CN110813784A - Intelligent sorting control method and system based on big data - Google Patents
Intelligent sorting control method and system based on big data Download PDFInfo
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- CN110813784A CN110813784A CN201911092434.8A CN201911092434A CN110813784A CN 110813784 A CN110813784 A CN 110813784A CN 201911092434 A CN201911092434 A CN 201911092434A CN 110813784 A CN110813784 A CN 110813784A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting 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
- B07C5/04—Sorting according to size
- B07C5/10—Sorting according to size measured by light-responsive means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting 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
- B07C5/16—Sorting according to weight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting 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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting 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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/009—Sorting of fruit
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- Sorting Of Articles (AREA)
Abstract
An intelligent sorting control method based on big data and a system thereof comprise: if a sorting instruction sent by a sorting center is acquired, a first camera is controlled to start to shoot a first image in real time and extract adjusting size information contained in the sorting instruction, an adjusting mechanism is controlled to start to adjust to the size consistent with the size set by the adjusting size information and control a closed switch mechanism to completely contract, a conveying mechanism is controlled to start to sequentially convey articles to be sorted into a conveying groove in real time, a throwing mechanism is controlled to start to throw a single article at the forefront end in the conveying groove into an adjusting mechanism area, whether the articles thrown in the conveying groove drop into the sorting groove from the adjusting mechanism area is analyzed in real time, if yes, the throwing mechanism is controlled to be restarted to throw the single article at the forefront end in the conveying groove into the adjusting mechanism area, a weight sensor is controlled to start to acquire weight information in real time, whether the weight in the sorting groove exceeds the preset weight is analyzed, and if yes, a lifting mechanism is controlled to drive.
Description
Technical Field
The invention relates to the field of automatic fruit sorting, in particular to an intelligent sorting control method and system based on big data.
Background
Fruits are common food and food materials, including apples, pears, oranges and the like, and sometimes, various categories of fruits containing various types need to be subdivided, for example, fruits with different sizes in a large batch of fruits are sorted, most of the fruits are manually sorted, and most of the fruits have different values under different finished sizes, sometimes, different sizes of specific fruits need to be subdivided, and most of the fruits are manually sorted. However, the manual sorting is adopted, the working efficiency is low, the cost is high, the sorting quality is influenced by the degree of maturity of workers, the sorting quality is uneven, and the manual sorting machine is difficult to be suitable for sorting fruits in large batch.
Therefore, how to combine the sorting of fruit with big data, automatic put in the fruit of different sizes to the letter sorting groove of storage corresponding size to improve the sorting efficiency of article is the problem that needs to solve at present urgently.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the disadvantages in the background art, embodiments of the present invention provide an intelligent sorting control method and system based on big data, which can effectively solve the problems related to the background art.
The technical scheme is as follows:
an intelligent sorting control method based on big data, comprising the following steps:
s1, if a sorting instruction sent by a sorting center is received, controlling a first camera arranged in a sorting area to start to shoot a first image in real time and extracting size adjusting information contained in the sorting instruction;
s2, controlling an adjusting mechanism arranged in a sorting area to start and adjust to be consistent with the size set by the size adjusting information according to the size adjusting information and controlling a closed switch mechanism arranged below the adjusting mechanism to completely contract to open a sorting groove;
s3, controlling the material conveying mechanism to start to sequentially convey the articles to be sorted to a conveying groove of a sorting shell arranged in a sorting area in real time and controlling a throwing mechanism arranged at the position of the conveying groove to start to throw the single article at the foremost end in the conveying groove to an adjusting mechanism area;
s4, analyzing whether the articles dropped from the conveying groove drop into the sorting groove from the adjusting mechanism area or not in real time according to the first image;
s5, if yes, controlling the throwing mechanism to be started again to throw the single article at the forefront end in the conveying groove into the adjusting mechanism area, and controlling a weight sensor arranged in the sorting groove to be started to acquire weight information in real time;
s6, analyzing whether the weight inside the sorting groove exceeds the preset weight or not according to the weight information;
s7, if yes, controlling the lifting mechanism arranged at the inner position of the sorting groove to drive the connected lifting platform to be fully contracted so as to open the transportation channel and circularly executing the steps S3-S7.
2. The intelligent sorting control method based on big data according to claim 1, wherein after S3, the method further comprises the following steps:
s30, controlling an inflatable buffer air bag arranged at the inner wall position of the top end of the sorting groove to start to enter a protection state;
and S31, controlling the in-situ rotating shaft connected with the adjusting mechanism to start to enter a rotary sorting state and controlling the vibration motor arranged at the bottom of the sorting shell to start to enter a vibration sorting state.
As a preferred mode of the present invention, after S3, the method further includes the steps of:
s32, controlling a lifting mechanism arranged in the sorting groove to drive a connecting lifting platform to extend to a preset position and analyzing the falling condition information of the articles in the sorting groove in real time according to the first image;
and S33, controlling the lifting platform driven and connected by the lifting mechanism to contract and descend for a preset distance when a preset number of fallen articles enter the sorting groove.
As a preferable mode of the present invention, in S7, the method further includes the steps of:
s70, after the lifting platform is completely contracted, controlling a transport switch mechanism arranged at the inner position of the transport channel to be completely contracted to open the transport channel and analyzing whether the quantity of the articles placed above the sorting groove is lower than a preset quantity in real time according to the first image;
and S71, if so, controlling the lifting platform which is driven and connected by the lifting mechanism to extend to a preset position.
