CN105752655B - A kind of halved belt sorts means for correcting and its bearing calibration of trolley cargo - Google Patents
A kind of halved belt sorts means for correcting and its bearing calibration of trolley cargo Download PDFInfo
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- CN105752655B CN105752655B CN201610289980.0A CN201610289980A CN105752655B CN 105752655 B CN105752655 B CN 105752655B CN 201610289980 A CN201610289980 A CN 201610289980A CN 105752655 B CN105752655 B CN 105752655B
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- trolley
- sorting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
Abstract
The present invention relates to means for correcting and its bearing calibrations that a kind of halved belt sorts trolley cargo, it includes the measure and control device being arranged on circular orbit and the sorting trolley communicated with measure and control device, the measure and control device includes side plate, head cover, top-support, high speed camera module and nucleus module, the side plate is two groups, and light band is further respectively had on the inside of both side plate.The present invention can ensure center of the cargo on sorting trolley, reduce the error rate of sorting, improve the accuracy rate during the lower part of cargo.
Description
Technical field
The present invention relates to a kind of means for correctings, and in particular to a kind of halved belt sorts means for correcting and its school of trolley cargo
Correction method.
Background technology
With the fast development of Chinese economy, modern logistics industry also enters rapid growth period.Material flows automation is as existing
For the important component of logistics, the developing direction of entire logistic industry decide.Halved belt Automated Sorting System is due to automatic
Many advantages, such as change degree is high, sorting efficiency is high, is entirely occupying an important position in material flows automation field.
Sort core apparatus of the trolley as carbel sorting, be responsible for cargo correctly, be quickly transported to purpose
Website, his integrity, accuracy play conclusive effect to the performance of entire carbel sorting.It is most at present
Carbel sorting in cargo to be transported to sorting trolley from piece uploading controlled by program, when face it is larger or
When smaller cargo, it can not sufficiently accurately be sent to the center of sorting trolley.Also less a part of high-end intersection
Band sorting system carries out position control in piece uploading device using light curtain, and this form is merely able to relatively good guarantee piece uploading
The accuracy of program, it is impossible to ensure that parcels and goods move to the specific location on sorting trolley in sorting system actual motion.
Parcels and goods in the position of sorting trolley if not going out in central area, in the fast website close to sorting, due to
Crab traversing speed quickly, different sorting website it is adjacent to each other etc., trolley largely can will under the control of pre-booking process
Cargo is sent to targeted sites are previous or the latter website, and error rate is caused to increase.Due to entire sorting system trolley quantity
Numerous, daily sorting amount is ten hundreds of or even hundreds thousand of, therefore the amount of dislocation cargo caused by this error rate can be very big, meeting
Huge loss is caused to logistic industry.
Invention content
Technical problem to be solved by the present invention lies in provide a kind of halved belt sort trolley cargo means for correcting and its
Bearing calibration, the device can ensure center of the cargo on sorting trolley, reduce the error rate of sorting, improve cargo
Accuracy rate during lower part.
The technical problems to be solved by the invention are realized using following technical scheme：
A kind of means for correcting of halved belt sorting trolley cargo, it include the measure and control device being arranged on circular orbit and
The sorting trolley communicated with measure and control device；
The measure and control device includes side plate, head cover, top-support, high speed camera module and nucleus module, the side
Plate is two groups, and the top between both side plate is connected by head cover, and is respectively equipped with supporting rod in the inside bottom of both side plate, and
It is fixed on by supporting rod on the track support of circular orbit both sides, the head cover is equipped with top-support, the high speed phase
Machine module is arranged on the top-support, and nucleus module, the high speed camera module are additionally provided on the head cover
It is communicated with nucleus module, light band is further respectively had on the inside of the both side plate.
Further, the nucleus module is by timer, logic computer, communication group, infrared distance measurement group and image
Device is managed to constitute.
Further, the sorting trolley is arranged on circular orbit, it is made of motor, belt and belt wheel, described
It is connected by belt between motor and belt wheel, and forms closure.
