CN111470120A - Commodity turning transmission system, method and storage medium - Google Patents
Commodity turning transmission system, method and storage medium Download PDFInfo
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- CN111470120A CN111470120A CN201910068761.3A CN201910068761A CN111470120A CN 111470120 A CN111470120 A CN 111470120A CN 201910068761 A CN201910068761 A CN 201910068761A CN 111470120 A CN111470120 A CN 111470120A
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- commodity
- carrier
- module
- deflection angle
- horizontal posture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
- B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/56—Orientating, i.e. changing the attitude of, articles, e.g. of non-uniform cross-section
- B65B35/58—Turning articles by positively-acting means, e.g. to present labelled portions in uppermost position
Abstract
The embodiment of the invention discloses a commodity steering transmission system, a method and a storage medium, wherein the system comprises: the carrier is used for carrying and transmitting commodities; the detection module is arranged above the carrier and used for detecting the horizontal deflection angle of the commodity; the rotating module is arranged on the carrier and used for adjusting the horizontal posture of the commodity on the carrier; and the control module is connected with the carrier, the rotating module and the detecting module and is used for controlling the rotating module to adjust the horizontal posture of the commodity according to the horizontal deflection angle so that the commodity leaves the carrier in a preset horizontal posture. The technical problem of lower universality of the guide device in the prior art is solved, and the technical effect of quickly and accurately adjusting the horizontal posture of any commodity is realized.
Description
Technical Field
The embodiment of the invention relates to the field of warehouse logistics, in particular to a commodity steering transmission system, a commodity steering transmission method and a storage medium.
Background
With the development of electronic commerce platforms and express delivery industries, more and more consumers are used to purchase commodities by ordering through a network, and the commodities are delivered to the consumers in an organization of a logistics company or an e-commerce platform. In the whole logistics process, the commodities related to the order are required to be packaged; and then the packaged commodities are transported to different delivery addresses through a vehicle.
In the commodity packing link, the realization scheme of the prior art is as follows: conveying a plurality of same commodities to a workstation from a vertical warehouse through a storage box; at the workstation, each commodity in the storage box is thrown onto the shuttle way to be transported to the packing station through the shuttle way; at the packing station, the single piece goods are packed by the packing machine, or a plurality of pieces of goods are stacked by the stacking mechanical arm, so that a plurality of pieces of goods are packed together. Because the packer and the stacking mechanical arm are both automatically identified and processed, the identification accuracy generally depends on the postures of the commodities, and if the difference between the postures of the commodities and the preset horizontal postures is large, the commodities are generally regarded as non-ordered commodities and need manual intervention.
In general, the commodity is in a preset horizontal posture at the starting point of the shuttle way, namely when the commodity leaves the workstation, but the commodity posture is easy to change due to the fact that the existing shuttle way is usually in a curve turning mode and most of curves are in a right-angle bidirectional turning structure, and the commodity enters the packing station in a non-preset horizontal posture.
In order to enable goods to enter the packing station in a preset horizontal posture, the prior art generally arranges guide devices, such as guide vanes or guide bars, on two sides of the shuttle channel to adjust the horizontal posture of the goods, but the mode is not suitable for all goods, and the same guide vane or guide bar is generally only suitable for guiding the same kind of goods, so that the universality is low.
Disclosure of Invention
The embodiment of the invention provides a commodity steering transmission device, a method, a system and a storage medium, which solve the technical problem of low universality of a guide device in the prior art.
In a first aspect, an embodiment of the present invention provides a commodity turning transmission system, which is disposed between a workstation and a packing station, and includes:
the carrier is used for carrying and transmitting commodities;
the detection module is used for detecting the horizontal deflection angle of the commodity;
the rotating module is arranged on the carrier and used for adjusting the horizontal posture of the commodity on the carrier;
and the control module is connected with the carrier, the rotating module and the detecting module and is used for controlling the rotating module to adjust the horizontal posture of the commodity according to the horizontal deflection angle so that the commodity leaves the carrier in a preset horizontal posture.
In a second aspect, an embodiment of the present invention further provides a method for goods turning and conveying, which is applied to the control module of the goods turning and conveying device in the first aspect, and includes:
acquiring a horizontal deflection angle of a commodity on a carrier through a detection module;
and controlling the rotating module to adjust the horizontal posture of the commodity according to the horizontal deflection angle so that the commodity leaves the carrier in a preset horizontal posture.
In a third aspect, the present invention further provides a storage medium containing computer executable instructions, which when executed by a computer processor, are used to execute the article diversion transmission method according to the foregoing embodiments.