As a preferred mode of the present invention, after S2, the method further includes the steps of:
s20, controlling the blocking mechanism arranged at the tail end position of the sorting shell to fully extend out and controlling a second camera arranged at the tail end position of the sorting shell to start to capture a second image in real time;
s21, controlling a grabbing mechanical arm arranged at the tail end of the sorting shell to start to grab the articles blocked by the blocking mechanism in real time according to the second image and throwing the grabbed articles into an adjacent placing frame according to the second image.
An intelligent sorting control system based on big data uses an intelligent sorting control method based on big data, and comprises a sorting device, a conveying device and a server;
the sorting device comprises a first camera, a sorting shell, an adjusting mechanism, an in-situ rotating shaft, a closed switch mechanism, a sorting groove, a weight sensor, a lifting mechanism, a lifting platform, an inflatable buffer air bag, a buffer silica gel pad and a vibration motor, wherein the first camera is arranged at the side position of the sorting shell arranged in a sorting area and used for shooting an environment image of the sorting shell area; the sorting shell is arranged in the sorting area; the adjusting mechanism is arranged above the sorting shell and used for adjusting the size to a set size so that the articles to be sorted with the corresponding size can fall into the corresponding sorting groove; the in-situ rotating shaft is connected with the sorting rod of the adjusting mechanism and is used for driving the connected sorting rod to rotate; the closed switch mechanism is arranged in the middle area between the adjusting mechanism and the sorting shell and is used for switching on and off the sorting groove; the sorting groove is arranged in the sorting shell and used for storing articles with set sizes; the weight sensor is arranged above the lifting platform and used for acquiring weight information in the sorting groove of the area where the lifting platform is located; the lifting mechanism is arranged at the bottom of the sorting tank, connected with the lifting platform and used for driving the connected lifting platform to stretch; the lifting platform is arranged at the front end of the lifting mechanism and used for placing articles; the inflatable buffer air bag is arranged on the inner wall of the top end of the sorting groove and used for protecting falling articles to be sorted; the buffer silica gel pad wraps the outer surface of the lifting platform to protect falling belt sorted articles; the vibration motor is arranged at the lower position of the sorting shell and used for providing a vibration function to assist in sorting the articles;
the conveying device comprises a conveying mechanism, a conveying groove, a throwing mechanism, a conveying channel, a conveying switch mechanism, a second camera, a blocking mechanism, a grabbing mechanical arm and a placing frame, wherein the conveying mechanism is connected with the sorting shell, and an outlet of the conveying mechanism corresponds to the conveying groove and is used for sequentially conveying articles to be sorted to the conveying groove of the sorting shell; the conveying groove is arranged above the side of the sorting shell and used for providing articles to be sorted to roll to the area of the adjusting mechanism; the throwing mechanism is arranged at the discharge port of the conveying groove and used for throwing the articles in the conveying groove to the area of the adjusting mechanism; the conveying channel is arranged at the inner position of the sorting shell, the object inlet is connected with the sorting groove, and the object outlet is arranged at the bottom of the sorting shell and used for conveying the objects at the position of the sorting groove; the transportation switch mechanism is arranged at the inner position of the material inlet of the transportation channel and is used for switching the material inlet of the transportation channel; the second camera is arranged at the tail end of the sorting shell and used for shooting an environment image of the tail end region of the sorting shell; the blocking mechanism is arranged at the tail end of the sorting shell and used for blocking the objects which are not sorted completely after extending out; the grabbing mechanical arm is arranged at the tail end of the sorting shell and used for grabbing the articles blocked by the blocking mechanism and placing the grabbed articles in the placing frame; the placing frame is arranged at the ground position of the tail end of the sorting shell and used for storing articles placed by the grabbing mechanical arm;
the server is arranged at a server placement area position planned in a sorting area, and the server comprises:
the wireless module is used for being in wireless connection with the first camera, the adjusting mechanism, the in-situ rotating shaft, the closed switch mechanism, the weight sensor, the lifting mechanism, the inflatable buffer airbag, the vibration motor, the material conveying mechanism, the transportation switch mechanism, the second camera, the blocking mechanism, the grabbing mechanical arm, the sorting center and the network respectively;
the information receiving module is used for receiving information and/or instructions and/or requests;
the first shooting module is used for controlling the first camera to be started or closed;
the information extraction module is used for extracting the specified information and/or instruction and/or request contained information and/or instruction and/or request;
the adjusting control module is used for controlling the adjusting mechanism to execute set operation according to the set steps according to the specified adjusting size information;
the sorting switch module is used for controlling the closed switch mechanism to open or close the sorting groove;
the material conveying control module is used for controlling the material conveying mechanism to execute set operation according to set steps;
the releasing control module is used for controlling the releasing mechanism to execute the set operation according to the set steps;
the information analysis module is used for processing and analyzing the information according to the specified information;
the weight acquisition module is used for controlling the weight sensor to be started or closed;
and the lifting control module is used for controlling the lifting platform which is driven and connected by the lifting mechanism to execute telescopic operation according to the set steps.
As a preferred aspect of the present invention, the server further includes:
the inflation control module is used for controlling the start or the close of the inflation buffer air bag;
the rotation control module is used for controlling the start or the close of the in-situ rotating shaft;
and the vibration control module is used for controlling the vibration motor to start or close.
