CN111545469A - Wisdom commodity circulation parcel letter sorting adjustment system - Google Patents

Wisdom commodity circulation parcel letter sorting adjustment system Download PDF

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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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universal wheel
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CN111545469B (en
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林元模
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Putian University
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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
    • B07C1/00—Measures preceding sorting according to destination
    • B07C1/18—Orientating articles other than in a stream, e.g. turning, deflecting or changing direction

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Abstract

本发明公开一种智慧物流包裹分拣调整系统，系统包括：传送装置、摄像头、红外对管、万向轮、直线传输控制模块、摄像头开启控制模块、图像采集模块、头部与顶点坐标确定模块、数据求解模块、万向轮驱动模块以及直线传输二次启动模块；数据求解模块包括方位角求解单元和距离求解单元；万向轮驱动模块包括万向轮第一驱动单元和万向轮第二驱动单元。通过本发明中的系统，在快递包裹传输过程中实现对快递包裹方向的调整，提高对快递包裹的识别正确率，方便对快递包裹进行打码。

Figure 202010446708

The invention discloses a smart logistics parcel sorting and adjustment system. The system comprises: a transmission device, a camera, an infrared tube alignment, a universal wheel, a linear transmission control module, a camera opening control module, an image acquisition module, and a head and vertex coordinate determination module , data solving module, universal wheel drive module and linear transmission secondary starting module; the data solving module includes an azimuth angle solving unit and a distance solving unit; the universal wheel drive module includes the first drive unit of the universal wheel and the second drive unit of the universal wheel Drive unit. Through the system in the present invention, the direction of the express package can be adjusted during the transmission process of the express package, the correct rate of identification of the express package can be improved, and the coding of the express package can be facilitated.

Figure 202010446708

Description

一种智慧物流包裹分拣调整系统A smart logistics parcel sorting and adjustment system

技术领域technical field

本发明涉及物流技术领域，特别涉及一种智慧物流包裹分拣调整系统。The invention relates to the technical field of logistics, in particular to a smart logistics parcel sorting and adjustment system.

背景技术Background technique

目前，现有的快递公司在分拣快递包裹时，通过传输装置对快递包裹进行分拣分类，传统的分拣分类方法，在传输过程中，快递包裹的位置及方向杂乱无章，这样导致在对快递包裹进行分拣或者打码标记时，提高对快递包裹的识别错误率，容易出错，进而影响分拣或者打码效率，满足不了日益发展的快递行业的需求。At present, when the existing express companies sort express parcels, they use the transmission device to sort and classify express parcels. In the traditional sorting and classification method, during the transmission process, the position and direction of express parcels are disorganized, which leads to the disorganization of express parcels. When parcels are sorted or coded and marked, the identification error rate of express parcels is increased, which is prone to errors, thereby affecting the efficiency of sorting or coding, and cannot meet the needs of the growing express delivery industry.

发明内容SUMMARY OF THE INVENTION

有鉴于现有技术存在的缺陷，本发明所要解决的技术问题是，提供一种智慧物流包裹分拣调整系统，旨在在快递包裹传输过程中实现对快递包裹方向的调整，提高对快递包裹的识别正确率，方便对快递包裹进行打码。In view of the defects of the prior art, the technical problem to be solved by the present invention is to provide a smart logistics parcel sorting and adjustment system, which aims to realize the adjustment of the direction of the express parcel during the transmission of the express parcel, and improve the efficiency of the express parcel. The recognition accuracy rate is convenient for coding express parcels.

为实现上述目的，本发明提供一种智慧物流包裹分拣调整系统，所述系统包括：传送装置、摄像头、红外对管、万向轮、直线传输控制模块、摄像头开启控制模块、图像采集模块、头部与顶点坐标确定模块、数据求解模块、万向轮驱动模块以及直线传输二次启动模块；In order to achieve the above purpose, the present invention provides a smart logistics parcel sorting and adjustment system, the system includes: a transmission device, a camera, an infrared pairing tube, a universal wheel, a linear transmission control module, a camera opening control module, an image acquisition module, Head and vertex coordinate determination module, data solving module, universal wheel drive module and linear transmission secondary start module;

所述直线传输控制模块，用于控制所述传送装置将第一包裹向分拣区域传输；所述传送装置的上方设置有所述摄像头；所述传送装置的两侧安设有所述红外对管；所述传送装置由所述万向轮组成；以所述摄像头在所述传送装置所在的平面内的投影点为坐标原点O，以所述传送装置的传送方向为X轴正方向，以在所述传送装置所在的平面内且垂直所述传送装置的传送方向的直线为Y轴建立第一直角坐标系；The linear transmission control module is used to control the conveying device to transmit the first package to the sorting area; the camera is arranged above the conveying device; the infrared pair is installed on both sides of the conveying device The transmission device is composed of the universal wheel; the projection point of the camera in the plane where the transmission device is located is the coordinate origin O, the transmission direction of the transmission device is the positive direction of the X axis, and the Establishing a first rectangular coordinate system for the Y-axis in a plane where the conveying device is located and perpendicular to the conveying direction of the conveying device;

所述摄像头开启控制模块，用于响应于所述红外对管检测到所述第一包裹，开启所述摄像头；The camera opening control module is configured to turn on the camera in response to the infrared pair tube detecting the first package;

所述图像采集模块，用于控制所述摄像头采集所述第一包裹的轮廓和所述第一包裹的方向标识并形成第一图像；所述方向标识位于所述第一包裹与所述摄像头正对的第一底面上；The image acquisition module is used to control the camera to collect the outline of the first package and the direction mark of the first package and form a first image; the direction mark is located directly between the first package and the camera. on the first bottom surface of the right;

所述头部与顶点坐标确定模块，用于根据所述摄像头所采集的所述第一图像，确定所述第一包裹的头部以及所述第一包裹的四个顶点坐标；所述顶点坐标沿逆时针排布的第一坐标A(x1,y1)、第二坐标B(x2,y2)、第三坐标C(x3,y3)、第四坐标D(x4,y4)，所述第一坐标A(x1,y1)以及所述第四坐标D(x4,y4)位于所述第一包裹的所述头部的所在边；The head and vertex coordinate determination module is configured to determine the head of the first package and the coordinates of four vertices of the first package according to the first image collected by the camera; the vertex coordinates The first coordinate A(x 1 , y 1 ), the second coordinate B(x 2 , y 2 ), the third coordinate C(x 3 , y 3 ), the fourth coordinate D(x 4 ), the fourth coordinate D(x 4 , y 4 ), the first coordinate A(x 1 , y 1 ) and the fourth coordinate D(x 4 , y 4 ) are located on the side where the head of the first package is located;

