CN111545469A - Wisdom commodity circulation parcel letter sorting adjustment system - Google Patents
Wisdom commodity circulation parcel letter sorting adjustment system Download PDFInfo
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- CN111545469A CN111545469A CN202010446708.5A CN202010446708A CN111545469A CN 111545469 A CN111545469 A CN 111545469A CN 202010446708 A CN202010446708 A CN 202010446708A CN 111545469 A CN111545469 A CN 111545469A
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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
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Abstract
The invention discloses an intelligent logistics parcel sorting and adjusting system, which comprises: the device comprises a transmission device, a camera, infrared geminate transistors, a universal wheel, a linear transmission control module, a camera starting control module, an image acquisition module, a head and vertex coordinate determination module, a data solving module, a universal wheel driving module and a linear transmission secondary starting module; the data solving module comprises an azimuth angle solving unit and a distance solving unit; the universal wheel driving module comprises a universal wheel first driving unit and a universal wheel second driving unit. By the system, the express parcel direction can be adjusted in the express parcel transmission process, the express parcel identification accuracy is improved, and express parcels can be conveniently coded.
Description
Technical Field
The invention relates to the technical field of logistics, in particular to an intelligent logistics package sorting and adjusting system.
Background
At present, current express company when letter sorting express delivery parcel, sorts the classification to the express delivery parcel through transmission device, and traditional letter sorting classification method, in transmission process, the position and the orientation of express delivery parcel are mixed and disorderly, lead to like this when sorting or marking a yard mark express delivery parcel, improve the discernment error rate to the express delivery parcel, make mistakes easily, and then influence letter sorting or beat a yard efficiency, can not satisfy the demand of the express delivery trade that develops day by day.
Disclosure of Invention
In view of the defects in the prior art, the invention aims to provide an intelligent logistics package sorting and adjusting system, which aims to adjust the direction of an express package in the express package transmission process, improve the express package identification accuracy and facilitate the express package coding.
In order to achieve the above object, the present invention provides an intelligent logistics package sorting and adjusting system, which comprises: the device comprises a transmission device, a camera, infrared geminate transistors, a universal wheel, a linear transmission control module, a camera starting control module, an image acquisition module, a head and vertex coordinate determination module, a data solving module, a universal wheel driving module and a linear transmission secondary starting module;
the linear transmission control module is used for controlling the conveying device to convey the first parcel to the sorting area; the camera is arranged above the conveying device; the infrared pair tubes are arranged on two sides of the conveying device; the conveying device consists of the universal wheels; establishing a first rectangular coordinate system by taking a projection point of the camera in a plane of the conveying device as a coordinate origin O, taking the conveying direction of the conveying device as a positive X-axis direction and taking a straight line which is in the plane of the conveying device and perpendicular to the conveying direction of the conveying device as a Y-axis;
the camera opening control module is used for responding to the fact that the infrared geminate transistor detects the first package and opening the camera;
the image acquisition module is used for controlling the camera to acquire the outline of the first package and the direction identifier of the first package and form a first image; the direction mark is positioned on a first bottom surface of the first wrapping opposite to the camera;
the head and vertex coordinate determination module is used for determining the head of the first package and four vertex coordinates of the first package according to the first image acquired by the camera; the vertex coordinate is arranged along a first coordinate A (x) in a counterclockwise direction1,y1) Second coordinate B (x)2,y2) The third coordinate C (x)3,y3) Fourth coordinate D (x)4,y4) The first coordinate A (x)1,y1) And the fourth coordinate D (x)4,y4) The head part of the first wrapping is positioned at the edge;
the data solving module comprises:
an azimuth solving unit for solving the azimuth according to the first coordinate A (x)1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving for the azimuth of the first parcel
Wherein the azimuth angle
The above-mentioned
The first coordinate A (x)1,y1) The corresponding vertex A and the fourth coordinate D (x)4,y4) The midpoint of the connecting line AD of the corresponding vertex D is E; the second coordinate B (x)2,y2) The corresponding vertex B and the third coordinate C (x)3,y3) The midpoint of the connecting line BC of the corresponding vertex C is F; the azimuth angle