As a preferred aspect of the present invention, the server further includes:
and the transportation switch module is used for controlling the transportation switch mechanism to open or close the transportation channel.
As a preferred aspect of the present invention, the server further includes:
the second shooting module is used for controlling the second camera to be started or closed;
the blocking control module is used for controlling the blocking mechanism to perform telescopic operation;
and the grabbing control module is used for controlling the grabbing mechanical arm to execute set operation according to the set steps.
The invention realizes the following beneficial effects:
1. after receiving a sorting instruction, the intelligent sorting control system controls the adjusting mechanism to intelligently adjust to a required size and controls the sorting groove to open, then controls the material conveying mechanism to convey the articles to be sorted and controls the putting mechanism to put the articles to be sorted into the adjusting mechanism for automatic sorting, and controls the lifting platform to completely contract to guide the sorted articles into the transportation channel when the weight of the articles placed above the lifting platform in the sorting groove exceeds a preset weight, so that the transportation channel can transport the articles to a storage area of the articles; thereby improving the sorting efficiency of the articles.
2. After the article to be sorted is thrown to the adjusting mechanism area by the throwing mechanism, the inflatable buffer air bag at the sorting groove position is controlled to be full of gas to enter a protection state, and meanwhile, the in-situ rotating shaft is controlled to be started and the vibration motor is controlled to be started so as to improve the sorting efficiency.
3. The intelligence blocks that article that the letter sorting was accomplished and drops ground and control and snatch the arm and snatch article that the letter sorting was accomplished and place the frame and save.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a flow chart of an intelligent sorting control method according to an example of the present invention;
FIG. 2 is a flow chart of a method for securing an item according to one embodiment of the present invention;
FIG. 3 is a flow chart of a method for controlling retraction of the lift platform according to one embodiment of the present invention;
fig. 4 is a flowchart of an article transport completion control method according to an example of the present invention;
fig. 5 is a flowchart of an unfinished sorted article grasping and placing method according to an example of the present invention;
fig. 6 is a connection diagram of an intelligent sorting control system according to an example of the present invention;
FIG. 7 is a side schematic view of a sorting housing according to one example of the present invention;
FIG. 8 is a schematic top view of a sorting housing according to one example of the present invention;
fig. 9 is a partially sectional view of an area where a sorting chute according to one embodiment of the present invention is provided.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example one
Referring to fig. 1, 4, and 6-9.
Specifically, the present embodiment provides an intelligent sorting control method based on big data, and the method includes the following steps:
and S1, if a sorting instruction sent by the sorting center is received, controlling a first camera 100 arranged in the sorting area to start to shoot a first image in real time and extracting the adjustment size information contained in the sorting instruction.
The first image refers to an environment image of the area of the sorting housing 101 captured by the first camera 100.
In S1, specifically, after the information receiving module 31 in the server 3 receives the sorting command sent by the sorting center, the first capturing module 32 included in the server 3 controls the first camera 100 disposed in the sorting area to start capturing the environmental image of the area of the sorting housing 101 in real time, and the information extracting module 33 included in the server 3 extracts the adjustment size information included in the sorting command received by the information receiving module 31.
And S2, controlling the adjusting mechanism 102 arranged in the sorting area to start adjusting to be consistent with the size set by the adjusting size information according to the adjusting size information, and controlling the closed switch mechanism 104 arranged below the adjusting mechanism 102 to be completely contracted to open the sorting groove 105.
In S2, specifically, after the information extraction module 33 extracts the information on the adjusted size, the adjustment control module 34 included in the server 3 controls the in-situ rotating shaft 103, which is arranged in the sorting area and is driven by the left and right horizontal rotating shafts to connect with each other, to drive the sorting bars to adjust the size according to the information on the adjusted size, so that the adjusting mechanism 102 above each sorting groove 105 is adjusted to the size consistent with the set corresponding adjusted size, and when the fruits roll on the fixed adjusting bar and the sorting bars, the fruits roll to the position of the adapted size and then fall into the sorting groove 105 below from the position; meanwhile, the sorting switch module 35 contained in the server 3 controls the first expansion plate which is arranged on the first expansion motor drive connection of the middle area inner wall position of the adjusting fixing rod and the sorting groove 105 to completely contract so as to open the sorting groove 105 of the sorting shell 101.
And S3, controlling the material conveying mechanism 200 to start and sequentially convey the articles to be sorted to the conveying groove 201 of the sorting shell 101 arranged in the sorting area in real time, and controlling the throwing mechanism 202 arranged at the position of the conveying groove 201 to start to throw the single article at the forefront end in the conveying groove 201 to the area of the adjusting mechanism 102.
In S3, specifically, after the in-situ rotation shaft 103, which is in driving connection with the left and right horizontal rotation shafts, drives the sorting rod to complete the adjustment, the material conveying control module 36 included in the server 3 controls the material conveying mechanism 200 connected to the sorting housing 101 to start to sequentially convey the articles to be sorted to the conveying slots 201 of the sorting housing 101 disposed in the sorting area in real time, that is, the articles are respectively conveyed to the positions of the conveying slots 201 according to the number to be arranged, so as to wait for sorting; when the material conveying mechanism 200 conveys the article to be sorted, the throwing mechanism 202 included in the server 3 starts to throw the single article at the forefront end in the conveying chute 201 to the area of the adjusting mechanism 102, that is, after the throwing mechanism 202 throws one article to be sorted to the area of the adjusting mechanism 102, the material conveying mechanism 200 throws one article to be sorted into the conveying chute 201, and so on.