所述数据求解模块包括：The data solving module includes:

方位角求解单元，用于根据所述第一坐标A(x1,y1)、所述第二坐标B(x2,y2)、所述第三坐标C(x3,y3)、所述第四坐标D(x4,y4)，求解所述第一包裹的方位角

Figure BDA0002506097390000021
其中，所述方位角
Figure BDA0002506097390000022
所述
Figure BDA0002506097390000023
所述第一坐标A(x1,y1)对应的顶点A与所述第四坐标D(x4,y4)对应的顶点D的连线AD的中点为E；所述第二坐标B(x2,y2)对应的顶点B与所述第三坐标C(x3,y3)对应的顶点C的连线BC的中点为F；所述方位角
Figure BDA0002506097390000024
为线段EF所在的直线与所述X轴正方向所成的锐角；an azimuth angle solving unit, configured to calculate the first coordinate A(x 1 , y 1 ), the second coordinate B(x 2 , y 2 ), the third coordinate C(x 3 , y 3 ), The fourth coordinate D(x 4 , y 4 ), the azimuth angle of the first package is solved
Figure BDA0002506097390000021
where the azimuth angle
Figure BDA0002506097390000022
said
Figure BDA0002506097390000023
The midpoint of the connecting line AD between the vertex A corresponding to the first coordinate A (x 1 , y 1 ) and the vertex D corresponding to the fourth coordinate D (x 4 , y 4 ) is E; the second coordinate The midpoint of the line BC connecting the vertex B corresponding to B(x 2 , y 2 ) and the vertex C corresponding to the third coordinate C(x 3 , y 3 ) is F; the azimuth angle
Figure BDA0002506097390000024
is the acute angle formed by the straight line where the line segment EF is located and the positive direction of the X-axis;

距离求解单元，用于根据所述第一坐标A(x1,y1)、所述第二坐标B(x2,y2)、所述第三坐标C(x3,y3)、所述第四坐标D(x4,y4)，求解所述第一包裹的中心到所述坐标原点O的距离L；其中，所述距离

Figure BDA0002506097390000031
a distance solving unit, configured to calculate the distance according to the first coordinate A(x 1 , y 1 ), the second coordinate B(x 2 , y 2 ), the third coordinate C(x 3 , y 3 ), the For the fourth coordinate D(x 4 , y 4 ), solve the distance L from the center of the first package to the coordinate origin O; wherein, the distance
Figure BDA0002506097390000031

所述万向轮驱动模块包括：The universal wheel drive module includes:

万向轮第一驱动单元，用于采集所述摄像头实时监测的所述第一包裹的四个顶点坐标，当所述四个顶点坐标中的至少一对对角点的横坐标之和为零且距离L≠0时，控制所述万向轮沿所述Y轴的方向转动带动所述第一包裹沿Y轴平移；根据所述距离L和所述万向轮的转动速度v，求解所述万向轮转动的第一时间t1；其中，所述

Figure BDA0002506097390000032
当y1+y2+y3+y4＞0时，所述万向轮的转动方向沿所述Y轴的负方向；当y1+y2+y3+y4＜0时，所述万向轮的转动方向沿所述Y轴的正方向；The first drive unit of the universal wheel is used to collect the coordinates of the four vertices of the first package monitored by the camera in real time. When the sum of the abscissas of at least a pair of diagonal points in the coordinates of the four vertices is zero And when the distance L≠0, the universal wheel is controlled to rotate in the direction of the Y axis to drive the first package to translate along the Y axis; according to the distance L and the rotation speed v of the universal wheel, solve the the first time t 1 when the universal wheel rotates; wherein, the
Figure BDA0002506097390000032
When y 1 +y 2 +y 3 +y 4 >0, the rotation direction of the universal wheel is along the negative direction of the Y axis; when y 1 +y 2 +y 3 +y 4 <0, the The rotation direction of the universal wheel is along the positive direction of the Y-axis;

万向轮第二驱动单元，用于控制所述万向轮沿以所述坐标原点O为圆心、以所述距离R为半径所成的圆的切向方向转动；响应于所述万向轮沿所述Y轴方向的转动结束，获取所述万向轮与坐标原点的距离R，控制所述万向轮沿以所述坐标原点O为圆心、以所述距离R为半径所成的圆的切向方向转动；根据所述方位角

Figure BDA0002506097390000033
所述距离R、以及所述万向轮的转动速度v，求解所述万向轮转动的第二时间t2；所述万向轮沿所述Y轴方向的转动时间为第一时间t1；其中，所述
Figure BDA0002506097390000034
当所述k＞0时，所述万向轮的转动方向与所述述Y轴的负方向所成的角为锐角；当所述k＜0时，所述万向轮的转动方向与所述述Y轴的正方向所成的角为锐角；a second drive unit for the universal wheel, used to control the universal wheel to rotate in the tangential direction of a circle formed with the coordinate origin O as the center and the distance R as the radius; in response to the universal wheel The rotation along the Y-axis direction is completed, the distance R between the universal wheel and the coordinate origin is obtained, and the universal wheel is controlled along the circle with the coordinate origin O as the center and the distance R as the radius. Rotation in the tangential direction; according to the azimuth
Figure BDA0002506097390000033
The distance R and the rotation speed v of the universal wheel, the second time t 2 of the rotation of the universal wheel is solved; the rotation time of the universal wheel along the Y-axis direction is the first time t 1 ; wherein, the
Figure BDA0002506097390000034
When the k>0, the 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<0, the rotation direction of the universal wheel and the The angle formed by the positive direction of the Y axis is an acute angle;

所述直线传输二次启动模块，用于二次启动所述直线传输控制模块；响应于所述万向轮沿以所述坐标原点O为圆心、以所述距离R为半径所成的圆的切向方向的转动结束，控制所述万向轮继续沿所述X轴正方向转动；所述万向轮沿以所述坐标原点O为圆心、以所述距离R为半径所成的圆的切向方向的转动时间为第二时间t2。The linear transmission secondary starting module is used for secondary starting the linear transmission control module; in response to the rotation of the universal wheel along the circle with the coordinate origin O as the center and the distance R as the radius; The rotation in the tangential direction is completed, and the universal wheel is controlled to continue to rotate in the positive direction of the X-axis; The rotation time in the tangential direction is the second time t 2 .