The technical scheme of the commodity steering transmission system provided by the embodiment of the invention is arranged between a workstation and a packing station, and commodities are borne and transmitted through a carrier; detecting the horizontal deflection angle of the commodity through a detection module; adjusting the horizontal posture of the commodity on the carrier through a rotating module on the carrier; through the control module connected with the carrier, the rotating module and the detection module, the rotating module is controlled to adjust the horizontal posture of the commodity according to the horizontal deflection angle, so that the commodity leaves the carrier in a preset horizontal posture. The horizontal posture of the commodity with any size can be rapidly adjusted by matching the detection module with the rotating module, so that the long edge of the commodity is parallel to the axial direction of the shuttle channel, and the packing of a packing machine and the stacking of commodities by a stacker crane are facilitated.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a front view of a merchandise diversion and transfer system provided by an embodiment of the present invention;
FIG. 2 is a front elevation side view of an article diversion and transport system provided by an embodiment of the present invention;
FIG. 3 is a top view of a merchandise diversion transport system provided by an embodiment of the present invention;
fig. 4 is a block diagram of a commodity turning and conveying system according to an embodiment of the present invention;
fig. 5 is a flowchart of a method for goods forwarding transmission according to an embodiment of the present invention;
fig. 6 is a flowchart of a method for goods forwarding transmission according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described through embodiments with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the automatic commodity logistics, the commodity packing link involves a plurality of processes, so the commodity packing system comprises a plurality of subsystems, such as: the warehouse-out subsystem is connected with the vertical warehouse and the workstation and is used for conveying a plurality of same commodities to the workstation from the vertical warehouse through the storage box; the commodity steering transmission subsystem is connected with the workstation and the packing station and used for throwing each commodity in the storage box onto the shuttle way so as to transport the commodity to the packing station through the shuttle way; the packaging system at the packaging station is used for packaging single commodities by the packaging machine or stacking multiple commodities by the stacking mechanical arm so as to package multiple commodities together. Usually, the subsystems are controlled by a master control device of the commodity packaging system, and information transmission between the subsystems is performed through the master control device. The embodiment of the invention provides a commodity turning transmission system, which corresponds to a commodity turning transmission subsystem.
Example one
The embodiment of the invention provides a commodity steering transmission system which is usually arranged between a workstation and a packer. As shown in fig. 1, 2, 3 and 4, the system includes a carrier 11, a detection module 12, a rotation module 13 and a control module 14, wherein the carrier 11 is used for carrying and transporting commodities; the detection module 12 is arranged above the carrier 11 and is used for detecting the horizontal deflection angle of the commodity; the rotating module 13 is arranged on the carrier 11 and is used for adjusting the horizontal posture of the commodity on the carrier 11; the control module 14 is connected to the carrier 11, the rotation module 13 and the detection module 12, and is configured to control the rotation module 13 to adjust the horizontal posture of the commodity according to the horizontal deflection angle, so that the commodity leaves the carrier in a preset horizontal posture.
The detection module 12 is preferably a vision device, which includes a shooting unit and a processing unit, and in order to obtain an accurate horizontal deflection angle of the commodity, the shooting unit is preferably disposed right above the carrier 11 for shooting an overhead image of the commodity. The processing unit is used for determining the horizontal deflection angle of the commodity according to the current image of the commodity shot by the shooting unit and sending the horizontal deflection angle to the control module. It will be appreciated that one processing unit may correspond to only one camera unit, in which case the processing unit may be integrated in the vision device above the carrier simultaneously with the camera unit; the system also can correspond to a plurality of shooting units, and the processing unit is an upper computer of the plurality of shooting units.
Wherein, the carrier 11 is provided with a transmission mechanism for transmitting the goods from the shuttle way connected with one end of the carrier 11 to the shuttle way connected with the other end of the carrier. Preferably, the transmission mechanism is a universal wheel 111, which is controlled by the control module 14 to rotate at least in a predetermined direction, so as to move the commodity on the universal wheel in the predetermined direction.