And S4, analyzing whether the articles dropped from the conveying groove 201 fall into the sorting groove 105 from the area of the adjusting mechanism 102 in real time according to the first image.
In S4, specifically after the drop mechanism 202 is opened to let the articles to be sorted enter the area of the adjusting mechanism 102, the information analyzing module 38 included in the server 3 analyzes in real time whether the articles dropped from the drop mechanism 202 of the conveying chute 201 into the sorting chute 105 from the area of the adjusting mechanism 102, i.e., whether the sorting is completed.
And S5, if yes, controlling the throwing mechanism 202 to start again to throw the single article at the forefront end in the conveying groove 201 to the area of the adjusting mechanism 102, and controlling the weight sensor 106 arranged in the sorting groove 105 to start to acquire weight information in real time.
In S5, specifically, after the information analysis module 38 analyzes that the article dropped by the dropping mechanism 202 falls into the sorting chute 105 from the area of the adjusting mechanism 102, the dropping control module 37 controls the dropping mechanism 202 to start dropping the single article at the forefront end in the conveying chute 201 into the area of the adjusting mechanism 102 again, and at the same time, the weight obtaining module 39 included in the server 3 controls the weight sensor 106 disposed inside the sorting chute 105 to start obtaining the weight information in real time.
And S6, analyzing whether the weight inside the sorting groove 105 exceeds the preset weight according to the weight information.
In S6, specifically after the weight sensor 106 is activated, the information analysis module 38 analyzes whether the weight above the lifting platform 108 inside the sorting chute 105 exceeds a preset weight, which is preferably 5 kg in this embodiment, according to the weight information.
S7, if any, controlling the lifting mechanism 107 disposed at the inner position of the sorting chute 105 to drive the connected lifting platform 108 to fully retract so as to open the transportation path 203 and to execute the steps S3-S7 in a loop.
At S7, specifically, after the information analysis module 38 analyzes that the weight above the lifting platform 108 inside the sorting trough 105 exceeds the preset weight, the lifting control module 40 included in the server 3 controls the lifting platform 108, which is connected to the lifting hydraulic pump drive disposed at the internal position of the sorting trough 105, to be fully retracted so as to open the transportation channel 203 connected to the sorting trough 105; the server 3 executes steps S6 to S7 in a loop to sort the articles until a stop command sent by the sorting center is received or the articles to be sorted are all sorted.
As a preferable mode of the present invention, in S7, the method further includes the steps of:
s70, after the lifting platform 108 is completely retracted, controlling the transportation switch mechanism 204 disposed at the inner position of the transportation channel 203 to completely retract and open the transportation channel 203, and analyzing whether the number of the articles placed above the sorting chute 105 is less than the preset number in real time according to the first image.
Specifically, when the lifting platform 108 connected to the lifting hydraulic rod driven by the lifting hydraulic pump is completely retracted, the transportation switch module 44 included in the server 3 controls the third retractable plate connected to the third retractable motor driven by the internal position of the transportation channel 203 to be completely retracted so as to open the transportation channel 203, and meanwhile, the information analysis module 38 analyzes whether the number of the articles placed above the lifting platform 108 of the sorting chute 105 is less than a preset number in real time according to the first image, wherein the preset number is preferably 3 in this embodiment.
And S71, if yes, controlling the lifting mechanism 107 to drive the connected lifting platform 108 to extend to a preset position.
Specifically, if the information analysis module 38 analyzes that the number of the articles placed above the lifting platform 108 of the sorting tank 105 is smaller than the preset number, the lifting control module 40 controls the lifting platform 108 connected with the lifting hydraulic pump to extend to a preset position, where the preset position is the position of the lifting platform 108 in the middle of the sorting tank 105.
Example two
Referring to fig. 2-3, fig. 6-9.
Specifically, this embodiment is substantially the same as the first embodiment, except that in this embodiment, after S3, the method further includes the following steps:
and S30, controlling the inflatable buffer air bag 109 arranged at the top inner wall position of the sorting groove 105 to start to enter a protection state.
Specifically, after the feeding mechanism 202 is turned on to allow the articles to be sorted to enter the area of the adjusting mechanism 102, the inflation control module 41 included in the server 3 controls the inflation buffering airbag 109 arranged at the inner wall position of the top end of the sorting tank 105 to be fully inflated to enter a protection state, and the articles after being sorted are placed and dropped to cause damage.
S31, controlling the home position rotating shaft 103 connected with the adjusting mechanism 102 to start to enter the rotary sorting state and controlling the vibration motor 111 arranged at the bottom position of the sorting housing 101 to start to enter the vibration sorting state.
Specifically, when inflating buffering gasbag 109 and aerifing, the rotatory control module 42 control that server 3 contains starts the letter sorting pole that the drive is connected with the normal position rotation axis 103 of controlling horizontal rotation axis and gets into rotatory letter sorting state, and simultaneously, the vibrations control module 43 control that server 3 contains sets up and starts the vibrations motor 111 that gets into the vibrations letter sorting state in letter sorting casing 101 bottom position to the article that the improvement is waited to sort falls into letter sorting groove 105 from letter sorting pole position.