在该技术方案中，通过将所述摄像头设置在所述传送装置的正上方，使得所述摄像头相对的正对于所述第一包裹，拍摄的角度比较正，所采集的所述第一包裹的所述第一图像比较准确，提高从所述第一图像上获取的数据的准确性；所述方位角求解单元通过所述四个顶点坐标求解所述第一包裹的所述方位角

Figure BDA0002506097390000044
提高所求的所述方位角
Figure BDA0002506097390000045
的精确度；通过所述距离L和所述万向轮的转动速度v，求得所述万向轮转动的第一时间t1，所述万向轮驱动模块通过所述方位角
Figure BDA0002506097390000046
所述距离R、以及所述万向轮的转动速度v，求解所述万向轮转动的第二时间t2，有效提高所述万向轮的转动时间精度，进而提高所述第一包裹方向调整的精度。In this technical solution, by arranging the camera directly above the conveying device, the camera is opposite to the first package, and the shooting angle is relatively positive, and the captured image of the first package is relatively positive. The first image is relatively accurate, which improves the accuracy of the data obtained from the first image; the azimuth angle solving unit solves the azimuth angle of the first package by using the coordinates of the four vertices
Figure BDA0002506097390000044
Raise the desired azimuth
Figure BDA0002506097390000045
The accuracy of the swivel wheel is obtained; through the distance L and the rotational speed v of the swivel wheel, the first time t 1 when the swivel wheel rotates is obtained, and the swivel wheel drive module passes the azimuth angle
Figure BDA0002506097390000046
The distance R and the rotation speed v of the universal wheel are used to solve the second time t 2 of the rotation of the universal wheel, which can effectively improve the rotation time accuracy of the universal wheel, thereby improving the first wrapping direction. Adjustment precision.

在一具体实施方式中，所述方向标识为所述第一包裹上的文字朝向；根据所述文字朝向，确定所述第一包裹的头部以及所述第一包裹的四个顶点坐标。In a specific embodiment, the direction identification is the orientation of the text on the first package; according to the orientation of the text, the head of the first package and the coordinates of four vertices of the first package are determined.

在一具体实施方式中，所述系统还包括：In a specific embodiment, the system further includes:

调整不完全标记模块，用于对所述第一包裹进行调整不完全标记；响应于所述万向轮继续沿所述X轴正方向转动，根据所述第一坐标A(x1,y1)、所述第二坐标B(x2,y2)、所述第三坐标C(x3,y3)、所述第四坐标D(x4,y4)，再次求解所述第一包裹的所述方位角

Figure BDA0002506097390000041
An incomplete marking module for adjusting the adjustment and incomplete marking of the first package; in response to the universal wheel continuing to rotate in the positive direction of the X-axis, according to the first coordinates A(x 1 , y 1 ), the second coordinate B(x 2 , y 2 ), the third coordinate C(x 3 , y 3 ), the fourth coordinate D(x 4 , y 4 ), and solve the first the azimuth of the package
Figure BDA0002506097390000041

当所述方位角

Figure BDA0002506097390000042
时，对所述第一包裹进行调整不完全标记。when the azimuth
Figure BDA0002506097390000042
When the adjustment is made to the first package, the incomplete marking is performed.

在该技术方案中，依据所述方位角

Figure BDA0002506097390000043
对所述第一包裹进行调整不完全标记，在对所述第一包裹进行打码时，对所述第一包裹方向进行再次调整，避免出错。In this technical solution, according to the azimuth angle
Figure BDA0002506097390000043
The adjustment of the first package is not completely marked, and when the first package is coded, the direction of the first package is adjusted again to avoid errors.

在一具体实施方式中，所述系统还包括：In a specific embodiment, the system further includes:

朝向标记模块，用于对所述第一包裹的朝向进行朝向标记；当x1+x4＞x2+x3时，对所述第一包裹的朝向标记为沿X轴正方向，当x1+x4＜x2+x3时，对所述第一包裹的朝向标记为沿X轴负方向。The orientation marking module is used to mark the orientation of the first package; when x 1 +x 4 >x 2 +x 3 , the orientation of the first package is marked as a positive direction along the X-axis, when x 1 +x 4 >x 2 +x 3 When 1 +x 4 <x 2 +x 3 , the orientation of the first package is marked as a negative direction along the X-axis.

在该技术方案中，通过对所述第一包裹进行朝向标记，便于区分所述第一包裹的朝向。In this technical solution, it is convenient to distinguish the orientation of the first package by marking the orientation of the first package.

在一具体实施方式中，所述红外对管和所述摄像头沿X轴正方向依次排列，且所述红外对管与所述摄像头的间隔大于所述摄像头的成像半径。In a specific implementation manner, the infrared pair tube and the camera are arranged in sequence along the positive direction of the X-axis, and the interval between the infrared pair tube and the camera is greater than the imaging radius of the camera.

在一具体实施方式中，所述万向轮均匀分布。In a specific embodiment, the universal wheels are evenly distributed.

本发明的有益效果是：在本发明中，通过将所述摄像头设置在所述传送装置的正上方，使得所述摄像头相对的正对于所述第一包裹，拍摄的角度比较正，所采集的所述第一包裹的所述第一图像比较准确，提高从所述第一图像上获取的数据的准确性；所述方位角求解单元通过所述四个顶点坐标求解所述第一包裹的所述方位角

Figure BDA0002506097390000051
提高所求的所述方位角
Figure BDA0002506097390000052
的精确度；通过所述距离L和所述万向轮的转动速度v，求得所述万向轮转动的第一时间t1，所述万向轮驱动模块通过所述方位角
Figure BDA0002506097390000053
所述距离R、以及所述万向轮的转动速度v，求解所述万向轮转动的第二时间t2，有效提高所述万向轮的转动时间精度，进而提高所述第一包裹方向调整的精度；通过本发明中的系统，在快递包裹传输过程中实现对快递包裹方向的调整，提高对快递包裹的识别正确率，方便对快递包裹进行打码。The beneficial effects of the present invention are: in the present invention, by arranging the camera directly above the conveying device, the camera is relatively opposite to the first package, the shooting angle is relatively positive, and the captured The first image of the first package is relatively accurate, and the accuracy of the data obtained from the first image is improved; azimuth
Figure BDA0002506097390000051
Raise the desired azimuth
Figure BDA0002506097390000052
The accuracy of the swivel wheel is obtained; through the distance L and the rotational speed v of the swivel wheel, the first time t 1 when the swivel wheel rotates is obtained, and the swivel wheel drive module passes the azimuth angle
Figure BDA0002506097390000053
The distance R and the rotation speed v of the universal wheel are used to solve the second time t 2 of the rotation of the universal wheel, which can effectively improve the rotation time accuracy of the universal wheel, thereby improving the first wrapping direction. Adjustment accuracy; through the system of the present invention, the direction of the express package can be adjusted during the transmission process of the express package, the correct rate of identification of the express package is improved, and the coding of the express package is facilitated.

