CN109513629A - Packages method, apparatus and computer readable storage medium - Google Patents

Packages method, apparatus and computer readable storage medium Download PDF

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Publication number
CN109513629A
CN109513629A CN201811354267.5A CN201811354267A CN109513629A CN 109513629 A CN109513629 A CN 109513629A CN 201811354267 A CN201811354267 A CN 201811354267A CN 109513629 A CN109513629 A CN 109513629A
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China
Prior art keywords
package
conveyer
packages
speed
machine people
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Granted
Application number
CN201811354267.5A
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Chinese (zh)
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CN109513629B (en
Inventor
张�浩
邓耀桓
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Shenzhen Blue Fat Robot Co Ltd
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Shenzhen Blue Fat Robot Co Ltd
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Priority to CN201811354267.5A priority Critical patent/CN109513629B/en
Publication of CN109513629A publication Critical patent/CN109513629A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34Sorting according to other particular properties
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02Measures preceding sorting, e.g. arranging articles in a stream orientating
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • B07C5/361Processing or control devices therefor, e.g. escort memory
    • B07C5/362Separating or distributor mechanisms

Abstract

The invention discloses a kind of packages methods, device and computer readable storage medium, pass through the speed of service of control discharge mechanism and/or conveyer, so that the multiple packages fallen on conveyer are not overlapped mutually, and then the package image information taken according to visual mechanisms, the classification results wrapped up, according to default package classifying rules, match the corresponding preliminary sorting machine people of classification results of package, it controls preliminary sorting machine people and obtains and hold package and be put into mobile device, package is sent into lower one of sorting equipment by mobile device, accurately classified with this variety of different types of package, so that a kind of package of same type obtain by a kind of preliminary sorting machine people after holding, mobile device is sent different types of package on the different disposal flowline for being most suitable for them, logistics sorting is increased with this Efficiency and sorting accuracy rate.