The rotating module 13 may be a rotating disk (see fig. 1, 2, and 3) disposed in the middle of the carrier 11 or a universal wheel disposed in a preset range in the middle of the carrier 11, and both the rotating disk and the universal wheel rotate by an adjustment angle under the control of the control module 14, so that the horizontal posture of the commodity thereon is adjusted to a preset horizontal posture, and the adjustment angle and the horizontal deflection angle are opposite numbers. It can be understood that the rotating disc is preferably arranged in the center of the carrier 11, and the top surface of the rotating disc is at the same height as the universal wheels on the carrier 11, and the structure is suitable for steering transportation of goods with the bottom area larger than that of the rotating disc, otherwise, the goods cannot be transported out of the rotating disc; or the universal wheels are arranged on the rotating disk, the height of the universal wheels on the rotating disk is the same as that of the universal wheels at other positions of the carrier, and the rotating disk and the universal wheels on the rotating disk are independently controlled, so that the rotating disk and the rotating disk are suitable for steering and transmitting commodities of any size. The bottom of the rotating disk can be connected with a motor, and the motor controls the rotation of the rotating disk.
After the control module 14 obtains the horizontal deflection angle, it determines whether the horizontal posture of the commodity needs to be adjusted according to the horizontal deflection angle, and if not, controls the universal wheel 111 to make the commodity go forward continuously in the current horizontal posture. If the control module 14 judges that the current horizontal posture of the commodity needs to be adjusted according to the acquired horizontal deflection angle, the control module 14 controls the rotation module 13 to rotate by an adjustment angle so as to enable the current commodity to rotate to the preset horizontal posture, and then the control module 14 controls the universal wheels to enable the commodity to leave the carrier in the preset horizontal posture.
In order to improve the accuracy of the adjustment of the horizontal posture of the commodity, the present embodiment preferably locates the center of gravity of the commodity on the rotation module 13. The processing unit of the camera therefore sends to the control module 14, in addition to the article horizontal deflection angle, also the position information of the article on the carrier 11. Before adjusting the horizontal posture of the commodity, the control module 14 needs to determine whether the center of gravity of the commodity is located on the rotating device, and if so, the control module directly controls the rotating module 13 to rotate so as to adjust the horizontal posture of the commodity on the rotating module 13 to a preset horizontal posture; if not, the position of the commodity on the carrier is moved by controlling the universal wheels 111 until the gravity center of the commodity is positioned on the rotating module 13, and then the rotating module 13 is controlled to rotate so as to adjust the horizontal posture of the commodity on the rotating module 13 to the preset horizontal posture.
In order to increase the turning and conveying speed of the commodity, the top view of the commodity needs to be obtained quickly and accurately, so that the triggering timing of the shooting unit needs to be determined accurately. For this purpose, the article turning and conveying system of the embodiment is further provided with a triggering module 15, and the triggering module 15 is disposed on one side or both sides of the carrier 11 and is used for generating a triggering signal for triggering the shooting unit when the article reaches the preset position of the rotating module 13. The method specifically comprises the following steps: before the commodity reaches the carrier 11, the universal wheel 111 is in a rotating state enabling the commodity to move axially along the shuttle way, therefore, when the commodity reaches the carrier from the shuttle way, the universal wheel 111 enables the commodity to move forwards continuously until the commodity reaches the trigger module 15, the trigger module 15 sends a trigger signal to the control module 14, the control module 14 stops driving the universal wheel 111, and simultaneously triggers the shooting unit to enable the universal wheel to be in a static state, and further enable the shooting unit to shoot the commodity in the static state, so that the quality of a current image of the commodity shot by the shooting unit is improved. The triggering module 15 is preferably a photoelectric sensor, and the photoelectric sensor may be a reflective photoelectric sensor disposed on one side of the carrier, or a correlation photoelectric sensor disposed on two sides of the carrier.
It is understood that the triggering module 15 may trigger the photographing unit when detecting that the goods pass through the carrier 11, or trigger the photographing unit at a preset time interval after detecting that the goods pass through the carrier 11. It will be appreciated that when the shooting unit starts shooting, usually in order to obtain a top view of the product, the center of gravity of the product may or may not be located on the rotation module 13, and if the center of gravity of the product is not located on the rotation module 13, the control module 14 controls the universal wheel 111 to move the center of gravity to the rotation module 13 before horizontal attitude adjustment is performed on the product.
It can be understood that, to transport the goods from the workstation to the packing station, a transport device is usually required to be arranged between the two, so the goods turning and transporting system of this embodiment further includes a shuttle way connecting the two, and in general, the shuttle way at least includes a curved path greater than or equal to a preset correction angle, and when the angle of the curved path is greater than or equal to the preset correction angle, the horizontal posture of the goods can be changed, therefore, in order to enable the goods to be transported to the packing station in the preset horizontal posture, the angle of the curved path of the shuttle way between the carrier and the packing station of this embodiment is smaller than the preset correction angle, so that the horizontal posture of the adjusted goods can not be changed, or the changed horizontal deflection angle is within the preset deflection angle.