As a preferred mode of the present invention, after S3, the method further includes the steps of:
s32, controlling the lifting mechanism 107 arranged in the sorting groove 105 to drive the connecting lifting platform 108 to extend to a preset position and analyzing the falling condition information of the articles in the sorting groove 105 in real time according to the first image.
Specifically, after the release mechanism 202 is opened to allow the article to be sorted to enter the area of the adjusting mechanism 102, the lifting control module 40 controls the lifting platform 108 connected to the lifting hydraulic rod connected to the lifting hydraulic pump in the position inside the sorting tank 105 to extend to a preset position, and meanwhile, the information analysis module 38 analyzes the article falling condition information inside the sorting tank 105 in real time according to the first image, that is, analyzes the falling quantity of the article.
And S33, controlling the lifting platform 108 driven and connected by the lifting mechanism 107 to contract and descend for a preset distance every time a preset number of fallen articles enter the sorting slot 105.
Wherein the preset number is preferably 1 in the embodiment; in this embodiment the predetermined distance is 1 cm.
Specifically, after each article dropped by 1 number enters the sorting slot 105, the lifting control module 40 controls the lifting platform 108 connected to the lifting hydraulic rod connected to the lifting hydraulic pump in the sorting slot 105 to contract and descend by 1 cm, so as to prevent the articles stacked above the lifting platform 108 from exceeding the sorting rod.
EXAMPLE III
As shown with reference to fig. 5-8.
Specifically, this embodiment is substantially the same as the first embodiment, except that in this embodiment, after S2, the method further includes the following steps:
s20, controlling the blocking mechanism 206 disposed at the tail end of the sorting housing 101 to fully extend and controlling the second camera 205 disposed at the tail end of the sorting housing 101 to start capturing the second image in real time.
Specifically, after the completion is opened in letter sorting groove 105, the fourth expansion plate that the control module 46 control that blocks that server 3 contains set up in the fourth flexible motor drive connection of letter sorting casing 101 tail end position stretches out completely in order to carry out the separation with letter sorting casing 101 tail end, and the article of placing letter sorting pole position drops from letter sorting casing 101 tail end, and simultaneously, the second that server 3 contains absorbs module 45 control and sets up in the second camera 205 start-up of letter sorting casing 101 tail end position and absorb the second image in real time, wherein the second image is the environment image of letter sorting casing 101 tail end that second camera 205 absorbed.
S21, controlling the grabbing robot arm 207 disposed at the tail end of the sorting housing 101 according to the second image to grab the article blocked by the blocking mechanism 206 in real time and throwing the grabbed article into the adjacent placing frame 208 according to the second image.
Specifically, after the second camera 205 is started and completed, the information analysis module 38 analyzes whether the fourth expansion plate has a blocking object according to the second image in real time, if the information analysis module 38 analyzes that the fourth expansion plate is blocked by the blocking object, the grabbing control module 47 included in the server 3 controls the grabbing mechanical arm 207 arranged at the tail end of the sorting housing 101 according to the second image to start the object blocked by the fourth expansion plate to grab the object, and then the object is placed in the placing frame 208 adjacent to the sorting housing 101 according to the second image.
Example four
As shown with reference to fig. 6-9.
Specifically, the present embodiment provides an intelligent sorting control system based on big data, which uses an intelligent sorting control method based on big data, and includes a sorting apparatus 1, a conveying apparatus 2, and a server 3;
the sorting device 1 comprises a first camera 100, a sorting shell 101, an adjusting mechanism 102, an in-situ rotating shaft 103, a closed switch mechanism 104, a sorting groove 105, a weight sensor 106, a lifting mechanism 107, a lifting platform 108, an inflatable buffer air bag 109, a buffer silica gel pad 110 and a vibration motor 111, wherein the first camera 100 is arranged at a side position of the sorting shell 101 arranged in a sorting area and used for shooting an environment image of the sorting shell 101 area; the sorting shell 101 is arranged in a sorting area; the adjusting mechanism 102 is arranged above the sorting housing 101 and is used for adjusting the size to a set size so that the articles to be sorted with the corresponding size can fall into the corresponding sorting groove 105; the in-situ rotating shaft 103 is connected with the sorting rod of the adjusting mechanism 102 and is used for driving the connected sorting rod to rotate; the closed switch mechanism 104 is arranged in the middle area between the adjusting mechanism 102 and the sorting shell 101 and is used for switching the sorting groove 105; the sorting groove 105 is arranged at an internal position of the sorting housing 101 and is used for storing articles with set sizes; the weight sensor 106 is arranged above the lifting platform 108 and used for acquiring weight information inside the sorting groove 105 in the area where the lifting platform 108 is located; the lifting mechanism 107 is arranged at the bottom of the sorting groove 105, is connected with the lifting platform 108 and is used for driving the connected lifting platform 108 to stretch and retract; the lifting platform 108 is arranged at the front end of the lifting mechanism 107 and is used for placing articles; the inflatable buffer air bag 109 is arranged on the inner wall of the top end of the sorting groove 105 and used for protecting falling articles to be sorted; the buffer silica gel pad 110 wraps the outer surface of the lifting platform 108 to protect falling belt sorted articles; the vibration motor 111 is arranged below the sorting shell 101 and used for providing a vibration function to assist in sorting the articles;