The acute angle is formed by the straight line of the line segment EF and the positive direction of the X axis;
a distance solving unit for solving the distance between the first coordinate A (x)1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving the distance L from the center of the first parcel to the origin of coordinates O; wherein the distance is
The universal wheel drive module includes:
the first driving unit of the universal wheel is used for acquiring four vertex coordinates of the first package monitored by the camera in real time, and when the sum of horizontal coordinates of at least one pair of diagonal points in the four vertex coordinates is equal toWhen the distance L is not equal to 0, the universal wheel is controlled to rotate along the direction of the Y axis to drive the first wrapping to translate along the Y axis; according to the distance L and the rotating speed v of the universal wheel, solving the first time t of the rotation of the universal wheel1(ii) a Wherein, the
When y is1+y2+y3+y4When the rotation direction of the universal wheel is more than 0, the rotation direction of the universal wheel is along the negative direction of the Y axis; when y is1+y2+y3+y4When the number is less than 0, the rotation direction of the universal wheel is along the positive direction of the Y axis;
the universal wheel second driving unit is used for controlling the universal wheel to rotate along the tangential direction of a circle which is formed by taking the coordinate origin O as the center of a circle and taking the distance R as the radius; responding to the end of the rotation of the universal wheel along the Y-axis direction, acquiring the distance R between the universal wheel and a coordinate origin, and controlling the universal wheel to rotate along the tangential direction of a circle which takes the coordinate origin O as the center of a circle and the distance R as the radius; according to the azimuth angle
The distance R and the rotating speed v of the universal wheel are used for solving the second time t of the rotation of the universal wheel2(ii) a The rotation time of the universal wheel along the Y-axis direction is the first time t1(ii) a Wherein, the
When k is larger than 0, an angle formed by the rotation direction of the universal wheel and the negative direction of the Y axis is an acute angle; when the k is less than 0, an angle formed by the rotation direction of the universal wheel and the positive direction of the Y axis is an acute angle;
the linear transmission secondary starting module is used for starting the linear transmission control module for the second time; responding to the rotation end of the universal wheel along the tangential direction of a circle formed by taking the coordinate origin O as the center of a circle and the distance R as the radius, controlling the universal wheel to continue to rotate along the positive direction of the X axisMoving; the rotation time of the universal wheel along the tangential direction of a circle formed by taking the coordinate origin O as the center of a circle and the distance R as the radius is second time t2。
In the technical scheme, the camera is arranged right above the conveying device, so that the camera is opposite to the first package, the shooting angle is correct, the acquired first image of the first package is accurate, and the accuracy of data acquired from the first image is improved; the azimuth solving unit solves the azimuth of the first parcel through the four vertex coordinates
Increasing the found azimuth angle
The accuracy of (2); calculating the first time t of the universal wheel rotation according to the distance L and the rotating speed v of the universal wheel1The universal wheel driving module passes through the azimuth angle
The distance R and the rotating speed v of the universal wheel are used for solving the second time t of the rotation of the universal wheel2The rotating time precision of the universal wheel is effectively improved, and the precision of the first wrapping direction adjustment is further improved.
In a specific embodiment, the direction indicator is the orientation of the text on the first wrapper; determining the head of the first parcel and the four vertex coordinates of the first parcel according to the text orientation.
In a specific embodiment, the system further comprises:
an incomplete adjustment marking module for performing incomplete adjustment marking on the first parcel; according to the first coordinate A (X) in response to the universal wheel continuing to rotate in the positive X-axis direction1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving again for the azimuth of the first parcel
When the azimuth angle
At this time, the first parcel is incompletely marked for adjustment.
In this solution, according to the azimuth angle
And adjusting the direction of the first parcel again to avoid making mistakes when the first parcel is marked with codes.
In a specific embodiment, the system further comprises:
an orientation marking module for orientation marking an orientation of the first parcel; when x is1+x4＞x2+x3When the first parcel is in the forward X-axis direction, the orientation of the first parcel is marked as X1+x4＜x2+x3The orientation of the first parcel is marked as negative along the X-axis.