The technical scheme of the commodity steering transmission system provided by the embodiment of the invention is arranged between a workstation and a packing station, and commodities are borne and transmitted through a carrier; detecting the horizontal deflection angle of the commodity through a detection module; adjusting the horizontal posture of the commodity on the carrier through a rotating module on the carrier; through the control module connected with the carrier, the rotating module and the detection module, the rotating module is controlled to adjust the horizontal posture of the commodity according to the horizontal deflection angle, so that the commodity leaves the carrier in a preset horizontal posture. The horizontal posture of commodities of any size can be rapidly adjusted by matching the detection module with the rotating module, so that the long edge of the commodities is parallel to the axial direction of the shuttle channel, and the packing of a packing machine and the stacking of the commodities by a stacker crane are facilitated.
Example two
The embodiment of the invention provides a commodity turning transmission system, which is added with a visual verification function on the basis of the embodiment and is used for confirming the consistency of a commodity identification and a commodity in the commodity turning transmission process.
In the whole commodity packing link, the commodity packing system positions the state change of each commodity through the identification of the commodity. Therefore, when a commodity needs to be transmitted from the workstation to the packing station through the commodity steering transmission system, the master control device of the commodity packing system sends information including a task number, a stack number and the like of a commodity identifier to the control module. The control module determines an identification of the commodity, such as sku, according to the received information, such as the task number and the stack number, and then sends the identification of the commodity to the processing unit of the video device.
After the processing unit acquires the identification of the commodity, the pre-stored image of the commodity is acquired according to the identification of the commodity, the visual verification of the commodity is completed according to the pre-stored image and the current image, and the visual verification result is sent to the control module. Because the commodity may face upwards or face upwards in the transmission process, the pre-stored image of the commodity at least comprises the front and back images of the commodity so as to improve the accuracy of the visual verification.
In order to increase the conveying speed of the commodity, the visual verification of the commodity of the embodiment is performed before the horizontal posture adjustment of the commodity. If the visual verification result is successful, judging whether the horizontal posture of the commodity needs to be adjusted according to the horizontal deflection angle of the commodity; if the visual verification result is unsuccessful, the item is caused to exit the carrier at the current pose and the packing station is notified to mark the item as anomalous and move out of the shed.
With reference to fig. 1, fig. 2, fig. 3, and fig. 4, the specific process is as follows: the control module 14 obtains the vision verification result, the horizontal deflection angle and the position information from the processing unit, if the vision verification result is successful, whether the horizontal posture of the commodity needs to be adjusted is judged according to the horizontal deflection angle, and if the horizontal posture of the commodity does not need to be adjusted, the universal wheels 111 are controlled to enable the commodity on the carrier 11 to leave the carrier in the current posture and enter the shuttle way; if the adjustment is needed, whether the commodities are currently located on the rotating module 13 is determined, if the commodities are located on the rotating module 13, the rotating module 13 is controlled to rotate, the commodities are rotated to a preset horizontal posture, and then the universal wheels 111 are controlled to move, so that the commodities on the carrier 11 leave the carrier 11 in the preset horizontal posture and enter a shuttle way; if the commodity is not positioned on the rotating module 13, the center of gravity of the commodity is moved to the rotating module 13 by controlling the moving direction of the universal wheel 111, and then the rotating module 13 is controlled to rotate so that the commodity on the rotating module 13 is rotated to a preset horizontal posture; if the visual verification is unsuccessful, the universal wheel 111 is directly controlled to enable the commodity on the carrier 11 to leave the carrier in the current posture and enter the shuttle way, and the information of the failure of the visual verification result is uploaded to the master control device, so that the master control device informs the packing station to mark the commodity as abnormal and move out of the shuttle way.
It is understood that the control module may simultaneously acquire the vision verification result, the horizontal deflection angle and the position information from the processing unit, or may acquire the vision verification result from the processing unit before the vision verification, acquire the horizontal deflection angle from the processing unit before determining whether the horizontal posture of the commodity needs to be adjusted, and acquire the position information from the processing unit before the horizontal posture is adjusted.
Compared with the prior art, the embodiment adds a visual verification process in the commodity transmission process so as to confirm the consistency of the commodity and the commodity identification in the commodity transmission process and avoid delivery errors; and the visual verification function is integrated into the commodity steering and conveying system, so that the cost of the conveying system is reduced on the premise of improving the conveying accuracy of the conveying system.
