor with the received moving distance to determine the number of rotations of the electric motor .

In addition, the drive control unit 830 can determine the rotation speed of the driving unit 820 based on the received travel time.

9 is a flowchart of a sorter control method performed in the sorter of FIG.

The vision sensor 210 captures the baggage loaded on the cart passing through the vision sensor 210 (step S910).

After capturing the baggage loaded on the cart, the vision sensor 210 calculates information on the position where the baggage is loaded based on the captured image (step S920).

In one embodiment, the information about the position at which the hydrate is loaded may correspond to a distance deviation between the center point of the image and the center point of the hydrate. In another embodiment, the information about the position where the hydrate is loaded may correspond to the distance from each baseline on both sides of the image to the hydrate.

The vision sensor 210 converts information about the position where the baggage is loaded into an ASCII value or a hexa value, and transmits the information to the control unit 140.

The control unit 140 calculates a position correction value for adjusting the position of the baggage based on the information about the position where the baggage is loaded (step S930). In one embodiment, the position correction value may include at least one of a moving direction, a moving distance, and a moving time.

The control unit 140 transmits the calculated position correction value to the cart. In one embodiment, the controller 140 may transmit the position correction value to the cart through a wireless communication unit located between the vision sensor and the reader.

The cart adjusts the position of the baggage based on the received position correction value (step S940). For example, the cart can rotate the cross belt in the direction perpendicular to the direction of rotation of the track to adjust the position of the baggage. In another embodiment, the cart may adjust the position of the baggage by moving the crossbelt in the direction of rotation of the track.

Through the above process, the sorter can adjust the position of the baggage loaded in each cart and allow the reader to accurately read the identification code of the baggage. Therefore, the sorter can improve the recognition rate of the reader, and improve the accuracy of processing of the luggage based on the recognition.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the present invention as defined by the following claims It can be understood that

100: Sorter
110: track
120: at least one inlet
130: at least one outlet
111: first linear section
112: second linear section

Claims

1. A sorter for sorting luggage by loading a luggage at a loading part through a cart moving along a track and unloading the luggage at a discharging part,
A vision sensor for photographing the hydrate loaded in the cart and calculating information about a position where the hydrate is loaded based on the sensed image; And
Calculating a position correction value for adjusting the position of the baggage based on the information about the position where the baggage is loaded and transmitting the calculated position correction value to the cart loaded with the baggage so as to adjust the position of the baggage; And a control unit for controlling the motor.

The method of claim 1,
A plurality of carts connected in series to each other to form a closed loop having first and second linear sections, and to move the plurality of carts.

The method of claim 1, wherein the information about the position where the baggage is loaded
And a distance deviation between the center point of the image and the center point of the baggage.

The method of claim 1, wherein the information about the position where the baggage is loaded
And a distance from each reference line on both sides of the image to the baggage.

The apparatus of claim 1, wherein the vision sensor
And converts the information about the position where the baggage is loaded into an ASCII value or a hexa value and transmits the information to the control unit.

The method according to claim 1,
Further comprising a reader for reading and reading an identification code located in said bag,
Wherein the controller calculates a position correction value for adjusting the position of the baggage to a position where the reader can read the identification code of the baggage.

7. The method according to claim 6, wherein the position correction value
The moving direction, the moving distance, and the moving time.

8. The method of claim 7,
And a distance between a center point of the image and a center point of the baggage.

8. The method of claim 7,
Is calculated by the following equation (1).
[Equation 1]

8. The method according to claim 7,
Wherein the distance is calculated on the basis of a distance between the vision sensor and the reader and a rotation speed of the track.

7. The method of claim 6,
Further comprising a wireless communication unit between the vision sensor and the reader,
And the control unit transmits the calculated position correction value to the cart through the wireless communication unit.

2. The apparatus of claim 1, wherein the cart
Position shifting means for shifting the position of the loaded hydrate;
A driving unit for driving the position shifting unit; And
And a drive control unit for controlling the operation of the drive unit.

13. The apparatus according to claim 12, wherein the position shifting means
And a cross belt driven in a direction perpendicular to the rotational direction of the track.

13. The apparatus of claim 12, wherein the drive control unit
Wherein the control unit controls the operation of the driving unit based on the position correction value received by the control unit to adjust the position of the baggage.

A control method of a sorter for sorting the baggage by loading a baggage at a charging part through a cart moving along a track and unloading the baggage at a discharging part,
Photographing the hydrate loaded in the cart;
Calculating information on a position where the baggage is loaded based on the photographed image;
Calculating a position correction value for adjusting the position of the baggage based on information about a position at which the baggage is loaded; And
And adjusting the position of the corresponding luggage by the cart loaded with the corresponding luggage based on the calculated position correction value.

16. The method of claim 15, wherein the information about the location where the baggage is loaded
And a distance deviation between a center point of the image and a center point of the baggage.

16. The method of claim 15, wherein the information about the location where the baggage is loaded
And a distance from each reference line on both sides of the image to the baggage.

The method according to claim 15, wherein the step of calculating the position correction value for adjusting the position of the hydrate
Wherein the position calculating means calculates a position correction value for adjusting the position of the baggage to a position where the reader can read the identification code of the baggage.

19. The method according to claim 18, wherein the position correction value
The moving direction, the moving distance, and the moving time.

There is provided a computer program for providing a control method of a sorter for loading a luggage in a loading portion through a cart moving along a track and unloading the luggage in a discharging portion to sort the luggage,
A function of photographing the cargo loaded in the cart;
A function of calculating information on a position where the baggage is loaded based on the photographed image;
A function for calculating a position correction value for adjusting the position of the baggage based on information about a position at which the baggage is loaded; And
And the cart having the corresponding baggage loaded on the basis of the calculated position correction value adjusts the position of the corresponding baggage.