the conveying device 2 comprises a conveying mechanism 200, a conveying groove 201, a throwing mechanism 202, a conveying channel 203, a conveying switch mechanism 204, a second camera 205, a blocking mechanism 206, a grabbing mechanical arm 207 and a placing frame 208, wherein the conveying mechanism 200 is connected with the sorting shell 101, and an outlet of the conveying mechanism corresponds to the conveying groove 201 and is used for sequentially conveying the articles to be sorted to the conveying groove 201 of the sorting shell 101; the conveying groove 201 is arranged at a position above the side of the sorting shell 101 and is used for providing the articles to be sorted to roll to the area of the adjusting mechanism 102; the throwing mechanism 202 is arranged at the discharge hole of the conveying trough 201 and is used for throwing the articles in the conveying trough 201 to the area of the adjusting mechanism 102; the transportation channel 203 is arranged at the inner position of the sorting shell 101, the object inlet is connected with the sorting groove 105, and the object outlet is arranged at the bottom position of the sorting shell 101 and used for transporting the objects at the position of the sorting groove 105; the transportation switch mechanism 204 is arranged at the inner position of the inlet of the transportation channel 203 and is used for switching the inlet of the transportation channel 203; the second camera 205 is disposed at a position of the tail end of the sorting housing 101, and is configured to capture an environmental image of a tail end region of the sorting housing 101; the blocking mechanism 206 is arranged at the tail end of the sorting shell 101 and used for blocking the unfinished sorted articles after being extended out; the grabbing mechanical arm 207 is arranged at the tail end of the sorting shell 101 and used for grabbing the articles blocked by the blocking mechanism 206 and placing the grabbed articles in the placing frame 208; the placing frame 208 is arranged at the ground position of the tail end of the sorting shell 101 and used for storing articles placed by the grabbing mechanical arm 207;
the server 3 is arranged at an area position of a placing server 3 planned in a sorting area, and the server 3 comprises:
the wireless module 30 is used for being respectively in wireless connection with the first camera 100, the adjusting mechanism 102, the in-situ rotating shaft 103, the closing switch mechanism 104, the weight sensor 106, the lifting mechanism 107, the inflatable buffer airbag 109, the vibration motor 111, the material conveying mechanism 200, the transportation switch mechanism 204, the second camera 205, the blocking mechanism 206, the grabbing mechanical arm 207, the sorting center and the network;
an information receiving module 31, configured to receive information and/or instructions and/or requests;
a first shooting module 32, configured to control the first camera 100 to start or close;
an information extraction module 33, configured to extract information and/or instructions and/or requests included in the specific information and/or instructions and/or requests;
an adjustment control module 34 for controlling the adjustment mechanism 102 to perform a set operation in accordance with a set step based on the designated adjustment size information;
a sorting switch module 35 for controlling the closing switch mechanism 104 to open or close the sorting chute 105;
a material conveying control module 36 for controlling the material conveying mechanism 200 to execute the set operation according to the set steps;
a release control module 37, configured to control the release mechanism 202 to execute a set operation according to the set step;
an information analysis module 38 for processing and analyzing the information according to the designated information;
the weight acquisition module 39 is used for controlling the weight sensor 106 to be started or closed;
and the lifting control module 40 is used for controlling the lifting mechanism 107 to drive the connected lifting platform 108 to perform telescopic operation according to set steps.
As a preferred aspect of the present invention, the server 3 further includes:
the inflation control module 41 is used for controlling the inflation buffer air bag 109 to start or close;
the rotation control module 42 is used for controlling the start or the close of the home position rotating shaft 103;
and the vibration control module 43 is used for controlling the vibration motor 111 to be started or shut down.
As a preferred aspect of the present invention, the server 3 further includes:
and the transportation switch module 44 is used for controlling the transportation switch mechanism 204 to switch the transportation channel 203 on or off.
As a preferred aspect of the present invention, the server 3 further includes:
the second shooting module 45 is used for controlling the second camera 205 to be started or closed;
a barrier control module 46 for controlling the barrier mechanism 206 to perform a telescopic operation;
and the grabbing control module 47 is used for controlling the grabbing mechanical arm 207 to execute the set operation according to the set steps.
The front end of the grabbing mechanical arm 207 may be a mechanical claw or a suction cup mechanism.
The adjusting mechanism 102 comprises an adjusting fixing rod, a left horizontal rotating shaft, a right horizontal rotating shaft and a sorting rod, wherein the adjusting fixing rod is connected with the sorting shell 101, arranged above the sorting shell 101 and connected with the left horizontal rotating shaft and the right horizontal rotating shaft; the left and right horizontal rotating shafts are arranged at the front end of the adjusting fixing rod, are respectively connected with the adjusting fixing rod and the in-situ rotating shaft 103, and are used for horizontally rotating left and right; the sorting rod is connected with the home position rotating shaft 103.
The closed switch mechanism 104 comprises a first telescopic motor and a first telescopic plate, wherein the first telescopic motor is arranged at the inner wall position of the middle area of the adjusting fixing rod and the sorting groove 105, is connected with the first telescopic plate and is used for driving the connected first telescopic plate to stretch; the first expansion plate is arranged in the middle area of the adjusting fixing rod and the sorting groove 105 and used for opening and closing the sorting groove 105.