EXAMPLE III
The third embodiment of the invention provides a commodity turning transmission method. The technical scheme of the embodiment is suitable for adjusting the horizontal posture of the commodity so as to enable the commodity to be packaged in the packing station in the preset horizontal posture. The method can be executed by a control module of the commodity turning and conveying system provided by the embodiment of the invention, and the device can be realized in a software and/or hardware mode. With reference to fig. 1, fig. 2, fig. 3, fig. 4, and fig. 5, the method specifically includes the following steps:
and S102, acquiring the horizontal deflection angle of the commodity on the carrier through the detection module.
The detection module 12 is preferably a vision device, which includes a shooting unit and a processing unit, and in order to obtain an accurate horizontal deflection angle of the commodity, the shooting unit is preferably disposed right above the carrier 11 for shooting an overhead image of the commodity. The processing unit is used for determining the horizontal deflection angle of the commodity according to the current image of the commodity shot by the shooting unit and sending the horizontal deflection angle to the control module. It will be appreciated that one processing unit may correspond to only one camera unit, in which case the processing unit may be integrated in the vision device above the carrier simultaneously with the camera unit; the system also can correspond to a plurality of shooting units, and the processing unit is an upper computer of the plurality of shooting units.
Wherein, the carrier 11 is provided with a transmission mechanism for transmitting the goods from the shuttle way connected with one end of the carrier 11 to the shuttle way connected with the other end of the carrier. Preferably, the transmission mechanism is a universal wheel 111, which is controlled by the control module 14 to rotate at least in a predetermined direction, so as to move the commodity on the universal wheel in the predetermined direction.
And S104, controlling the rotating module to adjust the horizontal posture of the commodity according to the horizontal deflection angle so that the commodity leaves the carrier in a preset horizontal posture.
The rotating module 13 may be a rotating disk (see fig. 1, 2, and 3) disposed in the middle of the carrier or a universal wheel disposed in a preset range in the middle of the carrier, and the rotating disk or the universal wheel is controlled by the control module to rotate by an adjustment angle, so that the horizontal posture of the commodity thereon is adjusted to a preset horizontal posture, and the adjustment angle and the horizontal deflection angle are opposite numbers. It can be understood that the rotating disc is preferably arranged in the center of the carrier 11, the top surface of the rotating disc is at the same height as the universal wheels on the carrier, and the structure is suitable for steering and transporting commodities with the bottom area larger than that of the rotating disc, otherwise, the commodities cannot be transported out of the rotating disc; or the universal wheels are arranged on the rotating disk, the height of the universal wheels on the rotating disk is the same as that of the universal wheels at other positions of the carrier, and the rotating disk and the universal wheels on the rotating disk are independently controlled, so that the rotating disk and the rotating disk are suitable for steering and transmitting commodities of any size. The bottom of the rotating disk can be connected with a motor, and the motor controls the rotation of the rotating disk.
After the control module 14 obtains the horizontal deflection angle, it determines whether the horizontal posture of the commodity needs to be adjusted according to the horizontal deflection angle, and if not, controls the universal wheel 111 to make the commodity go forward continuously in the current horizontal posture. If the control module 14 judges that the current horizontal posture of the commodity needs to be adjusted according to the acquired horizontal deflection angle, the control module 14 controls the rotation module 13 to rotate by an adjustment angle so as to enable the current commodity to rotate to the preset horizontal posture, and then the control module 14 controls the universal wheels to enable the commodity to leave the carrier in the preset horizontal posture.
In order to improve the accuracy of the adjustment of the horizontal posture of the commodity, the present embodiment preferably locates the center of gravity of the commodity on the rotation module 13. The processing unit of the camera therefore sends to the control module 14, in addition to the article horizontal deflection angle, also the position information of the article on the carrier 11. Before adjusting the horizontal posture of the commodity, the control module 14 needs to determine whether the center of gravity of the commodity is located on the rotating device, and if so, the control module directly controls the rotating module 13 to rotate so as to adjust the horizontal posture of the commodity on the rotating module 13 to a preset horizontal posture; if not, the position of the commodity on the carrier is moved by controlling the universal wheels 111 until the gravity center of the commodity is positioned on the rotating module 13, and then the rotating module 13 is controlled to rotate so as to adjust the horizontal posture of the commodity on the rotating module 13 to the preset horizontal posture.