Description

Packages method, apparatus and computer readable storage medium
Technical field
The present invention relates to logistics Sorting Technique field more particularly to a kind of packages method, apparatus and computer-readable Storage medium.
Background technique
In traditional shipping or logistic industry, hand fit's conveyer belt sorting package is generallyd use, still, with society Progress, recruitment cost is also constantly being promoted, and the great work intensity of worker, and working efficiency can be dropped with worker's physical demands It is low, lead to the problem of loading and unloading goods high labor cost, low efficiency.In addition, the type of package is increasingly with the increase of logistics capacity More, existing robot sorting system cannot correctly classify to package, therefore existing object according to the package of multiple types Stream sorting system cannot send different types of package on the different disposal flowline for being most suitable for them, to cause The problems such as sorting efficiency is low and sorting accuracy rate is not high.
Summary of the invention
In view of this, the embodiment of the present application is designed to provide packages method, apparatus and computer-readable storage Medium, it is intended to improve the efficiency, the degree of automation and the accuracy rate of sorting of packages.
To achieve the above object, a kind of packages method proposed by the present invention characterized by comprising control unloading The speed of service of device and/or conveyer, so that the multiple packages fallen on conveyer are not overlapped mutually;According to visual mechanisms The package image information taken, the classification results wrapped up;According to default package classifying rules, the classification knot of package is matched The corresponding preliminary sorting machine people of fruit;It controls preliminary sorting machine people and obtains and hold package and be put into mobile device, mobile device will wrap up It is sent into lower one of sorting equipment.
Optionally, in the speed of service of the control discharge mechanism and/or conveyer, so that falling on multiple on conveyer Package is mutually without further comprising the steps of after overlapping: according to the monitoring result of the monitoring arrangement in visual mechanisms, adjusting defeated Send the speed of service of machine.
Optionally, whether detect on reflux unit has package, if so, the speed of service of reflux unit is then controlled, so that Package flows back on conveyer.
Optionally, the package image information taken according to visual mechanisms, the classification results wrapped up, including with Under: obtain the object point cloud data in package image information, the model of fit that fitting object point cloud data is wrapped up;It will fitting Model Matching in model and default package classifying rules, obtains preliminary sorting machine people corresponding with model of fit.
Optionally, in the speed of service of the control discharge mechanism and/or conveyer, so that falling on multiple on conveyer Package is mutually without before being overlapped further include: the package is fallen on the buffering on the conveyer by control discharge mechanism overturning In portion.
The present invention also provides a kind of packages device, the packages device includes: discharge mechanism, the unloading Device is used to unload package from wrapping container;Conveyer, for the conveyer for conveying package, the conveyer upper surface is flat It is equipped with buffer part, the package on conveyer is fallen into for buffer protection;Reflux unit, the reflux unit and the conveyer Connection, so that the package on conveyer is again flowed on the conveyer by reflux unit;A variety of preliminary sorting machine people, institute State package of a variety of preliminary sorting machine people for preliminary sorting different size shape;Visual mechanisms are set to the preliminary sorter Device people is upper or is set to above the conveyer, for shooting the package on conveyer.
Optionally, the upper compound a variety of manipulators of setting of each described preliminary sorting machine people, a variety of manipulators are for obtaining The package of different size shape is held, the manipulator is arranged in conveyer two sides or hangs on conveyer.
Optionally, the visual mechanisms are equipped with monitoring arrangement, and the monitoring arrangement is for monitoring the fortune wrapped up on conveyer Scanning frequency degree is not overlapped with the package that this speed of service for adjusting conveyer to fall on conveyer.
Optionally, the conveyer is equipped with sensor, and the sensor is used to obtain the velocity information of the conveyer, makes It obtains the visual mechanisms or the preliminary sorting machine people obtains the speed of conveyer, the speed of service of conveyer is adjusted with this So that the package fallen on conveyer is not overlapped.
The present invention also provides a kind of computer readable storage mediums, which is characterized in that the computer-readable storage medium It is stored with packages program in matter, such as above-mentioned packages method is realized when the packages program is executed by processor The step of.
Packages method provided by the present invention, by the speed of service of control discharge mechanism and/or conveyer, so that The multiple packages fallen on conveyer are not overlapped mutually, and then the package image information taken according to visual mechanisms, are obtained The classification results of package match the corresponding preliminary sorting machine people of classification results of package according to default package classifying rules, control It makes preliminary sorting machine people and obtains and hold package and be put into mobile device, package is sent into lower one of sorting equipment by mobile device, with this A variety of different types of packages are accurately classified, so that a kind of package of same type passes through a kind of preliminary sorting machine people After obtain and holding, mobile device is allowed to send different types of package to the different disposal flowline for being most suitable for them On, the efficiency of logistics sorting and the accuracy rate of sorting are increased with this.
Detailed description of the invention
Fig. 1 is the flow chart of the packages method of the application first embodiment;
Fig. 2 is the schematic diagram of the packages device of the embodiment of the present application;
Fig. 3 is the exemplary construction schematic diagram of the packages device of the embodiment of the present application.
The embodiments will be further described with reference to the accompanying drawings for realization, functional characteristics and the advantage of the application purpose.
Specific embodiment
In order to be clearer and more clear technical problems to be solved in this application, technical solution and beneficial effect, tie below Drawings and examples are closed, the application is further elaborated.It should be appreciated that specific embodiment described herein is only To explain the application, it is not used to limit the application.
In subsequent description, it is only using the suffix for indicating such as " module ", " component " or " unit " of element Be conducive to explanation of the invention, itself there is no a specific meaning.Therefore, " module ", " component " or " unit " can mix Ground uses.
Embodiment one
A kind of packages method is present embodiments provided, packages are used for.