附图说明Description of drawings

图1是本发明一具体实施方式中一种智慧物流包裹分拣调整系统的系统框图；1 is a system block diagram of a smart logistics parcel sorting and adjustment system in a specific embodiment of the present invention;

图2是本发明一具体实施方式中一种基于物联网的快递包裹调整方法的流程框图；2 is a flowchart of a method for adjusting express parcels based on the Internet of Things in a specific embodiment of the present invention;

图3是本发明一具体实施方式中第一包裹与传送装置的位置关系图。FIG. 3 is a positional relationship diagram of the first package and the conveying device in an embodiment of the present invention.

具体实施方式Detailed ways

下面结合附图和实施例对本发明作进一步说明：Below in conjunction with accompanying drawing and embodiment, the present invention will be further described:

如图1所示，在本发明的第一实施例中，提供一种智慧物流包裹分拣调整系统，所述系统包括：传送装置、摄像头、红外对管、万向轮、直线传输控制模块100、摄像头开启控制模块200、图像采集模块300、头部与顶点坐标确定模块400、数据求解模块500、万向轮驱动模块600以及直线传输二次启动模块700；As shown in FIG. 1 , in the first embodiment of the present invention, a smart logistics parcel sorting and adjustment system is provided. The system includes: a transmission device, a camera, an infrared tube alignment, a universal wheel, and a linear transmission control module 100 , the camera opening control module 200, the image acquisition module 300, the head and vertex coordinate determination module 400, the data solving module 500, the universal wheel drive module 600, and the linear transmission secondary start module 700;

所述直线传输控制模块100，用于控制所述传送装置将第一包裹向分拣区域传输；所述传送装置的上方设置有所述摄像头；所述传送装置的两侧安设有所述红外对管；所述传送装置由所述万向轮组成；以所述摄像头在所述传送装置所在的平面内的投影点为坐标原点O，以所述传送装置的传送方向为X轴正方向，以在所述传送装置所在的平面内且垂直所述传送装置的传送方向的直线为Y轴建立第一直角坐标系；The linear transmission control module 100 is used to control the conveying device to transmit the first package to the sorting area; the camera is arranged above the conveying device; the infrared rays are installed on both sides of the conveying device Align the tubes; the conveying device is composed of the universal wheel; the projection point of the camera in the plane where the conveying device is located is the coordinate origin O, and the conveying direction of the conveying device is the positive direction of the X-axis, establishing a first rectangular coordinate system with a straight line that is in the plane where the conveying device is located and perpendicular to the conveying direction of the conveying device as the Y-axis;

所述摄像头开启控制模块200，用于响应于所述红外对管检测到所述第一包裹，开启所述摄像头；The camera opening control module 200 is configured to turn on the camera in response to the infrared paired tube detecting the first package;

所述图像采集模块300，用于控制所述摄像头采集所述第一包裹的轮廓和所述第一包裹的方向标识并形成第一图像；所述方向标识位于所述第一包裹与所述摄像头正对的第一底面上；The image acquisition module 300 is configured to control the camera to collect the outline of the first package and the direction identification of the first package and form a first image; the direction identification is located between the first package and the camera. On the first bottom face opposite;

所述头部与顶点坐标确定模块400，用于根据所述摄像头所采集的所述第一图像，确定所述第一包裹的头部以及所述第一包裹的四个顶点坐标；所述顶点坐标沿逆时针排布的第一坐标A(x1,y1)、第二坐标B(x2,y2)、第三坐标C(x3,y3)、第四坐标D(x4,y4)，所述第一坐标A(x1,y1)以及所述第四坐标D(x4,y4)位于所述第一包裹的所述头部的所在边；The head and vertex coordinate determination module 400 is configured to determine the head of the first package and the coordinates of four vertices of the first package according to the first image captured by the camera; the vertices The first coordinate A(x 1 , y 1 ), the second coordinate B(x 2 , y 2 ), the third coordinate C(x 3 , y 3 ), the fourth coordinate D(x 4 ), the coordinates are arranged counterclockwise , y 4 ), the first coordinate A(x 1 , y 1 ) and the fourth coordinate D(x 4 , y 4 ) are located on the side of the head of the first package;

所述数据求解模块500包括：The data solving module 500 includes:

方位角求解单元501，用于根据所述第一坐标A(x1,y1)、所述第二坐标B(x2,y2)、所述第三坐标C(x3,y3)、所述第四坐标D(x4,y4)，求解所述第一包裹的方位角

Figure BDA0002506097390000071
其中，所述方位角
Figure BDA0002506097390000072
所述
Figure BDA0002506097390000073
所述第一坐标A(x1,y1)对应的顶点A与所述第四坐标D(x4,y4)对应的顶点D的连线AD的中点为E；所述第二坐标B(x2,y2)对应的顶点B与所述第三坐标C(x3,y3)对应的顶点C的连线BC的中点为F；所述方位角
Figure BDA0002506097390000074
为线段EF所在的直线与所述X轴正方向所成的锐角；The azimuth angle solving unit 501 is configured to calculate according to the first coordinate A(x 1 , y 1 ), the second coordinate B(x 2 , y 2 ), and the third coordinate C(x 3 , y 3 ) , the fourth coordinate D(x 4 , y 4 ), to solve the azimuth of the first package
Figure BDA0002506097390000071
where the azimuth angle
Figure BDA0002506097390000072
said
Figure BDA0002506097390000073
The midpoint of the connecting line AD between the vertex A corresponding to the first coordinate A (x 1 , y 1 ) and the vertex D corresponding to the fourth coordinate D (x 4 , y 4 ) is E; the second coordinate The midpoint of the line BC connecting the vertex B corresponding to B(x 2 , y 2 ) and the vertex C corresponding to the third coordinate C(x 3 , y 3 ) is F; the azimuth angle
Figure BDA0002506097390000074
is the acute angle formed by the straight line where the line segment EF is located and the positive direction of the X-axis;