Further, the sorting is small interior equipped with the trolley communication group communicated with the communication group in nucleus module and survey
It measures the trolley velocity sensor of movement velocity and control on circular orbit and starts or close the control processor of motor.
Further, the communication group in the nucleus module uses the side of infrared communication with the trolley communication group for sorting small car
Formula communicates.
The invention also includes the bearing calibrations that a kind of halved belt sorts trolley cargo, are as follows：
Step 1, cargo are transmitted to by waiting section, accelerating sections and the sync section on piece uploading device on sorting trolley；
Under the movement of circular orbit when close measure and control device, the communication group for sorting small car is sent for step 2, sorting trolley
Communication instruction is to the communication group in nucleus module；
Step 3：After communication group in nucleus module receives communication instruction, by logic computer calculate sorting trolley center to
The observing and controlling distance of measuring control point, and the observing and controlling for calculating the trolley starts the time, while starting the timer in nucleus module；
Step 4, when timer is zeroed, sorting moving of car to measuring control point, at this point, high speed camera module is taken pictures；
Photo after taking pictures, is sent to nucleus module, and be identified by the image processor in nucleus module by step 5
Processing, and calculate the deviation that cargo on the sorting trolley deviates trolley center；
The deviation is sent to the sorting trolley by step 6 by the communication group in nucleus module；
After step 7, sorting trolley receive the deviation, start motor, and belt movement is driven by motor, thus into crudely-made articles
Object adjusts.
Further, the observing and controlling distance is：The distance of communication group in trolley communication group to nucleus module is in level side
The floor projection sum of the distance of communication group in the length and nucleus module of upward projection straight line to high speed camera module；
The observing and controlling starts the time and is：Sort the time needed for trolley center arrival measure and control device central plane and high speed
Camera model starts the sum of time；
The initial value of the timer is：The startup time of measure and control device.
Further, binaryzation of the identifying processing comprising photograph image, cargo contours extract, profile center meter
It calculates, profile center and image center position coordinates calculate；
The deviation is：Profile center and image center coordinate points are in the projection straight line in orbital direction
Length.
The beneficial effects of the invention are as follows：The correction for carrying out parcel location again after cargo is transported to sorting trolley, leads to
It crosses measure and control device and accurately measures and calculate the deviation of cargo on each sorting trolley, and sent in time by communication group
Trolley is sorted, sorting trolley is adjusted in real time, so that it is guaranteed that cargo is in central area on sorting trolley, solves tradition
It is higher that sorting error rate caused by the position of cargo is unable to ensure in carbel sorting after cargo movement to sorting trolley
The problem of, substantially increase accuracy rate of cargo during lower part.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the present invention and circular orbit position relationship structural diagram；
Fig. 3 is part A enlarged structure schematic diagram in Fig. 1；
Fig. 4 is nucleus module of the present invention and sorting cart system block diagram；
Fig. 5 circular orbits of the present invention and belt movement direction structure schematic diagram；
Fig. 6 is step operation flow chart of the present invention.
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in figures 1 to 6, a kind of means for correcting of halved belt sorting trolley cargo, it includes being arranged on circular orbit 1
Measure and control device 7 and the sorting trolley that is communicated with measure and control device 7；
The measure and control device 7 includes side plate 70, head cover 71, top-support 72, high speed camera module 73 and nucleus module
74, the side plate 70 is two groups, and the top between both side plate 70 is connected by head cover 71, and at the inside bottom of both side plate 70
Portion is respectively equipped with supporting rod 75, and is fixed on the track support 10 of 1 both sides of circular orbit by supporting rod 75, the head cover 71
It is equipped with top-support 72, the high speed camera module 73 is arranged on the top-support 72, in the head cover 71
On be additionally provided with nucleus module 74, the high speed camera module 73 is communicated with nucleus module 74, in the both side plate 70
Side further respectively has light band 76.
The nucleus module 74 is by timer 7401, logic computer 7402, communication group 7403, infrared distance measurement group
7404 and image processor 7405 constitute.