Fig. 1 is please referred to, the packages method includes:
Step S101 controls the speed of service of discharge mechanism and/or conveyer, so that falling on multiple packages on conveyer It is not overlapped mutually;
Step S102, the package image information taken according to visual mechanisms, the classification results wrapped up;
Step S103 matches the corresponding preliminary sorting machine people of classification results of package according to default package classifying rules;
Step S104 controls preliminary sorting machine people and obtains and holds package and be put into mobile device, and mobile device will be under package be sent into One of sorting equipment.
In the present embodiment, the conveyer is conveyer belt, and in the present embodiment, the speed of service of control conveyer makes The multiple packages that must be fallen on conveyer are not overlapped mutually, and in this stage, all packages all flatten on a conveyor, so that after The package that face is fallen is fallen directly on the conveyer rather than subsequent package falls on front superscribes, so that package and packet It is not collided mutually between wrapping up in and package is damaged, furthermore wrapping up can make the preliminary sorting machine people hold without overlapping It easily obtains and holds package, can be convenient visual mechanisms below without overlapping there are also package and easily identify package, wrapping up also makes without being overlapped It must be wrapped on the conveyer no longer stackably very high.The front end of conveyer is package falling section, is carried for unloading described in confession 11 are set, for unloading package from wrapping container, so that package enters falling section.Such as: as the chest A of a specification, chest A Length is 100 centimetres when falling, and the speed for controlling the conveyer is accelerated so that chest A rapidly leaves falling for conveyer Enter portion, so that chest A and the package fallen below be not be overlapped.As the chest B of a following specification, chest B length is 10 lis When falling of rice a little makes chest B and the package fallen below not be overlapped as long as controlling slowing for the conveyer It can.In practice, the velocity interval of the conveyer is 0.1M/s to 5M/s.
In the present embodiment, wrapping container can be trailer or container, that is, accommodate the container of package.It needs to illustrate It is that wrapping container is not limited to said circumstances.The tank and gating system of the present embodiment is any mechanism, if can by container to On lift and redirect so that the opening of container is towards gravity direction, allow the package in container only sliding by gravity After out, package is fallen on the conveyer.
In one of the embodiments, in the speed of service of the control discharge mechanism and/or conveyer, so that falling on defeated Send multiple packages on machine mutually without before being overlapped further include: control discharge mechanism overturning falls on the package described defeated It send in the buffer part on machine, so that package avoids rigid collision and damages.Specifically, buffer part is made of cushion, for protecting The package fallen, cushion are laid in the upper surface of the conveyer.
In one of the embodiments, can also control discharge mechanism discharge rate so that the package in container can After only being skidded off by gravity, package is fallen on the conveyer one by one without being overlapped.
The discharge rate of discharge mechanism and the speed of the conveyer can also be controlled simultaneously in one of the embodiments, Degree, so that discharge mechanism and the conveyer cooperate, so that all packages all flatten on a conveyor.
After execution " unloading " task, and task of " classifying " can be started.There can be one group of robot arm setting to exist It beside conveyer or hangs on a conveyor, and is equipped with vision system for identification and by Package Classification into predetermined classification; The package image information taken according to visual mechanisms, the classification results wrapped up so that incoming package be classified as it is subsequent Any amount of classification needed for processing, and by strict implement package classification to avoid all mistakes.Furthermore, it is possible to right Classification is customized, to reduce the difficulty of the automation of design later period or robotic process.For example, we can create for all packages Build 5 classes (first kind is flexible package package, and the second class is Hard paper box, and third class is the thin object (such as envelope) of thickness, the Four classes are the big package of thickness, the 5th bulky package of class), this makes the manipulator of the preliminary sorting machine people for 5 Class package is individually designed, so that the Machine Design of manipulator is more easily and accurate for all 5 class packets, rather than It attempts to design a manipulator, the different various packages of original specification is adapted to this.According to default package classifying rules, matching The corresponding preliminary sorting machine people of the classification results of package.Specifically, default package classifying rules can be with are as follows: five have been classified Corresponding three kinds of preliminary sorting machine people are wrapped up, the end effector of three kinds of preliminary sorting machine people is different for grabbing Different package types is taken, the end effector of one of preliminary sorting machine people, which can obtain, holds three kinds of packages (package Such as: the second class is Hard paper box, and third class is the thin object (such as envelope) of thickness, and the 4th class is the big package of thickness), Its other two kinds of described preliminary sorting machine people can obtain respectively holds a kind of package.Three types package is being held specifically, can obtain The preliminary sorting machine people end effector, be that manipulator can be three kinds of different forms, three kinds of different ends Hold the compound setting of actuator in a preliminary sorting machine people for sorting three kinds of packages.In other embodiments, specifically , the corresponding five kinds of preliminary sorting machine people of the package of five classification, the end of each preliminary sorting machine people is held Row device only one, hold a type of package for obtaining.It should be noted that default package classifying rules be not limited to it is above-mentioned Situation.
A kind of nerve network system is separately provided in each described preliminary sorting machine people in one of the embodiments, The preliminary sorting machine people to be obtained the package type held for identification.
The package image information taken according to visual mechanisms in one of the embodiments, point wrapped up Class result, comprising the following steps:
Obtain the object point cloud data in package image information, the model of fit that fitting object point cloud data is wrapped up;
By the Model Matching in model of fit and default package classifying rules, preliminary sorting corresponding with model of fit is obtained Robot.