距离求解单元502，用于根据所述第一坐标A(x1,y1)、所述第二坐标B(x2,y2)、所述第三坐标C(x3,y3)、所述第四坐标D(x4,y4)，求解所述第一包裹的中心到所述坐标原点O的距离L；其中，所述距离

Figure BDA0002506097390000075
The distance solving unit 502 is configured to calculate the distance according to the first coordinate A(x 1 , y 1 ), the second coordinate B(x 2 , y 2 ), the third coordinate C(x 3 , y 3 ), For the fourth coordinate D(x 4 , y 4 ), solve the distance L from the center of the first package to the coordinate origin O; wherein, the distance
Figure BDA0002506097390000075

所述万向轮驱动模块600包括：The universal wheel drive module 600 includes:

万向轮第一驱动单元601，用于采集所述摄像头实时监测的所述第一包裹的四个顶点坐标，当所述四个顶点坐标中的至少一对对角点的横坐标之和为零且距离L≠0时，控制所述万向轮沿所述Y轴的方向转动带动所述第一包裹沿Y轴平移；根据所述距离L和所述万向轮的转动速度v，求解所述万向轮转动的第一时间t1；其中，所述

Figure BDA0002506097390000081
当y1+y2+y3+y4＞0时，所述万向轮的转动方向沿所述Y轴的负方向；当y1+y2+y3+y4＜0时，所述万向轮的转动方向沿所述Y轴的正方向；The first drive unit 601 of the universal wheel is used to collect the coordinates of the four vertices of the first package monitored by the camera in real time. When the sum of the abscissas of at least a pair of diagonal points in the coordinates of the four vertices is When the distance is zero and the distance L≠0, control the rotation of the universal wheel along the Y axis to drive the first package to translate along the Y axis; according to the distance L and the rotation speed v of the universal wheel, solve the first time t 1 when the universal wheel rotates; wherein, the
Figure BDA0002506097390000081
When y 1 +y 2 +y 3 +y 4 >0, the rotation direction of the universal wheel is along the negative direction of the Y axis; when y 1 +y 2 +y 3 +y 4 <0, the The rotation direction of the universal wheel is along the positive direction of the Y-axis;

万向轮第二驱动单元602，用于控制所述万向轮沿以所述坐标原点O为圆心、以所述距离R为半径所成的圆的切向方向转动；响应于所述万向轮沿所述Y轴方向的转动结束，获取所述万向轮与坐标原点的距离R，控制所述万向轮沿以所述坐标原点O为圆心、以所述距离R为半径所成的圆的切向方向转动；根据所述方位角

Figure BDA0002506097390000082
所述距离R、以及所述万向轮的转动速度v，求解所述万向轮转动的第二时间t2；所述万向轮沿所述Y轴方向的转动时间为第一时间t1；其中，所述
Figure BDA0002506097390000083
当所述k＞0时，所述万向轮的转动方向与所述述Y轴的负方向所成的角为锐角；当所述k＜0时，所述万向轮的转动方向与所述述Y轴的正方向所成的角为锐角；The second drive unit 602 of the universal wheel is used to control the universal wheel to rotate along the tangential direction of the circle formed with the coordinate origin O as the center and the distance R as the radius; in response to the universal wheel The rotation of the wheel along the Y-axis direction ends, the distance R between the universal wheel and the coordinate origin is obtained, and the universal wheel is controlled to take the coordinate origin O as the center of the circle and the distance R as the radius. Rotation in the tangential direction of the circle; according to the azimuth
Figure BDA0002506097390000082
The distance R and the rotation speed v of the universal wheel, the second time t 2 of the rotation of the universal wheel is solved; the rotation time of the universal wheel along the Y-axis direction is the first time t 1 ; wherein, the
Figure BDA0002506097390000083
When the k>0, the 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<0, the rotation direction of the universal wheel and the The angle formed by the positive direction of the Y-axis is an acute angle;

所述直线传输二次启动模块700，用于二次启动所述直线传输控制模块100；响应于所述万向轮沿以所述坐标原点O为圆心、以所述距离R为半径所成的圆的切向方向的转动结束，控制所述万向轮继续沿所述X轴正方向转动；所述万向轮沿以所述坐标原点O为圆心、以所述距离R为半径所成的圆的切向方向的转动时间为第二时间t2。The linear transmission secondary starting module 700 is used for secondary starting the linear transmission control module 100; in response to the universal wheel rim, the coordinate origin O is the center of the circle and the distance R is the radius. The rotation in the tangential direction of the circle ends, and the universal wheel is controlled to continue to rotate in the positive direction of the X-axis; The rotation time in the tangential direction of the circle is the second time t 2 .

在本实施例中，所述方向标识为所述第一包裹上的文字朝向；根据所述文字朝向，确定所述第一包裹的头部以及所述第一包裹的四个顶点坐标。In this embodiment, the direction identifier is the orientation of the text on the first package; according to the orientation of the text, the head of the first package and the coordinates of four vertices of the first package are determined.

在本实施例中，所述系统还包括：In this embodiment, the system further includes:

调整不完全标记模块800，用于对所述第一包裹进行调整不完全标记；响应于所述万向轮继续沿所述X轴正方向转动，根据所述第一坐标A(x1,y1)、所述第二坐标B(x2,y2)、所述第三坐标C(x3,y3)、所述第四坐标D(x4,y4)，再次求解所述第一包裹的所述方位角

Figure BDA0002506097390000091
The adjustment incomplete marking module 800 is used for adjusting the incomplete marking of the first package; in response to the universal wheel continuing to rotate in the positive direction of the X axis, according to the first coordinates A(x 1 , y 1 ), the second coordinate B(x 2 , y 2 ), the third coordinate C(x 3 , y 3 ), the fourth coordinate D(x 4 , y 4 ), and solve the third coordinate again the azimuth of a package
Figure BDA0002506097390000091

当所述方位角

Figure BDA0002506097390000092
时，对所述第一包裹进行调整不完全标记。when the azimuth
Figure BDA0002506097390000092
When the adjustment is made to the first package, the incomplete marking is performed.