The lifting mechanism 107 comprises a lifting hydraulic pump and a lifting hydraulic rod, wherein the lifting hydraulic pump is arranged at the top end inside the sorting tank 105, is connected with the lifting hydraulic rod and is used for driving the connected lifting hydraulic rod to stretch; the lifting hydraulic rod is arranged in the sorting groove 105, is respectively connected with the lifting hydraulic pump and the lifting platform 108, and is used for driving the connected lifting platform 108 to stretch.
The throwing mechanism 202 comprises a second telescopic motor and a second telescopic plate, wherein the second telescopic motor is arranged in the conveying trough 201 and connected with the second telescopic plate for driving the second telescopic plate to stretch; the second expansion plate is disposed inside the conveying trough 201 and used for opening and closing the conveying trough 201.
The transportation switch mechanism 204 comprises a third telescopic motor and a third telescopic plate, wherein the third telescopic motor is arranged in the transportation channel 203, is connected with the third telescopic plate and is used for driving the third telescopic plate to be connected; the third expansion plate is arranged in the inner position of the transportation channel 203 and used for opening and closing the transportation channel 203.
The blocking mechanism comprises a fourth telescopic motor and a fourth telescopic plate, the fourth telescopic motor is arranged in the inner position of the tail end of the sorting shell 101, is connected with the fourth telescopic plate and is used for driving the connected fourth telescopic plate to stretch; the fourth expansion plate is arranged at the tail end of the sorting shell 101 and used for blocking the objects which are not sorted completely after extending out.
It should be understood that, in the fourth embodiment, the specific implementation process of each module described above may correspond to the description of the above method embodiments (the first to the third embodiments), and is not described in detail here.
The system provided in the fourth embodiment is only illustrated by dividing the functional modules, and in practical applications, the above-mentioned functions may be distributed by different functional modules according to needs, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (9)
1. An intelligent sorting control method based on big data is characterized by comprising the following steps:
s1, if a sorting instruction sent by a sorting center is received, controlling a first camera arranged in a sorting area to start to shoot a first image in real time and extracting size adjusting information contained in the sorting instruction;
s2, controlling an adjusting mechanism arranged in a sorting area to start and adjust to be consistent with the size set by the size adjusting information according to the size adjusting information and controlling a closed switch mechanism arranged below the adjusting mechanism to completely contract to open a sorting groove;
s3, controlling the material conveying mechanism to start to sequentially convey the articles to be sorted to a conveying groove of a sorting shell arranged in a sorting area in real time and controlling a throwing mechanism arranged at the position of the conveying groove to start to throw the single article at the foremost end in the conveying groove to an adjusting mechanism area;
s4, analyzing whether the articles dropped from the conveying groove drop into the sorting groove from the adjusting mechanism area or not in real time according to the first image;
s5, if yes, controlling the throwing mechanism to be started again to throw the single article at the forefront end in the conveying groove into the adjusting mechanism area, and controlling a weight sensor arranged in the sorting groove to be started to acquire weight information in real time;
s6, analyzing whether the weight inside the sorting groove exceeds the preset weight or not according to the weight information;
s7, if yes, controlling the lifting mechanism arranged at the inner position of the sorting groove to drive the connected lifting platform to be fully contracted so as to open the transportation channel and circularly executing the steps S3-S7.
2. The intelligent sorting control method based on big data according to claim 1, wherein after S3, the method further comprises the following steps:
s30, controlling an inflatable buffer air bag arranged at the inner wall position of the top end of the sorting groove to start to enter a protection state;
and S31, controlling the in-situ rotating shaft connected with the adjusting mechanism to start to enter a rotary sorting state and controlling the vibration motor arranged at the bottom of the sorting shell to start to enter a vibration sorting state.
3. The intelligent sorting control method based on big data according to claim 1, wherein after S3, the method further comprises the following steps:
s32, controlling a lifting mechanism arranged in the sorting groove to drive a connecting lifting platform to extend to a preset position and analyzing the falling condition information of the articles in the sorting groove in real time according to the first image;
and S33, controlling the lifting platform driven and connected by the lifting mechanism to contract and descend for a preset distance when a preset number of fallen articles enter the sorting groove.
4. The intelligent sorting control method based on big data according to claim 1, wherein in S7, the method further comprises the following steps:
s70, after the lifting platform is completely contracted, controlling a transport switch mechanism arranged at the inner position of the transport channel to be completely contracted to open the transport channel and analyzing whether the quantity of the articles placed above the sorting groove is lower than a preset quantity in real time according to the first image;
and S71, if so, controlling the lifting platform which is driven and connected by the lifting mechanism to extend to a preset position.
5. The intelligent sorting control method based on big data according to claim 1, wherein after S2, the method further comprises the following steps:
s20, controlling the blocking mechanism arranged at the tail end position of the sorting shell to fully extend out and controlling a second camera arranged at the tail end position of the sorting shell to start to capture a second image in real time;
s21, controlling a grabbing mechanical arm arranged at the tail end of the sorting shell to start to grab the articles blocked by the blocking mechanism in real time according to the second image and throwing the grabbed articles into an adjacent placing frame according to the second image.