Specifically, shooting picture by visual mechanisms, the model of fit of package is obtained, by default package classifying rules Model Matching it is corresponding be that package, such as it is a kind of when to obtain the Hard paper box for holding conventional size, first recognize packet The top planes wrapped up in, judging left-right and front-back by the model of fit of package, whether there is also vertical height, if so, being then identified as Function, the control preliminary sorting machine people, which obtains, holds chest.This method does not have to use nerve network system (nerve network system master When wanting advantage to be overlapped object, for being partitioned into each object) because the speed of conveyer is quickly, so that package It is not overlapped, is directly matched one by one with the model in default package classifying rules with the objects in images of shooting on a conveyor.
Hold package finally, controlling preliminary sorting machine people and obtaining and be put into mobile device, mobile device will package be sent into it is lower together Sorting equipment is made after carrying out accurately to the division between inhomogeneity package with this, is sent different types of package to most suitable Close on their different disposal flowline, be further carried out subsequent processing, increase logistics sorting efficiency, accuracy and The degree of automation.In the present embodiment, the mobile device can be moving trolley or conveyer belt.Wherein, described preliminary point The mechanical arm for picking robot can be any mechanism that a specific package can be moved out to some destination from conveyer, packet Including usually has 4-7 DOF, SCARA arm, the serial arm of cartesian robotic or any other article.
Packages method provided by the present embodiment is made by the speed of service of control discharge mechanism and/or conveyer The multiple packages that must be fallen on conveyer are mutually without being overlapped so that the adjacent package fallen in front and back does not collide mutually, to protect Shield package, furthermore the package image information taken according to visual mechanisms, the classification results wrapped up, according to default package point Rule-like matches the corresponding preliminary sorting machine people of classification results of package, controls preliminary sorting machine people and obtains and holds package and be put into Package is sent into lower one of sorting equipment by mobile device, mobile device, is carried out with this variety of different types of package accurate Classification, so that a kind of package of same type obtain by a kind of tentatively sorting machine people after holding, so that mobile device can be with By it is different types of package be sent on the different disposal flowline for being most suitable for them, with this increase logistics sorting efficiency with And the accuracy rate of sorting.
Embodiment two
Present embodiment discloses a kind of packages method, more than the present embodiment on the basis of one embodiment, and increase Step, specific as follows:
In the speed of service of the control discharge mechanism and/or conveyer, so that falling on multiple package phases on conveyer Mutually without further comprising the steps of after overlapping:
Step S201 adjusts the speed of service of conveyer 12 according to the monitoring result of the monitoring arrangement in visual mechanisms.? In the present embodiment, visual mechanisms know nothing the speed of conveyer, and the image that takes according only to visual mechanisms determines The speed of package;It has been more than the speed of system processes data if the excessive velocities of conveyer, so that institute according to monitoring result It states preliminary sorting machine people and can not obtain in time and hold package, then the speed of service for needing to adjust the conveyer is slow, so that institute It states preliminary sorting machine people and can obtain in time and hold package.According to monitoring result, if the speed of the conveyer is excessively slow, cause to wrap It is rolled on the conveyer and is overlapped, then the speed of service that adjust the conveyer is quicker, so that package can be flattened defeated It send on machine without being overlapped.
In other embodiments, some sensors are set on the conveyer belt, and sensor is generally coupled to driving and passes The encoder of the motor of band is sent, or is connected to the wheel of contact conveyer belt, obtains the speed of conveyer belt;Then visual mechanisms And/or the preliminary sorting machine people obtains the speed of the conveyer belt.
Embodiment three
Present embodiment discloses a kind of packages method, more than the present embodiment on the basis of one embodiment, and increase Step, specific as follows:
Whether step S301, detecting on reflux unit has package, if so, then controlling the speed of service of reflux unit, makes It must wrap up and flow back on conveyer.
Specifically, the speed of service of the conveyer is too fast, so that institute if discharge mechanism disposably unloads too many package It states preliminary classification robot and can not obtain in time and hold package, need to add a reflux unit, not by the preliminary classification robot The beginning that the package held returns to " classification " part is obtained, conveyer front end is equipped with reflux portion, and the reflux portion is set to falling section rear, So that the package of reflux unit reflux reflux is not overlapped with the package that discharge mechanism unloads, it is reflux unit reflux packet The reflux portion for returning to conveyer is wrapped up in, restarts classification package, finally allows the preliminary classification robot to obtain and hold package.
Example IV
Present embodiments provide a kind of packages device.
Please refer to Fig. 2 and Fig. 3, the packages device includes: discharge mechanism 11, conveyer 12, reflux unit 15, more The preliminary sorting machine people 14 of kind and visual mechanisms 13.
The discharge mechanism 11 is used to unload package from wrapping container.In the present embodiment, wrapping container can be to drag Vehicle or container accommodate the container of package.It should be noted that wrapping container is not limited to said circumstances.Described unload carries Setting 11 is that can be lifted up wrapping container and redirect so that the opening of wrapping container is towards gravity direction, so that package Package in container can be slipped to the mechanism of the conveyer 12 by gravity.
The conveyer 12 is equipped with buffer part, protects for buffering for conveying package, 12 upper surface of the conveyer tiling Shield falls into the package on conveyer 12;The front end of the conveyer 12 is equipped with falling section and is used to pass through unloading for wrapping up from container kind Device 11 drops on the conveyer 12.The conveyer 12 has good buffering to protect the package of whereabouts to escape injury; Conveyer 12 should be run fast enough to allow all packages to directly fall in the cushion on conveyer 12), rather than fall in another It may be that rigidity superscribes on one, that is, be to try to avoid two package overlappings.
Reflux unit 15, the reflux unit 15 is connect with the conveyer 12, so that the package on conveyer 12 passes through Reflux unit 15 again flows on the conveyer 12.It is that, if conveyer 12 runs too fast, it may be desired to add The preliminary sorting machine people 14 is not obtained the beginning that the package held returns to " classification " part by one reflux unit 15.