在本实施例中，所述系统还包括：In this embodiment, the system further includes:

朝向标记模块900，用于对所述第一包裹的朝向进行朝向标记；当x1+x4＞x2+x3时，对所述第一包裹的朝向标记为沿X轴正方向，当x1+x4＜x2+x3时，对所述第一包裹的朝向标记为沿X轴负方向。The orientation marking module 900 is used to mark the orientation of the first package; when x 1 +x 4 >x 2 +x 3 , the orientation of the first package is marked as a positive direction along the X-axis, and when x 1 +x 4 >x 2 +x 3 When x 1 +x 4 <x 2 +x 3 , the orientation of the first package is marked as a negative direction along the X-axis.

在本实施例中，所述红外对管和所述摄像头沿X轴正方向依次排列，且所述红外对管与所述摄像头的间隔大于所述摄像头的成像半径。In this embodiment, the infrared pair tube and the camera are arranged in sequence along the positive direction of the X-axis, and the interval between the infrared pair tube and the camera is greater than the imaging radius of the camera.

在本实施例中，所述万向轮均匀分布。In this embodiment, the universal wheels are evenly distributed.

下面对本实施例中涉及到的公式进行推导：The formulas involved in this embodiment are deduced below:

如图3所示，根据所述第一坐标A(x1,y1)和所述第四坐标D(x4,y4)可得AD的中点坐标

Figure BDA0002506097390000093
As shown in FIG. 3 , according to the first coordinates A(x 1 , y 1 ) and the fourth coordinates D(x 4 , y 4 ), the midpoint coordinates of AD can be obtained
Figure BDA0002506097390000093

根据所述第二坐标B(x2,y2)和所述第三坐标C(x3,y3)可得BC的中点坐标

Figure BDA0002506097390000094
According to the second coordinate B(x 2 , y 2 ) and the third coordinate C(x 3 , y 3 ), the midpoint coordinate of BC can be obtained
Figure BDA0002506097390000094

根据所述AD的中点坐标

Figure BDA0002506097390000095
和所述BC的中点坐标
Figure BDA0002506097390000101
可得EF的中点坐标
Figure BDA0002506097390000102
所述EF的中点坐标
Figure BDA0002506097390000103
即为所述第一包裹的中心的坐标；Coordinates of the midpoint according to the AD
Figure BDA0002506097390000095
and the coordinates of the midpoint of the BC
Figure BDA0002506097390000101
The midpoint coordinates of EF can be obtained
Figure BDA0002506097390000102
The coordinates of the midpoint of the EF
Figure BDA0002506097390000103
are the coordinates of the center of the first package;

则根据两点间距离公式可得所述第一包裹的中心到所述坐标原点O的距离

Figure BDA0002506097390000104
Then according to the distance formula between two points, the distance from the center of the first package to the coordinate origin O can be obtained
Figure BDA0002506097390000104

线段EF的斜率为

Figure BDA0002506097390000105
线段EF的倾斜角β跟斜率k的关系为
Figure BDA0002506097390000106
即β＝arctank；The slope of line segment EF is
Figure BDA0002506097390000105
The relationship between the inclination angle β of the line segment EF and the slope k is:
Figure BDA0002506097390000106
That is, β=arctank;

则所述方位角

Figure BDA0002506097390000107
then the azimuth
Figure BDA0002506097390000107

所述第一包裹与所述万向轮接触的点的转动速度大小等于所述万向轮的转动速度v，转动半径为所述距离R，则该点的转动角速度

Figure BDA0002506097390000108
The rotation speed of the point where the first package contacts the universal wheel is equal to the rotation speed v of the universal wheel, and the rotation radius is the distance R, then the rotation angular velocity of this point
Figure BDA0002506097390000108

所述转动角速度ω、所述第二时间t2以及所述方位角

Figure BDA0002506097390000109
满足如下关系式：
Figure BDA00025060973900001010
the rotational angular velocity ω, the second time t 2 and the azimuth angle
Figure BDA0002506097390000109
Satisfy the following relation:
Figure BDA00025060973900001010

联立(1)(2)得所述万向轮转动的第二时间

Figure BDA00025060973900001011
Simultaneously (1) (2) obtain the second time for the rotation of the universal wheel
Figure BDA00025060973900001011

如图2所示，在本发明的第二实施例中，提供一种基于物联网的快递包裹调整方法，所述方法包括：As shown in FIG. 2, in a second embodiment of the present invention, a method for adjusting express parcels based on the Internet of Things is provided, and the method includes:

步骤S1、控制传送装置将第一包裹向调整区域传输；所述传送装置的上方设置有摄像头；所述传送装置的两侧安设有红外对管；所述传送装置由万向轮组成；以所述摄像头在所述传送装置所在的平面内的投影点为坐标原点O，以所述传送装置的传送方向为X轴正方向，以在所述传送装置所在的平面内且垂直所述传送装置的传送方向的直线为Y轴建立第一直角坐标系；Step S1, controlling the transmission device to transmit the first package to the adjustment area; a camera is arranged above the transmission device; infrared pairs are installed on both sides of the transmission device; the transmission device is composed of a universal wheel; The projection point of the camera in the plane where the conveying device is located is the coordinate origin O, and the conveying direction of the conveying device is the positive direction of the X-axis, so as to be in the plane where the conveying device is located and perpendicular to the conveying device The straight line in the transmission direction establishes the first rectangular coordinate system for the Y-axis;

步骤S2、响应于所述红外对管检测到所述第一包裹，开启所述摄像头；控制所述摄像头采集所述第一包裹的轮廓和所述第一包裹的方向标识并形成第一图像；所述方向标识位于所述第一包裹与所述摄像头正对的第一底面上；Step S2, in response to the infrared pair tube detecting the first package, turn on the camera; control the camera to collect the outline of the first package and the direction identification of the first package and form a first image; The direction mark is located on the first bottom surface of the first package facing the camera;

步骤S3、根据所述摄像头所采集的所述第一图像，确定所述第一包裹的头部以及所述第一包裹的四个顶点坐标；所述顶点坐标沿逆时针排布的第一坐标A(x1,y1)、第二坐标B(x2,y2)、第三坐标C(x3,y3)、第四坐标D(x4,y4)，所述第一坐标A(x1,y1)以及所述第四坐标D(x4,y4)位于所述第一包裹的所述头部的所在边；Step S3, according to the first image collected by the camera, determine the head of the first package and the coordinates of four vertices of the first package; the first coordinates of the vertex coordinates arranged counterclockwise A(x 1 , y 1 ), the second coordinate B(x 2 , y 2 ), the third coordinate C(x 3 , y 3 ), the fourth coordinate D(x 4 , y 4 ), the first coordinate A(x 1 , y 1 ) and the fourth coordinate D(x 4 , y 4 ) are located on the side where the head of the first package is located;