The sorting trolley 2 is arranged on circular orbit 1, it is made of motor 20, belt 21 and belt wheel 22, described
It is connected by belt 21 between motor 20 and belt wheel 22, and forms closure.
Be equipped in the sorting trolley 2 the trolley communication group 23 communicated with the communication group 7403 in nucleus module 74 and
It measures the velocity sensor 24 of the sorting movement velocity on circular orbit 1 of trolley 2 and control starts or close the control of motor 20
Processor 25 processed.
Communication group 7403 in the nucleus module 74 is with the trolley communication group 23 in sorting trolley 2 using infrared communication
Mode communicates.
The invention also includes the bearing calibrations that a kind of halved belt sorts trolley cargo, are as follows：
Step 1：Cargo is transmitted to by waiting section 5, accelerating sections 4 and the sync section 3 on piece uploading device 6 on sorting trolley 2；
Step 2：It sorts trolley 2 and when close measure and control device 7, sorts the communication group in trolley 2 under the movement of circular orbit 1
23 send communication instruction to the communication group 7403 in nucleus module 74；
Step 3：After communication group 7403 in nucleus module 74 receives communication instruction, is calculated and sorted by logic computer 7402
2 center of trolley is to the observing and controlling distance of measuring control point, and the observing and controlling for calculating the trolley starts the time, while starting in nucleus module 74
Timer 7401；
Step 4：When timer 7401 is zeroed, sorting trolley 2 move to measuring control point, at this point, high speed camera module 73 into
Row is taken pictures；
Step 5：After taking pictures, photo is sent to nucleus module 74, and by the image processor 7405 in nucleus module 74
Processing is identified, and calculates the deviation that cargo on the sorting trolley deviates trolley center；
Step 6：The deviation is sent to the sorting trolley 2 by the communication group 7403 in nucleus module 74；
Step 7：After sorting trolley 2 receives the deviation, start motor 20, and drive belt 21 to move (skin by motor 20
With 2 direction of motion perpendicular to the direction of motion of circular orbit 1), to carry out cargo adjustment.
In above-mentioned steps, the observing and controlling distance is：Trolley communication group 23 is to the communication group 7403 in nucleus module 74
The length of distance projection straight line in the horizontal direction arrive high speed camera module 73 with the communication group 7403 in nucleus module 74
Floor projection sum of the distance；
The observing and controlling starts the time and is：Sort the time needed for 2 center of trolley arrival, 7 central plane of measure and control device and height
Fast camera model 73 starts the sum of time；
The initial value of the timer is：The startup time of measure and control device 7.
In above-mentioned step, in binaryzation of the identifying processing comprising photograph image, cargo contours extract, profile
Heart position calculates, profile center and image center position coordinates calculate；
The deviation is：Profile center and image center coordinate points are in the projection straight line in orbital direction
Length.
The present invention at work, is sorted cargo and passes sequentially through waiting section 5, accelerating sections 4 and sync section in piece uploading device 6
3 cooperation is sent on sorting trolley 2, and sorting trolley 2 is moved along circular orbit 1, when sorting trolley 2 close to measure and control device 7,
It sorts the trolley in trolley 2 and communicates 23 groups of transmission communication instructions of communication group 7403 into nucleus module 74.
When nucleus module 74, which does not return to determination, receives instruction, the trolley communication group 23 in trolley 2 is sorted again to core
Communication group 7403 in module 74 sends communication instruction.