In one embodiment, a variety of preliminary sorting machine people 14 are for tentatively sorting the packet of different size shape It wraps up in.The mechanical arm of the preliminary sorting machine people 14, which can be, to be moved out to some mesh from conveyer 12 for a specific package Ground any mechanism, including usually have 4-7 DOF, SCARA arm, the series of cartesian robotic or any other article Arm.The compound a variety of manipulators of setting, a variety of manipulators hold different size for obtaining on each described preliminary sorting machine people 14 The package of shape, the manipulator are arranged in 12 two sides of conveyer or hang on conveyer 12.
In one embodiment, the conveyer 12 is equipped with sensor, and the sensor is for obtaining the conveyer 12 velocity information, so that the visual mechanisms 13 or the preliminary sorting machine people 14 obtain the speed of conveyer 12, with This speed of service for adjusting conveyer 12 is overlapped the package fallen on conveyer 12 not.
In one embodiment, visual mechanisms 13 are set on the preliminary sorting machine people 14 or are set to described defeated Send machine 12 top, for shooting the package on conveyer 12.The visual mechanisms 13 are equipped with monitoring arrangement, and the monitoring arrangement is used In the speed of service wrapped up on monitoring conveyer 12, to fall on conveyer 12 with this speed of service for adjusting conveyer 12 Package is not overlapped.In the present embodiment, the image of the conveying package of the conveyer 12 is identified, obtains the conveying The classification information of the objects in images of the conveying package of machine 12 includes, but are not limited to, the following ways:
1), according to the image of the conveying package of conveyer 12, the point cloud of the objects in images of the conveying package of conveyer 12 is obtained; According to the point cloud of the objects in images of the conveying package of conveyer 12, conveyer 12 is obtained by preset object identification model and is conveyed The classification information of the objects in images of package.
As illustratively, it is assumed that preset object identification model is the chest of conventional size, and getting, conveyer 12 is defeated After sending the image of package, according to the point cloud of the objects in images of the conveying package of conveyer 12, first known by object identification model Top planes are clipped to, then judging left-right and front-back, whether there is also vertical height, if so, then identifying success, control described first It walks sorting machine people 14 and grabs chest.
2) image of the conveying package of conveyer 12, is input to neural network trained in advance to calculate, is conveyed The classification information of the objects in images of the conveying package of machine 12.
As illustratively, trained neural network includes envelope attitude data library in advance, is wrapped up conveying conveyer 12 Image be input to after in advance trained neural network, the information of envelope package can be obtained.Trained neural network in advance Advantage be when overlapped object, it is divisible go out each object.
Fig. 2 and Fig. 3 are please referred to, visual mechanisms 13 control corresponding machine after obtaining the classification information of objects in images The package that device human arm conveys conveying device 12 grabs.Specifically, if the robot arm 141 being arranged at first is used The robot arm 143 being arranged at crawl flexible package package, second is for grabbing envelope.The classification of obtained objects in images Information includes flexible package package information and envelope information, then controls the robot arm 141 being arranged at first and grab flexible package packet The robot arm 143 wrapped up in and conveyed by another conveying device 142, is arranged at second grabs envelope and by another defeated Device 144 is sent to be conveyed.The package that robot arm does not grab will flow back into again conveying device 12 by reflux unit 15 It is upper to be sorted again.
The packages system of the embodiment of the present application is unloaded package from wrapping container by discharge mechanism 11 and filled to conveying It sets, after the image that visual mechanisms 13 get the conveying package of conveyer 12, is classified to package and control corresponding machine Device people device grabs the package on conveyer;It compared to the mode of manual sorting, reduces costs, improves work effect Rate reduces error rate.
Embodiment five
Present embodiments provide a kind of computer readable storage medium.
Packages program is stored on the computer readable storage medium, the packages program is held by processor It realizes when row such as the step of above-mentioned packages method.
Since the present embodiment has all technical characteristics of above-mentioned packages method, the present embodiment also has above-mentioned Beneficial effect possessed by packages method.Above-described embodiment specifically is please referred to, details are not described herein.
The storage medium of the embodiment of the present application is unloaded from wrapping container by discharge mechanism 11 and is wrapped up to conveying device, After the image that visual mechanisms 13 get conveying device conveying package, is classified to package and control corresponding robot The package that device conveys conveying device grabs;It compared to the mode of manual sorting, reduces costs, improves work effect Rate reduces error rate.
It will appreciated by the skilled person that whole or certain steps, system, dress in method disclosed hereinabove Functional module/unit in setting may be implemented as software, firmware, hardware and its combination appropriate.In hardware embodiment, Division between the functional module/unit referred in the above description not necessarily corresponds to the division of physical assemblies;For example, one Physical assemblies can have multiple functions or a function or step and can be executed by several physical assemblies cooperations.Certain objects Reason component or all physical assemblies may be implemented as by processor, such as central processing unit, digital signal processor or micro process The software that device executes, is perhaps implemented as hardware or is implemented as integrated circuit, such as specific integrated circuit.Such software Can be distributed on a computer-readable medium, computer-readable medium may include computer storage medium (or non-transitory be situated between Matter) and communication media (or fugitive medium).As known to a person of ordinary skill in the art, term computer storage medium includes In any method or skill for storing information (such as computer readable instructions, data structure, program module or other data) The volatile and non-volatile implemented in art, removable and nonremovable medium.Computer storage medium includes but is not limited to RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storages, magnetic Box, tape, disk storage or other magnetic memory apparatus or it can be used for storing desired information and can be visited by computer Any other medium asked.In addition, known to a person of ordinary skill in the art be, communication media generally comprises computer-readable Other numbers in the modulated data signal of instruction, data structure, program module or such as carrier wave or other transmission mechanisms etc According to, and may include any information delivery media.
Above by reference to Detailed description of the invention preferred embodiment of the present application, not thereby limit to the interest field of the application.This Field technical staff does not depart from made any modifications, equivalent replacements, and improvements in scope of the present application and essence, should all be at this Within the interest field of application.