步骤S4、根据所述第一坐标A(x1,y1)、所述第二坐标B(x2,y2)、所述第三坐标C(x3,y3)、所述第四坐标D(x4,y4)，求解所述第一包裹的方位角

Figure BDA0002506097390000111
其中，所述方位角
Figure BDA0002506097390000112
所述
Figure BDA0002506097390000113
所述第一坐标A(x1,y1)对应的顶点A与所述第四坐标D(x4,y4)对应的顶点D的连线AD的中点为E；所述第二坐标B(x2,y2)对应的顶点B与所述第三坐标C(x3,y3)对应的顶点C的连线BC的中点为F；所述方位角
Figure BDA0002506097390000114
为线段EF所在的直线与所述X轴正方向所成的锐角；Step S4, according to the first coordinate A(x 1 , y 1 ), the second coordinate B(x 2 , y 2 ), the third coordinate C(x 3 , y 3 ), the fourth coordinate Coordinate D(x 4 , y 4 ), solve for the azimuth of the first package
Figure BDA0002506097390000111
where the azimuth angle
Figure BDA0002506097390000112
said
Figure BDA0002506097390000113
The midpoint of the connecting line AD between the vertex A corresponding to the first coordinate A (x 1 , y 1 ) and the vertex D corresponding to the fourth coordinate D (x 4 , y 4 ) is E; the second coordinate The midpoint of the line BC connecting the vertex B corresponding to B(x 2 , y 2 ) and the vertex C corresponding to the third coordinate C(x 3 , y 3 ) is F; the azimuth angle
Figure BDA0002506097390000114
is the acute angle formed by the straight line where the line segment EF is located and the positive direction of the X-axis;

步骤S5、根据所述第一坐标A(x1,y1)、所述第二坐标B(x2,y2)、所述第三坐标C(x3,y3)、所述第四坐标D(x4,y4)，求解所述第一包裹的中心到所述坐标原点O的距离L；其中，所述距离

Figure BDA0002506097390000115
Step S5, according to the first coordinate A(x 1 , y 1 ), the second coordinate B(x 2 , y 2 ), the third coordinate C(x 3 , y 3 ), the fourth coordinate Coordinate D(x 4 , y 4 ), solve the distance L from the center of the first package to the coordinate origin O; wherein, the distance
Figure BDA0002506097390000115

步骤S6、采集所述摄像头实时监测的所述第一包裹的四个顶点坐标，当所述四个顶点坐标中的至少一对对角点的横坐标之和为零且距离L≠0时，控制所述万向轮沿所述Y轴的方向转动带动所述第一包裹沿Y轴平移；根据所述距离L和所述万向轮的转动速度v，求解所述万向轮转动的第一时间t1；其中，所述

Figure BDA0002506097390000121
当y1+y2+y3+y4＞0时，所述万向轮的转动方向沿所述Y轴的负方向；当y1+y2+y3+y4＜0时，所述万向轮的转动方向沿所述Y轴的正方向；Step S6, collecting the coordinates of the four vertices of the first package monitored by the camera in real time, when the sum of the abscissas of at least a pair of diagonal points in the coordinates of the four vertices is zero and the distance L≠0, Control the rotation of the universal wheel 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 rotation speed v of the universal wheel, solve the first rotation of the universal wheel. a time t 1 ; wherein the
Figure BDA0002506097390000121
When y 1 +y 2 +y 3 +y 4 >0, the rotation direction of the universal wheel is along the negative direction of the Y axis; when y 1 +y 2 +y 3 +y 4 <0, the The rotation direction of the universal wheel is along the positive direction of the Y-axis;

步骤S7、响应于所述万向轮沿所述Y轴方向的转动结束，获取所述万向轮与坐标原点的距离R，控制所述万向轮沿以所述坐标原点O为圆心、以所述距离R为半径所成的圆的切向方向转动；根据所述方位角

Figure BDA0002506097390000122
所述距离R、以及所述万向轮的转动速度v，求解所述万向轮转动的第二时间t2；所述万向轮沿所述Y轴方向的转动时间为第一时间t1；其中，所述
Figure BDA0002506097390000123
当所述k＞0时，所述万向轮的转动方向与所述述Y轴的负方向所成的角为锐角；当所述k＜0时，所述万向轮的转动方向与所述述Y轴的正方向所成的角为锐角；Step S7, in response to the end of the rotation of the universal wheel along the Y-axis direction, obtain the distance R between the universal wheel and the coordinate origin, and control the universal wheel to take the coordinate origin O as the center of the circle, and take the coordinate origin O as the center. The distance R is the tangential rotation of the circle formed by the radius; according to the azimuth angle
Figure BDA0002506097390000122
The distance R and the rotation speed v of the universal wheel, the second time t 2 of the rotation of the universal wheel is solved; the rotation time of the universal wheel along the Y-axis direction is the first time t 1 ; wherein, the
Figure BDA0002506097390000123
When the k>0, the 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<0, the rotation direction of the universal wheel and the The angle formed by the positive direction of the Y-axis is an acute angle;

步骤S8、响应于所述万向轮沿以所述坐标原点O为圆心、以所述距离R为半径所成的圆的切向方向的转动结束，控制所述万向轮继续沿所述X轴正方向转动；所述万向轮沿以所述坐标原点O为圆心、以所述距离R为半径所成的圆的切向方向的转动时间为第二时间t2。Step S8, in response to the end of the rotation of the universal wheel along the tangential direction of the circle with the coordinate origin O as the center and the distance R as the radius, control the universal wheel to continue along the X The shaft rotates in the positive direction; the rotation time of the universal wheel along the tangential direction of the circle formed with the coordinate origin O as the center and the distance R as the radius is the second time t 2 .

在本实施例中，所述方向标识为所述第一包裹上的文字朝向；根据所述文字朝向，确定所述第一包裹的头部以及所述第一包裹的四个顶点坐标。In this embodiment, the direction identifier is the orientation of the text on the first package; according to the orientation of the text, the head of the first package and the coordinates of four vertices of the first package are determined.