In order to increase the turning and conveying speed of the commodity, the top view of the commodity needs to be obtained quickly and accurately, so that the triggering timing of the shooting unit needs to be determined accurately. For this purpose, the article turning and conveying system of the embodiment is further provided with a triggering module 15, and the triggering module 15 is disposed on one side or both sides of the carrier and is used for generating a triggering signal for triggering the shooting unit when the article reaches the preset position of the rotating module 13. The method specifically comprises the following steps: before the commodity reaches the carrier 11, the universal wheel 111 is in a rotating state enabling the commodity to move axially along the shuttle way, therefore, when the commodity reaches the carrier from the shuttle way, the universal wheel 111 enables the commodity to move forwards continuously until the commodity reaches the trigger module 15, the trigger module 15 sends a trigger signal to the control module 14, the control module 14 stops driving the universal wheel 111, and simultaneously triggers the shooting unit to enable the universal wheel to be in a static state, and further enable the shooting unit to shoot the commodity in the static state, so that the quality of a current image of the commodity shot by the shooting unit is improved. The triggering module 15 is preferably a photoelectric sensor, and the photoelectric sensor may be a reflective photoelectric sensor disposed on one side of the carrier, or a correlation photoelectric sensor disposed on two sides of the carrier.
It is understood that the triggering module 15 may trigger the photographing unit when detecting that the goods pass through the carrier 11, or trigger the photographing unit at a preset time interval after detecting that the goods pass through the carrier 11. It will be appreciated that when the shooting unit starts shooting, usually in order to obtain a top view of the product, the center of gravity of the product may or may not be located on the rotation module 13, and if the center of gravity of the product is not located on the rotation module 13, the control module 14 controls the universal wheel 111 to move the center of gravity to the rotation module 13 before horizontal attitude adjustment is performed on the product.
It can be understood that, to transport the goods from the workstation to the packing station, a transport device is usually required to be arranged between the two, so the goods turning and transporting system of this embodiment further includes a shuttle way connecting the two, and in general, the shuttle way at least includes a curved path greater than or equal to a preset correction angle, and when the angle of the curved path is greater than or equal to the preset correction angle, the horizontal posture of the goods can be changed, therefore, in order to enable the goods to be transported to the packing station in the preset horizontal posture, the angle of the curved path of the shuttle way between the carrier and the packing station of this embodiment is smaller than the preset correction angle, so that the horizontal posture of the adjusted goods can not be changed, or the changed horizontal deflection angle is within the preset deflection angle.
The technical scheme of the commodity steering transmission system provided by the embodiment of the invention is arranged between a workstation and a packing station, and commodities are borne and transmitted through a carrier; detecting the horizontal deflection angle of the commodity through a detection module; adjusting the horizontal posture of the commodity on the carrier through a rotating module on the carrier; through the control module connected with the carrier, the rotating module and the detection module, the rotating module is controlled to adjust the horizontal posture of the commodity according to the horizontal deflection angle, so that the commodity leaves the carrier in a preset horizontal posture. The horizontal posture of the commodity with any size can be rapidly adjusted by matching the detection module with the rotating module, so that the long edge of the commodity is parallel to the axial direction of the shuttle channel, and the packing of a packing machine and the stacking of commodities by a stacker crane are facilitated.
Example four
The embodiment of the invention provides a commodity turning transmission method. The embodiment of the invention adds a visual verification step on the basis of the embodiment. As shown in fig. 6, the method of the present embodiment includes:
s100, a shuttle way release task is obtained, and the identification of the commodity is determined according to the shuttle way release task.
In the whole commodity packing link, the commodity packing system positions the state change of each commodity through the identification of the commodity. Therefore, when a commodity needs to be transmitted from the workstation to the packing station through the commodity steering transmission system, the master control device of the commodity packing system sends information including a task number, a stack number and the like of a commodity identifier to the control module. The control module determines an identification of the commodity, such as sku, according to the received information, such as the task number and the stack number, and then sends the identification of the commodity to the processing unit of the video device.
And S101, sending the commodity identification to a processing unit of the visual device so that the processing unit completes visual verification according to the pre-stored image corresponding to the identification and the current image, and returning a visual verification result.
The control unit calculates the identification of the commodity on the current carrier, namely the identification of the commodity is sent to the processing unit of the visual device, the processing unit obtains the pre-stored image of the commodity according to the identification of the commodity after receiving the identification of the commodity, completes the visual verification of the commodity according to the pre-stored image and the current image, and sends the visual verification result to the control module. Because the commodity may face upwards or face upwards in the transmission process, the pre-stored image of the commodity at least comprises the front and back images of the commodity so as to improve the accuracy of the visual verification.