In the technical scheme, the orientation of the first parcel is marked, so that the orientation of the first parcel is convenient to distinguish.
In a specific embodiment, the infrared pair transistors and the camera are sequentially arranged along the positive direction of the X axis, and the interval between the infrared pair transistors and the camera is larger than the imaging radius of the camera.
In a specific embodiment, the universal wheels are evenly distributed.
The invention has the beneficial effects that: in the invention, the camera is arranged right above the conveying device, so that the camera is opposite to the first package, the shooting angle is correct, and the collected first package is collectedThe first image is accurate, and the accuracy of data acquired from the first image is improved; the azimuth solving unit solves the azimuth of the first parcel through the four vertex coordinates
Increasing the found azimuth angle
The accuracy of (2); calculating the first time t of the universal wheel rotation according to the distance L and the rotating speed v of the universal wheel1The universal wheel driving module passes through the azimuth angle
The distance R and the rotating speed v of the universal wheel are used for solving the second time t of the rotation of the universal wheel2The rotating time precision of the universal wheel is effectively improved, and the precision of the first wrapping direction adjustment is further improved; by the system, the express parcel direction can be adjusted in the express parcel transmission process, the express parcel identification accuracy is improved, and express parcels can be conveniently coded.
Drawings
Fig. 1 is a block diagram of an intelligent logistics parcel sorting adjustment system according to an embodiment of the present invention;
fig. 2 is a flow chart of an express package adjustment method based on the internet of things according to an embodiment of the present invention;
fig. 3 is a diagram of the position of a first package in relation to a conveyor in accordance with an embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
in a first embodiment of the present invention, as shown in fig. 1, there is provided an intelligent logistics parcel sorting adjustment system, comprising: the system comprises a transmission device, a camera, infrared geminate transistors, universal wheels, a linear transmission control module 100, a camera opening control module 200, an image acquisition module 300, a head and vertex coordinate determination module 400, a data solving module 500, a universal wheel driving module 600 and a linear transmission secondary starting module 700;
the linear transmission control module 100 is configured to control the conveying device to transmit the first parcel to the sorting area; the camera is arranged above the conveying device; the infrared pair tubes are arranged on two sides of the conveying device; the conveying device consists of the universal wheels; establishing a first rectangular coordinate system by taking a projection point of the camera in a plane of the conveying device as a coordinate origin O, taking the conveying direction of the conveying device as a positive X-axis direction and taking a straight line which is in the plane of the conveying device and perpendicular to the conveying direction of the conveying device as a Y-axis;
the camera opening control module 200 is configured to open the camera in response to the infrared pair tube detecting the first package;
the image acquisition module 300 is configured to control the camera to acquire the outline of the first package and the direction identifier of the first package and form a first image; the direction mark is positioned on a first bottom surface of the first wrapping opposite to the camera;
the head and vertex coordinate determining module 400 is configured to determine, according to the first image acquired by the camera, four vertex coordinates of the head of the first package and the first package; the vertex coordinate is arranged along a first coordinate A (x) in a counterclockwise direction1,y1) Second coordinate B (x)2,y2) The third coordinate C (x)3,y3) Fourth coordinate D (x)4,y4) The first coordinate A (x)1,y1) And the fourth coordinate D (x)4,y4) The head part of the first wrapping is positioned at the edge;
the data solving module 500 includes:
an azimuth solving unit 501 for solving the first coordinate A (x) according to the first coordinate A1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving for the azimuth of the first parcel
Wherein the azimuth angle
The above-mentioned