Claims (10)

1. a kind of packages method characterized by comprising
The speed of service for controlling discharge mechanism and/or conveyer, so that the multiple packages fallen on conveyer are not overlapped mutually;
The package image information taken according to visual mechanisms, the classification results wrapped up;
According to default package classifying rules, the corresponding preliminary sorting machine people of classification results of package is matched;
It controls preliminary sorting machine people and obtains and hold package and be put into mobile device, package is sent into lower one of sorting equipment by mobile device.
2. packages method according to claim 1, which is characterized in that in the control discharge mechanism and/or conveying The speed of service of machine, so that falling on multiple packages on conveyer mutually without further comprising the steps of after overlapping:
According to the monitoring result of the monitoring arrangement in visual mechanisms, the speed of service of conveyer is adjusted.
3. packages method according to claim 1, which is characterized in that whether have package on detection reflux unit, such as Fruit has, then controls the speed of service of reflux unit, so that package flows back on conveyer.
4. packages method according to claim 1, which is characterized in that the package taken according to visual mechanisms Image information, the classification results wrapped up, include the following:
Obtain the object point cloud data in package image information, the model of fit that fitting object point cloud data is wrapped up;
By the Model Matching in model of fit and default package classifying rules, preliminary sorting machine corresponding with model of fit is obtained People.
5. packages method according to claim 1, which is characterized in that in the control discharge mechanism and/or conveying The speed of service of machine, so that falling on multiple packages on conveyer mutually without before being overlapped further include: control discharge mechanism turns over Turn, the package is fallen in the buffer part on the conveyer.
6. a kind of packages device, which is characterized in that the packages device includes:
Discharge mechanism, the discharge mechanism are used to unload package from wrapping container;
Conveyer, the conveyer are equipped with buffer part, are used for buffer protection for conveying package, the conveyer upper surface tiling Fall into the package on conveyer;
Reflux unit, the reflux unit are connect with the conveyer, so that the package on conveyer passes through reflux unit again It flows on the conveyer;
A variety of preliminary sorting machine people, a variety of preliminary sorting machine people are for tentatively sorting the package of different size shape;
Visual mechanisms are set to the preliminary sorting machine people above or are set to above the conveyer, for shooting conveyer Package.
7. packages device according to claim 6, which is characterized in that multiple on each described preliminary sorting machine people It closes and a variety of manipulators is set, a variety of manipulators are arranged for obtaining the package for holding different size shape, the manipulator in conveyer Two sides are hung on conveyer.
8. packages device according to claim 6, which is characterized in that the visual mechanisms are equipped with monitoring arrangement, institute Monitoring arrangement is stated for monitoring the speed of service wrapped up on conveyer, to fall into conveying with this speed of service for adjusting conveyer Package on machine is not overlapped.
9. packages device according to claim 6, which is characterized in that the conveyer is equipped with sensor, the biography Sensor is used to obtain the velocity information of the conveyer, so that the visual mechanisms or the preliminary sorting machine people acquisition are defeated The speed of machine is sent, is not overlapped with the package that this speed of service for adjusting conveyer to fall on conveyer.
10. a kind of computer readable storage medium, which is characterized in that be stored with package point on the computer readable storage medium Program is picked, such as packages side described in any one of claim 1 to 5 is realized when the packages program is executed by processor The step of method.
CN201811354267.5A 2018-11-14 2018-11-14 Method, device and computer readable storage medium for sorting packages Active CN109513629B (en)