在本实施例中，所述方法还包括：In this embodiment, the method further includes:

响应于所述万向轮继续沿所述X轴正方向转动，根据所述第一坐标A(x1,y1)、所述第二坐标B(x2,y2)、所述第三坐标C(x3,y3)、所述第四坐标D(x4,y4)，再次求解所述第一包裹的方位角

Figure BDA0002506097390000131
In response to the universal wheel continuing to rotate in the positive direction of the X-axis, according to the first coordinate A(x 1 , y 1 ), the second coordinate B(x 2 , y 2 ), the third coordinate Coordinate C(x 3 , y 3 ), the fourth coordinate D(x 4 , y 4 ), and solve the azimuth angle of the first package again
Figure BDA0002506097390000131

当所述方位角

Figure BDA0002506097390000132
时，对所述第一包裹进行调整不完全标记。when the azimuth
Figure BDA0002506097390000132
When the adjustment is made to the first package, the incomplete marking is performed.

在本实施例中，所述方法还包括：In this embodiment, the method further includes:

对所述第一包裹的朝向进行朝向标记；当x1+x4＞x2+x3时，对所述第一包裹的朝向标记为沿X轴正方向，当x1+x4＜x2+x3时，对所述第一包裹的朝向标记为沿X轴负方向。The orientation of the first package is marked; when x 1 +x 4 >x 2 +x 3 , the orientation of the first package is marked as a positive direction along the X axis, and when x 1 +x 4 <x When 2 +x 3 , the orientation of the first package is marked as the negative direction along the X-axis.

在本实施例中，所述红外对管和所述摄像头沿X轴正方向依次排列，且所述红外对管与所述摄像头的间隔大于所述摄像头的成像半径。In this embodiment, the infrared pair tube and the camera are arranged in sequence along the positive direction of the X-axis, and the interval between the infrared pair tube and the camera is greater than the imaging radius of the camera.

在本实施例中，所述万向轮均匀分布。In this embodiment, the universal wheels are evenly distributed.

下面对本实施例中涉及到的公式进行推导：The formulas involved in this embodiment are deduced below:

如图3所示，根据所述第一坐标A(x1,y1)和所述第四坐标D(x4,y4)可得AD的中点坐标

Figure BDA0002506097390000133
As shown in FIG. 3 , according to the first coordinates A(x 1 , y 1 ) and the fourth coordinates D(x 4 , y 4 ), the midpoint coordinates of AD can be obtained
Figure BDA0002506097390000133

根据所述第二坐标B(x2,y2)和所述第三坐标C(x3,y3)可得BC的中点坐标

Figure BDA0002506097390000134
According to the second coordinate B(x 2 , y 2 ) and the third coordinate C(x 3 , y 3 ), the midpoint coordinate of BC can be obtained
Figure BDA0002506097390000134

根据所述AD的中点坐标

Figure BDA0002506097390000135
和所述BC的中点坐标
Figure BDA0002506097390000136
可得EF的中点坐标
Figure BDA0002506097390000137
所述EF的中点坐标
Figure BDA0002506097390000138
即为所述第一包裹的中心的坐标；Coordinates of the midpoint according to the AD
Figure BDA0002506097390000135
and the coordinates of the midpoint of the BC
Figure BDA0002506097390000136
The midpoint coordinates of EF can be obtained
Figure BDA0002506097390000137
The coordinates of the midpoint of the EF
Figure BDA0002506097390000138
are the coordinates of the center of the first package;

则根据两点间距离公式可得所述第一包裹的中心到所述坐标原点O的距离Then according to the distance formula between two points, the distance from the center of the first package to the coordinate origin O can be obtained

Figure BDA0002506097390000141
Figure BDA0002506097390000141

线段EF的斜率为

Figure BDA0002506097390000142
线段EF的倾斜角β跟斜率k的关系为
Figure BDA0002506097390000143
即β＝arctank；The slope of line segment EF is
Figure BDA0002506097390000142
The relationship between the inclination angle β of the line segment EF and the slope k is:
Figure BDA0002506097390000143
That is, β=arctank;

则所述方位角

Figure BDA0002506097390000144
then the azimuth
Figure BDA0002506097390000144

所述第一包裹与所述万向轮接触的点的转动速度大小等于所述万向轮的转动速度v，转动半径为所述距离R，则该点的转动角速度

Figure BDA0002506097390000145
The rotation speed of the point where the first package contacts the universal wheel is equal to the rotation speed v of the universal wheel, and the rotation radius is the distance R, then the rotation angular velocity of this point
Figure BDA0002506097390000145

所述转动角速度ω、所述第二时间t2以及所述方位角

Figure BDA0002506097390000146
满足如下关系式：
Figure BDA0002506097390000147
the rotational angular velocity ω, the second time t 2 and the azimuth angle
Figure BDA0002506097390000146
Satisfy the following relation:
Figure BDA0002506097390000147

联立(1)(2)得所述万向轮转动的第二时间

Figure BDA0002506097390000148
Simultaneously (1) (2) obtain the second time for the rotation of the universal wheel
Figure BDA0002506097390000148

以上详细描述了本发明的具体实施例。应当理解，本发明的具体实施例并不唯一，本领域的普通技术人员可以在权利要求的范围内根据本发明的构思作出诸多修改和变化。因此，凡本领域中的技术人员根据本发明的具体实施例在现有技术的基础上通过逻辑分析、推理或者有限的实验可以得到的技术方案，皆应在由权利要求书所确定的保护范围内。Specific embodiments of the present invention have been described above in detail. It should be understood that the specific embodiments of the present invention are not unique, and those skilled in the art can make many modifications and changes according to the concept of the present invention within the scope of the claims. Therefore, any technical solutions that can be obtained by those skilled in the art through logical analysis, reasoning or limited experiments on the basis of the prior art according to the specific embodiments of the present invention shall be within the protection scope determined by the claims. Inside.

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
Figure FDA0002506097380000021
Wherein the azimuth angle
Figure FDA0002506097380000022
The above-mentioned
Figure FDA0002506097380000023
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
Figure FDA0002506097380000024
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
Figure FDA0002506097380000025
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
Figure FDA0002506097380000026
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
Figure FDA0002506097380000031
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
Figure FDA0002506097380000032
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
Figure FDA0002506097380000033
When the azimuth angle
Figure FDA0002506097380000041
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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