The first coordinate A (x)1,y1) The corresponding vertex A and the fourth coordinate D (x)4,y4) The midpoint of the connecting line AD of the corresponding vertex D is E; the second coordinate B (x)2,y2) The corresponding vertex B and the third coordinate C (x)3,y3) The midpoint of the connecting line BC of the corresponding vertex C is F; the azimuth angle
The acute angle is formed by the straight line of the line segment EF and the positive direction of the X axis;
a distance solving unit 502 for solving the distance according to the first coordinate A (x)1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving the distance L from the center of the first parcel to the origin of coordinates O; wherein the distance is
The universal wheel drive module 600 includes:
the first universal wheel driving unit 601 is configured to collect four vertex coordinates of the first package monitored by the camera in real time, and when the sum of horizontal coordinates of at least one pair of diagonal points in the four vertex coordinates is zero and a distance L is not equal to 0, control the universal wheel to rotate in the direction of the Y axis to drive the first package to translate along the Y axis; solving the universal wheel according to the distance L and the rotating speed v of the universal wheelFirst time t of steering wheel rotation1(ii) a Wherein, the
When y is1+y2+y3+y4When the rotation direction of the universal wheel is more than 0, the rotation direction of the universal wheel is along the negative direction of the Y axis; when y is1+y2+y3+y4When the number is less than 0, the rotation direction of the universal wheel is along the positive direction of the Y axis;
a second universal wheel driving unit 602, configured to control the universal wheel to rotate in a tangential direction of a circle formed by taking the coordinate origin O as a center and the distance R as a radius; responding to the end of the rotation of the universal wheel along the Y-axis direction, acquiring the distance R between the universal wheel and a coordinate origin, and controlling the universal wheel to rotate along the tangential direction of a circle which takes the coordinate origin O as the center of a circle and the distance R as the radius; according to the azimuth angle
The distance R and the rotating speed v of the universal wheel are used for solving the second time t of the rotation of the universal wheel2(ii) a The rotation time of the universal wheel along the Y-axis direction is the first time t1(ii) a Wherein, the
When k is larger than 0, an angle formed by the rotation direction of the universal wheel and the negative direction of the Y axis is an acute angle; when the k is less than 0, an angle formed by the rotation direction of the universal wheel and the positive direction of the Y axis is an acute angle;
the linear transmission secondary starting module 700 is configured to start the linear transmission control module 100 for the second time; controlling the universal wheel to continue rotating in the positive direction of the X axis in response to the end of the rotation of the universal wheel in the tangential direction of a circle formed by taking the coordinate origin O as the center of a circle and the distance R as the radius; the rotation time of the universal wheel along the tangential direction of a circle formed by taking the coordinate origin O as the center of a circle and the distance R as the radius is second time t2。
In this embodiment, the direction identifier is the orientation of the text on the first wrapper; determining the head of the first parcel and the four vertex coordinates of the first parcel according to the text orientation.
In this embodiment, the system further includes:
an incomplete adjustment marking module 800 configured to perform incomplete adjustment marking on the first parcel; according to the first coordinate A (X) in response to the universal wheel continuing to rotate in the positive X-axis direction1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving again for the azimuth of the first parcel
When the azimuth angle
At this time, the first parcel is incompletely marked for adjustment.
In this embodiment, the system further includes:
an orientation marking module 900 for orientation marking an orientation of the first parcel; when x is1+x4＞x2+x3When the first parcel is in the forward X-axis direction, the orientation of the first parcel is marked as X1+x4＜x2+x3The orientation of the first parcel is marked as negative along the X-axis.
In this embodiment, the infrared pair tubes and the camera are arranged in proper order along the positive direction of the X axis, and the infrared pair tubes and the interval of the camera are greater than the imaging radius of the camera.
In this embodiment, the casters are evenly distributed.