Receive instruction when nucleus module 74 returns to determination, that is, it is infrared in nucleus module 74 after being properly received communication instruction
Ranging group 7404 start, and measure sorting trolley 2 in trolley communication group 23 to the communication group 7403 in nucleus module 74 away from
From, and the floor projection for sorting 2 center of trolley to 73 center of high speed camera module is calculated apart from (computational methods are to be divided
After picking the trolley communication group 23 to the distance of the communication group 7403 in nucleus module 74 in trolley 2, due to small in sorting trolley 2
The vertical range between communication group 7403 in vehicle communication group 23 and nucleus module 74 is fixed value, can be obtained by trigonometric function
The projection of distance in the horizontal plane to the trolley communication group 23 in sorting trolley 2 to the communication group 7403 in nucleus module 74 is grown
Degree arrives the distance between high speed camera module 73 in horizontal plane further according to the communication group 7403 of precalculated nucleus module 74
On projected length, can both obtain sorting 2 center of trolley to 73 center of high speed camera module floor projection distance).Root again
According to the current real-time sorting speed that the velocity measurement sensor 24 in sorting trolley 2 measures, sorting trolley 2 can be calculated and reached
The time t1 of 7 central plane of measure and control device (i.e. measuring control point).Timer 7401 in nucleus module 74 is started to work, initial value
T=t1+t2；
Wherein t2 is the time that high speed camera module 73 starts.
When the timer is zeroed, high speed camera module 73 works, and claps the photo for taking sorting trolley 2 and bulk-breaking cargo 8.It claps
According to rear, the image processor 7405 in nucleus module 74 carries out binary conversion treatment to the photo, then extracts bulk-breaking cargo
Profile calculates the coordinate value of the central point of 8 profile of bulk-breaking cargo.Logic processor 7402 in nucleus module 74 is by the coordinate
Value is compared with image center coordinate, and finds out deviation, is judged again deviation later, if in normal range (NR)
It is interior, if it is not, then recalculating, if so, the deviation is sent to by the communication group 7403 in nucleus module 74
In trolley communication group 23 in corresponding sorting trolley 2 far from measure and control device 7.Trolley communication group 23 in sorting trolley 2 exists
It is properly received after changing deviation, which is converted to motor control instruction by the control processor 25 sorted on trolley 2, and is controlled
Motor 20 processed starts, while also belt 21 being driven to rotate, and bulk-breaking cargo 8 is adjusted to the center of sorting trolley 2, realization point
The correction of part cargo 8.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe the originals of the present invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (7)
1. a kind of means for correcting of halved belt sorting trolley cargo, it is characterised in that：It includes being arranged on circular orbit (1)
Measure and control device (7) and the sorting trolley communicated with measure and control device (7)；
The measure and control device (7) includes side plate (70), head cover (71), top-support (72), high speed camera module (73) and core
Core module (74), the side plate (70) is two groups, and the top between both side plate (70) is connected by head cover (71), and two
The inside bottom of side plate (70) is respectively equipped with supporting rod (75), and is fixed on circular orbit (1) both sides by supporting rod (75)
On track support (10), the head cover (71) is equipped with top-support (72), and the high speed camera module (73) is arranged in institute
On the top-support (72) stated, nucleus module (74), the high speed camera module are additionally provided on the head cover (71)
(73) it is communicated with nucleus module (74), light band (76) is further respectively had on the inside of the both side plate (70)；
The trolley communication group communicated with the communication group (7403) in nucleus module (74) is additionally provided in the sorting trolley (2)
(23) start or close with measurement sorting trolley (2) velocity sensor (24) of movement velocity and control on circular orbit (1)
Close the control processor (25) of motor (20).
2. a kind of means for correcting of halved belt sorting trolley cargo according to claim 1, it is characterised in that：The core
Module (74) is by timer (7401), logic computer (7402), communication group (7403), infrared distance measurement group (7404) and image
Processor (7405) is constituted.
3. a kind of means for correcting of halved belt sorting trolley cargo according to claim 1, it is characterised in that：The sorting
Trolley (2) is arranged on circular orbit (1), it is made of motor (20), belt (21) and belt wheel (22), the motor (20)
It is connect by belt (21) between belt wheel (22), and forms closure.
4. a kind of means for correcting of halved belt sorting trolley cargo according to claim 1, it is characterised in that：The core mould
Communication group (7403) in block (74) is communicated with the trolley communication group (23) in sorting trolley (2) by the way of infrared communication
Letter.