And S102, if the visual inspection result is that the visual inspection is successful, acquiring the horizontal deflection angle of the commodity on the carrier through the processing unit.
If the vision verification result is successful, acquiring the horizontal deflection angle of the commodity on the carrier through the processing unit; if the visual verification is unsuccessful, the universal control is directly carried out, so that the commodities on the carrier leave the carrier in the current posture and enter the shuttle way, and the failure information of the visual verification result is uploaded to the master control device, so that the master control device informs the packing station to mark the commodities as abnormal and move out of the shuttle way.
And S104, controlling the rotating module to adjust the horizontal posture of the commodity according to the horizontal deflection angle so that the commodity leaves the carrier in a preset horizontal posture.
Compared with the prior art, the embodiment adds a visual verification process in the commodity transmission process so as to confirm the consistency of the commodity and the commodity identification in the commodity transmission process and avoid delivery errors; and the visual verification function is integrated into the commodity steering and conveying system, so that the cost of the conveying system is reduced on the premise of improving the conveying accuracy of the conveying system.
It can be understood that the control module may obtain the vision verification result from the processing unit before the vision verification, obtain the horizontal deflection angle from the processing unit before determining whether the horizontal posture of the commodity needs to be adjusted, and obtain the position information from the processing unit before the horizontal posture adjustment, or simultaneously obtain the vision verification result, the horizontal deflection angle and the position information from the processing unit, and then analyze the vision verification result, and analyze the horizontal deflection angle when the vision verification result is true, and analyze the position information when the horizontal deflection angle is greater than or equal to the preset deflection angle, and of course, if the vision verification result is false, then there is no need to analyze the horizontal deflection angle and the position information.
Compared with the prior art, the embodiment adds a visual verification process in the commodity transmission process so as to confirm the consistency of the commodity and the commodity identification in the commodity transmission process and avoid delivery errors; and the visual verification function is integrated into the commodity steering and conveying system, so that the cost of the conveying system is reduced on the premise of improving the conveying accuracy of the conveying system.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are executed by a computer processor to perform a method for article turning transmission, where the method is applied to a control module of an article turning transmission device according to the foregoing embodiment, and the method includes:
acquiring a horizontal deflection angle of a commodity on a carrier through a detection module;
and controlling the rotating module to adjust the horizontal posture of the commodity according to the horizontal deflection angle so that the commodity leaves the carrier in a preset horizontal posture.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the article forwarding and transporting method provided by any embodiment of the present invention.
Based on the understanding that the technical solutions of the present invention can be embodied in the form of software products, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a flash Memory (F L ASH), a hard disk or an optical disk of a computer, and the like, and include instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the commodity turn-around transmission method according to the embodiments of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (15)
1. The utility model provides a commodity turns to transmission system, locates between workstation and the packing station, its characterized in that includes:
the carrier is used for carrying and transmitting commodities;
the detection module is arranged above the carrier and used for detecting the horizontal deflection angle of the commodity;
the rotating module is arranged on the carrier and used for adjusting the horizontal posture of the commodity on the carrier;
and the control module is connected with the carrier, the rotating module and the detecting module and is used for controlling the rotating module to adjust the horizontal posture of the commodity according to the horizontal deflection angle so that the commodity leaves the carrier in a preset horizontal posture.
2. The system of claim 1, wherein the detection module is a vision device, the vision device comprises a processing unit and a shooting unit arranged above the carrier, and the processing unit is used for determining the horizontal deflection angle of the commodity according to the current image of the commodity shot by the shooting unit.
3. The system of claim 2, wherein the processing unit is further configured to obtain an identification of a product, and obtain a pre-stored image of the product according to the identification of the product, and complete a visual verification of the product according to the pre-stored image and the current image.
4. The system of claim 1, wherein the carrier is provided with a universal wheel, and the universal wheel is driven by the control module to move the commodity in at least one direction.
5. The system of claim 4, wherein the detection module is further configured to determine location information of the item on the carrier and send the location information to the control module;
the control module is used for controlling the universal wheels to move according to the position information, so that the center of gravity of the commodity is located on the rotating module.
6. The system according to any one of claims 1 to 5, wherein the rotating module is a turntable disposed in the middle of the carrier or a universal wheel disposed within a predetermined position range of the carrier.
7. The system of claim 3, further comprising a shed connected at each end of the carrier, and wherein a bend angle of the shed between the carrier and the baling station is less than a preset correction angle.