The equations involved in this example are derived as follows:
as shown in fig. 3, according to the first coordinate a (x)1,y1) And said fourth coordinate D (x)4,y4) Midpoint coordinates of available AD
According to the second coordinate B (x)2,y2) And the third coordinate C (x)3,y3) Center point coordinates of BC are obtained
According to the midpoint coordinate of the AD
And midpoint coordinates of the BC
The center point coordinate of EF can be obtained
Midpoint coordinates of the EF
The coordinates of the center of the first parcel;
the distance from the center of the first parcel to the origin of coordinates O can be obtained according to a distance formula between two points
The slope of the line segment EF is
The slope angle β of the line segment EF is related to the slope k
β ═ arctank;
then the azimuth angle
The rotating speed of the point of the first package in contact with the universal wheel is equal to the rotating speed v of the universal wheel, the rotating radius is the distance R, and then the rotating angular speed of the point
The rotational angular velocity ω and the second time t2And the azimuth angle
Satisfies the following relation:
the second time of the rotation of the universal wheel is obtained by simultaneous (1) and (2)
As shown in fig. 2, in a second embodiment of the present invention, a method for adjusting express delivery packages based on the internet of things is provided, where the method includes:
step S1, controlling the conveying device to transmit the first parcel to the adjustment area; a camera is arranged above the conveying device; infrared geminate transistors are arranged on two sides of the conveying device; the conveying device consists of universal wheels; establishing a first rectangular coordinate system by taking a projection point of the camera in a plane of the conveying device as a coordinate origin O, taking the conveying direction of the conveying device as a positive X-axis direction and taking a straight line which is in the plane of the conveying device and perpendicular to the conveying direction of the conveying device as a Y-axis;
step S2, responding to the infrared geminate transistor detecting the first package, and starting the camera; controlling the camera to acquire the outline of the first package and the direction identification of the first package and form a first image; the direction mark is positioned on a first bottom surface of the first wrapping opposite to the camera;
step S3, according to the camera collectedA first image determining the head of the first parcel and the four vertex coordinates of the first parcel; the vertex coordinate is arranged along a first coordinate A (x) in a counterclockwise direction1,y1) Second coordinate B (x)2,y2) The third coordinate C (x)3,y3) Fourth coordinate D (x)4,y4) The first coordinate A (x)1,y1) And the fourth coordinate D (x)4,y4) The head part of the first wrapping is positioned at the edge;
step S4, according to the first coordinate A (x)1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving for the azimuth of the first parcel
Wherein the azimuth angle
The above-mentioned
The first coordinate A (x)1,y1) The corresponding vertex A and the fourth coordinate D (x)4,y4) The midpoint of the connecting line AD of the corresponding vertex D is E; the second coordinate B (x)2,y2) The corresponding vertex B and the third coordinate C (x)3,y3) The midpoint of the connecting line BC of the corresponding vertex C is F; the azimuth angle
The acute angle is formed by the straight line of the line segment EF and the positive direction of the X axis;
step S5, according to the first coordinate A (x)1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving the distance L from the center of the first parcel to the origin of coordinates O; wherein,said distance
Step S6, collecting four vertex coordinates of the first package monitored by the camera in real time, and controlling the universal wheel to rotate along the Y-axis direction to drive the first package to translate along the Y-axis when the sum of the horizontal coordinates of at least one pair of diagonal points in the four vertex coordinates is zero and the distance L is not equal to 0; according to the distance L and the rotating speed v of the universal wheel, solving the first time t of the rotation of the universal wheel1(ii) a Wherein, the
When y is1+y2+y3+y4When the rotation direction of the universal wheel is more than 0, the rotation direction of the universal wheel is along the negative direction of the Y axis; when y is1+y2+y3+y4When the number is less than 0, the rotation direction of the universal wheel is along the positive direction of the Y axis;
step S7, responding to the rotation of the universal wheel along the Y-axis direction, obtaining the distance R between the universal wheel and the coordinate origin, and controlling the universal wheel to rotate along the tangential direction of a circle formed by taking the coordinate origin O as the center of a circle and the distance R as the radius; according to the azimuth angle
The distance R and the rotating speed v of the universal wheel are used for solving the second time t of the rotation of the universal wheel2(ii) a The rotation time of the universal wheel along the Y-axis direction is the first time t1(ii) a Wherein, the
When k is larger than 0, an angle formed by the rotation direction of the universal wheel and the negative direction of the Y axis is an acute angle; when the k is less than 0, an angle formed by the rotation direction of the universal wheel and the positive direction of the Y axis is an acute angle;
step S8, responding to the universal wheel taking the coordinate origin O as the center,Controlling the universal wheel to continue rotating along the positive direction of the X axis after the rotation of the circle formed by taking the distance R as the radius is finished; the rotation time of the universal wheel along the tangential direction of a circle formed by taking the coordinate origin O as the center of a circle and the distance R as the radius is second time t2。
In this embodiment, the direction identifier is the orientation of the text on the first wrapper; determining the head of the first parcel and the four vertex coordinates of the first parcel according to the text orientation.