5. utilizing a kind of correction side of the means for correcting of halved belt sorting trolley cargo according to any one of claims 1-4
Method, it is characterised in that：It is as follows：
Step 1, cargo are transmitted to sorting trolley by waiting section (5), accelerating sections (4) and the sync section (3) on piece uploading device (6)
(2) on；
Step 2, sorting trolley (2) when close measure and control device (7), sort logical in trolley (2) under the movement of circular orbit (1)
News group (23) sends communication instruction to the communication group (7403) in nucleus module (74)；
After communication group (7403) in step 3, nucleus module (74) receives communication instruction, is calculated and divided by logic computer (7402)
Trolley (2) center is picked to the observing and controlling distance of measuring control point, and the observing and controlling for calculating the trolley starts the time, while starting nucleus module
(74) timer (7401) in；
Step 4, when timer (7401) are zeroed, sorting trolley (2) move to measuring control point, at this point, high speed camera module (73)
It takes pictures；
Photo after taking pictures, is sent to nucleus module (74), and by the image processor in nucleus module (74) by step 5
(7405) processing is identified, and calculates the deviation that cargo on the sorting trolley deviates trolley center；
The deviation is sent to the sorting trolley (2) by step 6 by the communication group (7403) in nucleus module (74)；
After step 7, sorting trolley (2) receive the deviation, start motor (20), and drive belt (21) to transport by motor (20)
It is dynamic, to carry out cargo adjustment.
6. a kind of bearing calibration of the means for correcting of halved belt sorting trolley cargo according to claim 5, it is characterised in that：
The observing and controlling distance is：Trolley communication group (23) arrives the distance of the communication group (7403) in nucleus module (74) in the horizontal direction
On projection straight line length and nucleus module (74) in communication group (7403) arrive the floor projection of high speed camera module (73)
Sum of the distance；
The observing and controlling starts the time and is：Trolley (2) center of sorting reaches time and high speed needed for 7 central plane of measure and control device
Camera model (73) starts the sum of time；
The initial value of the timer is：The startup time of measure and control device (7).
7. a kind of bearing calibration of the means for correcting of halved belt sorting trolley cargo according to claim 5, it is characterised in that：
The identifying processing includes binaryzation, cargo contours extract, the calculating of profile center, profile center and the phase of photograph image
Machine center position coordinates calculate；
The deviation is：The length of profile center and image center coordinate points in the projection straight line in orbital direction
Degree.
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| CN201610289980.0A CN105752655B (en) | 2016-04-29 | 2016-04-29 | A kind of halved belt sorts means for correcting and its bearing calibration of trolley cargo |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610289980.0A CN105752655B (en) | 2016-04-29 | 2016-04-29 | A kind of halved belt sorts means for correcting and its bearing calibration of trolley cargo |
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| CN105752655B true CN105752655B (en) | 2018-10-09 |
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| CN106315175B (en) * | 2016-08-26 | 2019-03-22 | 河南省新斗彩印刷有限公司 | The accurate centralising device of paper pile on offset press |
| CN106493085B (en) * | 2016-10-26 | 2019-07-05 | 深圳市鹏洲智能科技有限公司 | A kind of high speed sorting system and realize the accurate method delivered and accurately sorted |
| CN108254587A (en) * | 2016-12-29 | 2018-07-06 | 北京京东尚科信息技术有限公司 | Logistics system and halved belt sorter toroid operating speed detection apparatus |
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| CN110369293A (en) * | 2018-11-30 | 2019-10-25 | 天津京东深拓机器人科技有限公司 | Sorting system, sorting trolley fall packet control method, equipment and storage medium |
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| CN111842171A (en) * | 2019-04-29 | 2020-10-30 | 北京京东乾石科技有限公司 | Sorting trolley and sorting system with sorting trolley |
| CN112452776A (en) * | 2020-11-16 | 2021-03-09 | 史洪扬 | Commodity circulation sorting machine permanent magnetism crawler-type bottom surface drive mechanism and commodity circulation sorting machine |
| CN112938809B (en) * | 2021-03-31 | 2022-11-08 | 国网湖北省电力有限公司孝感供电公司 | Freight car goods righting device for highway |
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