6. An intelligent sorting control system based on big data, which uses the intelligent sorting control method based on big data as claimed in any one of claims 1-5, and comprises a sorting device, a conveying device and a server, and is characterized in that:
the sorting device comprises a first camera, a sorting shell, an adjusting mechanism, an in-situ rotating shaft, a closed switch mechanism, a sorting groove, a weight sensor, a lifting mechanism, a lifting platform, an inflatable buffer air bag, a buffer silica gel pad and a vibration motor, wherein the first camera is arranged at the side position of the sorting shell arranged in a sorting area and used for shooting an environment image of the sorting shell area; the sorting shell is arranged in the sorting area; the adjusting mechanism is arranged above the sorting shell and used for adjusting the size to a set size so that the articles to be sorted with the corresponding size can fall into the corresponding sorting groove; the in-situ rotating shaft is connected with the sorting rod of the adjusting mechanism and is used for driving the connected sorting rod to rotate; the closed switch mechanism is arranged in the middle area between the adjusting mechanism and the sorting shell and is used for switching on and off the sorting groove; the sorting groove is arranged in the sorting shell and used for storing articles with set sizes; the weight sensor is arranged above the lifting platform and used for acquiring weight information in the sorting groove of the area where the lifting platform is located; the lifting mechanism is arranged at the bottom of the sorting tank, connected with the lifting platform and used for driving the connected lifting platform to stretch; the lifting platform is arranged at the front end of the lifting mechanism and used for placing articles; the inflatable buffer air bag is arranged on the inner wall of the top end of the sorting groove and used for protecting falling articles to be sorted; the buffer silica gel pad wraps the outer surface of the lifting platform to protect falling belt sorted articles; the vibration motor is arranged at the lower position of the sorting shell and used for providing a vibration function to assist in sorting the articles;
the conveying device comprises a conveying mechanism, a conveying groove, a throwing mechanism, a conveying channel, a conveying switch mechanism, a second camera, a blocking mechanism, a grabbing mechanical arm and a placing frame, wherein the conveying mechanism is connected with the sorting shell, and an outlet of the conveying mechanism corresponds to the conveying groove and is used for sequentially conveying articles to be sorted to the conveying groove of the sorting shell; the conveying groove is arranged above the side of the sorting shell and used for providing articles to be sorted to roll to the area of the adjusting mechanism; the throwing mechanism is arranged at the discharge port of the conveying groove and used for throwing the articles in the conveying groove to the area of the adjusting mechanism; the conveying channel is arranged at the inner position of the sorting shell, the object inlet is connected with the sorting groove, and the object outlet is arranged at the bottom of the sorting shell and used for conveying the objects at the position of the sorting groove; the transportation switch mechanism is arranged at the inner position of the material inlet of the transportation channel and is used for switching the material inlet of the transportation channel; the second camera is arranged at the tail end of the sorting shell and used for shooting an environment image of the tail end region of the sorting shell; the blocking mechanism is arranged at the tail end of the sorting shell and used for blocking the objects which are not sorted completely after extending out; the grabbing mechanical arm is arranged at the tail end of the sorting shell and used for grabbing the articles blocked by the blocking mechanism and placing the grabbed articles in the placing frame; the placing frame is arranged at the ground position of the tail end of the sorting shell and used for storing articles placed by the grabbing mechanical arm;
the server is arranged at a server placement area position planned in a sorting area, and the server comprises:
the wireless module is used for being in wireless connection with the first camera, the adjusting mechanism, the in-situ rotating shaft, the closed switch mechanism, the weight sensor, the lifting mechanism, the inflatable buffer airbag, the vibration motor, the material conveying mechanism, the transportation switch mechanism, the second camera, the blocking mechanism, the grabbing mechanical arm, the sorting center and the network respectively;
the information receiving module is used for receiving information and/or instructions and/or requests;
the first shooting module is used for controlling the first camera to be started or closed;
the information extraction module is used for extracting the specified information and/or instruction and/or request contained information and/or instruction and/or request;
the adjusting control module is used for controlling the adjusting mechanism to execute set operation according to the set steps according to the specified adjusting size information;
the sorting switch module is used for controlling the closed switch mechanism to open or close the sorting groove;
the material conveying control module is used for controlling the material conveying mechanism to execute set operation according to set steps;
the releasing control module is used for controlling the releasing mechanism to execute the set operation according to the set steps;
the information analysis module is used for processing and analyzing the information according to the specified information;
the weight acquisition module is used for controlling the weight sensor to be started or closed;
and the lifting control module is used for controlling the lifting platform which is driven and connected by the lifting mechanism to execute telescopic operation according to the set steps.
7. The intelligent big data based sorting control system according to claim 6, wherein the server further comprises:
the inflation control module is used for controlling the start or the close of the inflation buffer air bag;
the rotation control module is used for controlling the start or the close of the in-situ rotating shaft;
and the vibration control module is used for controlling the vibration motor to start or close.
8. The intelligent big data based sorting control system according to claim 6, wherein the server further comprises:
and the transportation switch module is used for controlling the transportation switch mechanism to open or close the transportation channel.
9. The intelligent big data based sorting control system according to claim 6, wherein the server further comprises:
the second shooting module is used for controlling the second camera to be started or closed;
the blocking control module is used for controlling the blocking mechanism to perform telescopic operation;
and the grabbing control module is used for controlling the grabbing mechanical arm to execute set operation according to the set steps.
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| CN110813784B (en) | 2021-07-27 |
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