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Application Number Priority Date Filing Date Title
CN201811354267.5A CN109513629B (en) 2018-11-14 2018-11-14 Method, device and computer readable storage medium for sorting packages

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811354267.5A CN109513629B (en) 2018-11-14 2018-11-14 Method, device and computer readable storage medium for sorting packages

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CN109513629A true CN109513629A (en) 2019-03-26
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CN110294316A (en) * 2019-06-04 2019-10-01 深圳蓝胖子机器人有限公司 Method, system and the equipment of article on a kind of crawl conveyer belt
CN110721914A (en) * 2019-08-21 2020-01-24 北京旷视机器人技术有限公司 Sorting system, sorting method, storage medium and apparatus
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CN112547528A (en) * 2021-03-01 2021-03-26 华鹏飞股份有限公司 Logistics sorting method and system based on classification identification
WO2022120931A1 (en) * 2020-12-08 2022-06-16 梅卡曼德(北京)机器人科技有限公司 Express delivery parcel feeding system, method and device, and storage medium

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CN110294316A (en) * 2019-06-04 2019-10-01 深圳蓝胖子机器人有限公司 Method, system and the equipment of article on a kind of crawl conveyer belt
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CN112191537A (en) * 2020-10-20 2021-01-08 戴昊霖 Logistics package sorting system based on artificial intelligence
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CN112547528A (en) * 2021-03-01 2021-03-26 华鹏飞股份有限公司 Logistics sorting method and system based on classification identification

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