In this embodiment, the method further includes:
according to the first coordinate A (X) in response to the universal wheel continuing to rotate in the positive X-axis direction1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving again the azimuth of the first parcel
When the azimuth angle
At this time, the first parcel is incompletely marked for adjustment.
In this embodiment, the method further includes:
orienting indicia of the orientation of the first parcel; when x is1+x4＞x2+x3When the first parcel is in the forward X-axis direction, the orientation of the first parcel is marked as X1+x4＜x2+x3The orientation of the first parcel is marked as negative along the X-axis.
In this embodiment, the infrared pair tubes and the camera are arranged in proper order along the positive direction of the X axis, and the infrared pair tubes and the interval of the camera are greater than the imaging radius of the camera.
In this embodiment, the casters are evenly distributed.
The equations involved in this example are derived as follows:
as shown in fig. 3, according to the first coordinate a (x)1,y1) And said fourth coordinate D (x)4,y4) Midpoint coordinates of available AD
According to the second coordinate B (x)2,y2) And the third coordinate C (x)3,y3) Center point coordinates of BC are obtained
According to the midpoint coordinate of the AD
And midpoint coordinates of the BC
The center point coordinate of EF can be obtained
Midpoint coordinates of the EF
The coordinates of the center of the first parcel;
the distance from the center of the first parcel to the origin of coordinates O can be obtained according to a distance formula between two points
The slope of the line segment EF is
The slope angle β of the line segment EF is related to the slope k
Namely β＝arctank；
Then the azimuth angle
The rotating speed of the point of the first package in contact with the universal wheel is equal to the rotating speed v of the universal wheel, the rotating radius is the distance R, and then the rotating angular speed of the point
The rotational angular velocity ω and the second time t2And the azimuth angle
Satisfies the following relation:
the second time of the rotation of the universal wheel is obtained by simultaneous (1) and (2)
Specific embodiments of the present invention have been described above in detail. It is to be understood that the specific embodiments of the present invention are not exclusive and that modifications and variations may be made by one of ordinary skill in the art in light of the spirit of the present invention, within the scope of the appended claims. Therefore, technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the embodiments of the present invention should be within the scope of protection defined by the claims.
Claims (6)
1. The utility model provides an wisdom commodity circulation parcel letter sorting adjustment system which characterized in that, the system includes: the device comprises a transmission device, a camera, infrared geminate transistors, a universal wheel, a linear transmission control module, a camera starting control module, an image acquisition module, a head and vertex coordinate determination module, a data solving module, a universal wheel driving module and a linear transmission secondary starting module;
the linear transmission control module is used for controlling the conveying device to convey the first parcel to the sorting area; the camera is arranged above the conveying device; the infrared pair tubes are arranged on two sides of the conveying device; the conveying device consists of the universal wheels; establishing a first rectangular coordinate system by taking a projection point of the camera in a plane of the conveying device as a coordinate origin O, taking the conveying direction of the conveying device as a positive X-axis direction and taking a straight line which is in the plane of the conveying device and perpendicular to the conveying direction of the conveying device as a Y-axis;
the camera opening control module is used for responding to the fact that the infrared geminate transistor detects the first package and opening the camera;
the image acquisition module is used for controlling the camera to acquire the outline of the first package and the direction identifier of the first package and form a first image; the direction mark is positioned on a first bottom surface of the first wrapping opposite to the camera;
the head and vertex coordinate determination module is used for determining the head of the first package and four vertex coordinates of the first package according to the first image acquired by the camera; the vertex coordinate is arranged along a first coordinate A (x) in a counterclockwise direction1,y1) Second coordinate B (x)2,y2) The third coordinate C (x)3,y3) Fourth coordinate D (x)4,y4) The first coordinate A (x)1,y1) And the fourth coordinate D (x)4,y4) The head part of the first wrapping is positioned at the edge;
the data solving module comprises:
an azimuth solving unit for solving the azimuth according to the first coordinate A (x)1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving for the azimuth of the first parcel