8. The system of claim 7, wherein the control module is specifically configured to:
if the visual verification result is that the matching is successful, controlling the rotating module to adjust the horizontal posture of the commodity according to the horizontal deflection angle so as to enable the commodity to leave the carrier in a preset packing posture, wherein the preset packing posture is that the long edge of the commodity is parallel to the longitudinal direction of the shuttle way;
and if the visual verification result is that the matching fails, enabling the commodity to leave the carrier in the current posture, and informing the packing station to mark the commodity as abnormal and move out of the shuttle way.
9. The system of claim 1, further comprising a triggering module;
the trigger module is arranged on one side and/or two sides of the carrier and is used for generating a trigger signal when the commodity reaches the preset position of the rotating module so as to control the detecting module to detect the horizontal deflection angle of the commodity according to the trigger signal.
10. A commodity turning transmission method applied to the control module of the commodity turning transmission device according to any one of claims 1 to 9, comprising:
acquiring a horizontal deflection angle of a commodity on a carrier through a detection module;
and controlling the rotating module to adjust the horizontal posture of the commodity according to the horizontal deflection angle so that the commodity leaves the carrier in a preset horizontal posture.
11. The method according to claim 10, wherein the detection module is a vision device, the vision device comprises a shooting unit and a processing unit, and accordingly, the acquiring of the horizontal deflection angle of the commodity on the carrier by the detection module comprises:
acquiring a horizontal deflection angle of the commodity on the carrier through a vision device, wherein the horizontal deflection angle is determined by a processing unit of the vision device according to a current image of the commodity shot by a shooting unit.
12. The method of claim 11, further comprising, prior to obtaining the horizontal deflection angle of the item on the carrier via the vision device:
acquiring a shuttle way release task, and determining the identification of the commodity according to the shuttle way release task;
and sending the commodity identification to a processing unit of a visual device so that the processing unit completes visual verification according to the pre-stored image corresponding to the identification and the current image, and returning a visual verification result.
13. The method of claim 12, wherein the controlling the rotation module to adjust the horizontal posture of the commodity according to the horizontal deflection angle so that the commodity leaves the carrier in a preset horizontal posture comprises:
if the obtained visual verification result is that the matching is successful, controlling the rotating module to adjust the horizontal posture of the commodity according to the horizontal deflection angle so that the commodity leaves the carrier in a preset packing posture;
and if the obtained visual verification result is that the matching fails, enabling the commodity to leave the carrier in the current posture, and informing a packing station to mark the commodity as abnormal and kick out of the shuttle way.
14. The method as claimed in claim 11, wherein universal wheels are provided on the carrier, and correspondingly, before controlling the rotation module to adjust the horizontal posture of the commodity according to the horizontal deflection angle so that the commodity leaves the carrier in a preset horizontal posture, the method further comprises:
the position information of the commodity on the carrier is obtained through the vision module, and the universal wheel is controlled to move according to the position information, so that the gravity center of the commodity is located on the rotating module.
15. A storage medium containing computer-executable instructions for performing the article diversion transmission method of any one of claims 10-14 when executed by a computer processor.
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| CN201910068761.3A CN111470120A (en) | 2019-01-24 | 2019-01-24 | Commodity turning transmission system, method and storage medium |
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| CN201910068761.3A CN111470120A (en) | 2019-01-24 | 2019-01-24 | Commodity turning transmission system, method and storage medium |
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| CN111470120A true CN111470120A (en) | 2020-07-31 |
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Cited By (1)
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| CN113815958A (en) * | 2020-10-09 | 2021-12-21 | 湖南省博世康中医药有限公司 | A package device for logistics distribution's operation of being convenient for |
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Effective date of registration: 20210305 Address after: 101, 1st floor, building 2, yard 20, Suzhou street, Haidian District, Beijing 100080 Applicant after: Beijing Jingbangda Trading Co.,Ltd. Address before: 100080 8th floor, 76 Zhichun Road, Haidian District, Beijing Applicant before: BEIJING JINGDONG SHANGKE INFORMATION TECHNOLOGY Co.,Ltd. Applicant before: BEIJING JINGDONG CENTURY TRADING Co.,Ltd. Effective date of registration: 20210305 Address after: Room a1905, 19 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Applicant after: Beijing Jingdong Qianshi Technology Co.,Ltd. Address before: 101, 1st floor, building 2, yard 20, Suzhou street, Haidian District, Beijing 100080 Applicant before: Beijing Jingbangda Trading Co.,Ltd. |