Wherein the azimuth angle
The above-mentioned
The first coordinate A (x)1,y1) The corresponding vertex A and the fourth coordinate D (x)4,y4) The midpoint of the connecting line AD of the corresponding vertex D is E; the second coordinate B (x)2,y2) The corresponding vertex B and the third coordinate C (x)3,y3) The midpoint of the connecting line BC of the corresponding vertex C is F; the azimuth angle
The acute angle is formed by the straight line of the line segment EF and the positive direction of the X axis;
a distance solving unit for solving the distance between the first coordinate A (x)1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving the distance L from the center of the first parcel to the origin of coordinates O; wherein the distance is
The universal wheel drive module includes:
the first universal wheel driving unit is used for acquiring four vertex coordinates of the first package monitored by the camera in real time, and when the sum of horizontal coordinates of at least one pair of diagonal points in the four vertex coordinates is zero and the distance L is not equal to 0, the universal wheel is controlled to rotate along the direction of the Y axis to drive the first package to translate along the Y axis; according to the distance L and the rotating speed v of the universal wheel, solving the first time t of the rotation of the universal wheel1(ii) a Wherein, the
When y is1+y2+y3+y4When the rotation direction of the universal wheel is more than 0, the rotation direction of the universal wheel is along the negative direction of the Y axis; when y is1+y2+y3+y4When the number is less than 0, the rotation direction of the universal wheel is along the positive direction of the Y axis;
the universal wheel second driving unit is used for controlling the universal wheel to rotate along the tangential direction of a circle which is formed by taking the coordinate origin O as the center of a circle and taking the distance R as the radius; responding to the end of the rotation of the universal wheel along the Y-axis direction, acquiring the distance R between the universal wheel and a coordinate origin, and controlling the universal wheel to rotate along the tangential direction of a circle which takes the coordinate origin O as the center of a circle and the distance R as the radius; according to the azimuth angle
The distance R and the rotating speed v of the universal wheel are used for solving the second time t of the rotation of the universal wheel2(ii) a The rotation time of the universal wheel along the Y-axis direction is the first time t1(ii) a Wherein, the
When k is larger than 0, an angle formed by the rotation direction of the universal wheel and the negative direction of the Y axis is an acute angle; when the k is less than 0, an angle formed by the rotation direction of the universal wheel and the positive direction of the Y axis is an acute angle;
the linear transmission secondary starting module is used for starting the linear transmission control module for the second time; controlling the universal wheel to continue rotating in the positive direction of the X axis in response to the end of the rotation of the universal wheel in the tangential direction of a circle formed by taking the coordinate origin O as the center of a circle and the distance R as the radius; the rotation time of the universal wheel along the tangential direction of a circle formed by taking the coordinate origin O as the center of a circle and the distance R as the radius is second time t2。
2. The intelligent logistics parcel sorting adjustment system of claim 1, wherein the directional indicator is a textual orientation on the first parcel; determining the head of the first parcel and the four vertex coordinates of the first parcel according to the text orientation.
3. The system of claim 1, wherein the system further comprises:
an incomplete adjustment marking module for performing incomplete adjustment marking on the first parcel; according to the first coordinate A (X) in response to the universal wheel continuing to rotate in the positive X-axis direction1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving again for the azimuth of the first parcel
When the azimuth angle
At this time, the first parcel is incompletely marked for adjustment.
4. The system of claim 1, wherein the system further comprises:
an orientation marking module for orientation marking an orientation of the first parcel; when x is1+x4＞x2+x3When the first parcel is in the forward X-axis direction, the orientation of the first parcel is marked as X1+x4＜x2+x3The orientation of the first parcel is marked as negative along the X-axis.
5. The system of claim 1, wherein the infrared pair transistors and the camera are sequentially arranged along a positive direction of an X-axis, and a distance between the infrared pair transistors and the camera is larger than an imaging radius of the camera.
6. The system of claim 1, wherein the casters are evenly distributed.
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